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11857083

DETAILED DESCRIPTION OF THE DISCLOSURE One or more specific embodiments of the present invention will be described below. It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure. For purposes of description herein, the terms “rear,” “front,” “vertical,” “horizontal,” and derivatives thereof shall relate to the seating unit as oriented inFIG.1. However, it is to be understood that the seating unit may assume various alternative orientations, except where expressly specified to the contrary. It is also to be understood that the specific devices illustrated in the attached drawings and described below are simply exemplary embodiments of the invented concepts. Hence, specific dimensions and other physical characteristics relating to the embodiments disclosed herein are not to be considered as limiting. Further, the term “substantially parallel,” as used within the context of this disclosure, describes the general angular relationship between two structures extending largely in the same direction. This inclusion of this term should therefore not be interpreted as being limiting exclusively to objects that are geometrically parallel. Instead, it is contemplated that an angular displacement of up to ±12° could exist between any two objects described herein to be “substantially parallel.” Further, the term could also apply to structures extending largely in the same direction that do not intersect and pass through one another. Some seating units produced in accordance with the present disclosure comprise a backrest and a hook assembly being secured to, and protruding outward from, a rear surface of the backrest. Although the present disclosure is thought to encompass a wide variety of structural configurations, exemplary hook assemblies produced in accordance with the present disclosure are, owing in part to the constructional form of cooperative mounting structures extending therebetween, adapted to unostentatiously couple with the backrest using hidden fasteners inserted substantially parallel to the rear surface. Additional aspects of the present disclosure may further relate to seating unit assemblies including an intermediate support member that extends between the backrest and a seat, provides dynamic support for backrest, and includes shaped arms extending beneath the seat to perform a load distribution function. HOOK ASSEMBLIES Referring now to the drawings, wherein like reference numbers correspond to similar elements throughout the several views, and, more specifically, referring toFIGS.1-3,8-12and18, at least some aspects of the present disclosure will be described in the context of an exemplary seating units100and200, each seating unit including a seat102and a backrest104. A vast majority of elements described below in reference to seating unit100also apply to seating unit200. However, with particular reference toFIG.12, seating unit200includes a base156and rear legs138which differ from those of seating unit100. Otherwise, the vast majority of features described in the context of seating unit100are also applicable to seating unit200. Many novel aspects of the present disclosure are described in the context of exemplary of hook assemblies110,210,310, and410, which are primarily shown inFIGS.4-7and13-15. The exemplary hook assemblies110,210,310, and410shown inFIGS.4-7are configured to securely couple to a rear surface106of the backrest104in order to retain accessory items, such as a bag, a whiteboard, or another item, with the backrest104. Each exemplary hook assembly110,210,310, or410is configured to couple with the backrest104at an attachment region126,226, or326. With reference toFIGS.4-7, the aforementioned attachment regions are each defined as being an area on the rear surface106that includes at least one first mounting structure (hereinafter “rib”) extending outwardly from the surrounding surface and being configured to abut against a second mounting structure (hereinafter “protrusion”) on the hook assembly to facilitate its alignment on the backrest104during assembly. Referring again toFIGS.1-4, the seating unit100comprises the backrest104having a rear surface106, and the hook assembly110(including a cover plate111) is secured to the rear surface106. A rim124protrudes outwardly from the rear surface106and is, preferably, formed integrally therewith, such that the rim124and backrest104may be formed together during an initial manufacturing process and may be materially indistinct components. The hook assembly110includes a cover plate111having an integrally formed hook115extending generally outward and upward from an exterior surface165of the cover plate111. An interior surface113of the cover plate110, being disposed opposite the exterior surface165, is secured to the backrest104at the attachment region126located proximate the rim124. With specific reference toFIG.4, the attachment region126may be more precisely defined as being the area circumscribed by the rim124and including ribs154. Some seating units produced in accordance with the present disclosure may not necessarily include one or more portions of the outwardly protruding rim124. For example, inFIG.5, the rim124does not bound a bottom boarder of the attachment region226. However, the rim124bounds three sides of the attachment region226and is considered to partially circumscribe the region226. Although not shown in the accompanying figures, some seating units in accordance with the present disclosure may include a rim comprising a plurality of discrete rim segments, which collectively create a discontinuous boundary that may at least partially circumscribe the attachment region. Returning toFIG.4, the ribs154extend outward from the rear surface106within attachment region126, and the ribs154are preferably formed integrally with the backrest104. The ribs154ribs each include a substantially flat planar surface that vertically abuts against a protrusion148. The protrusions148extend from the interior surface113of the cover plate111, and the abutment of the ribs154against the protrusions148facilitates proper alignment of the hook assembly110with the backrest106during assembly. The cover plate111ofFIG.4securely couples with the backrest104at the attachment region126following the insertion of one or more fasteners150substantially vertically through complementary apertures151being defined on the substantially flat, planar surfaces153of protrusions148, which are also shown inFIG.14. Referring toFIG.13, the fastener150is inserted through the aperture151along a substantially vertical axis “A”, and, following insertion, the body of the fastener150is aligned substantially parallel with the rear surface106. Advantageously, the substantially vertical insertion of the fasteners150or250allows for the heads of the fasteners150or250to be easily hidden in a recessed area behind the exterior face165. The hook assemblies110,210,310, and410, shown inFIGS.4-7, are configured to securely attach to the backrest104at the outwardly protruding rim124and/or within the attachment regions126,226, or326, which may be at least partially circumscribed by the outwardly protruding rim124and include at least one rib154,254, or354. The hook assemblies110,210,310, and410each comprise a weldment146,246, or346and a cover plate111,211,311, or411. Although shown as separate components inFIGS.9-11, it should be understood that the weldment is permanently affixed, e.g., by welding, to a support member108,208, or308. For example, as seen inFIGS.16and17, the weldment146is secured to opposing interior sides of vertical arms122in an upright portion116of the support member108, proximate an upper loop120of the support member108. The weldment146,246, or346is secured to the backrest104using a horizontally inserted fastener152prior to attachment of the cover plate111,211,311, or411, and the weldment146,246, or346is interposed between the cover plate111,211,311, or411and the rear surface106following assembly. As such, when the hook assembly110is secured to the backrest104overtop the weldment146, as shown inFIG.4, the support member108is likewise secured to the backrest104. With reference toFIGS.5-7, alternate examples of hook assemblies210,310, and410are shown in connection with the backrest104. Each includes at least one protrusion248,348, or448extending from an interior surface213,313, or413of a cover plate211,311, or411and directed generally towards the backrest104. The at least one protrusion248,348, or448abuts against a planar surface of a rib254or354to facilitate proper alignment of the cover plate211,311, or411with the backrest104. An aperture151is defined through a planar surface253,353, or453of the cover plate211,311, or411, and a fastener150or250is inserted substantially vertically through the aperture151to couple the hook assembly110with the backrest104. After insertion, the body of the fastener150or250is aligned substantially parallel with the rear surface106in the area proximate aperture151, and the heads of the fasteners150or250are disposed along the planar surface253,353, or453, hidden from the line of sight of a user sitting or standing behind the chair. In many embodiments, proper alignment of the cover plate111within the attachment region126causes aperture151to align coaxially with one or more apertures251being defined upon either or both of the weldment146or the rib154. Referring collectively toFIGS.4,10, and14the fastener150is inserted vertically through the apertures151and coaxially aligned apertures251(shown inFIG.10) in each of the weldment146and the rib154. With reference toFIGS.4-7, the mounting structures (i.e., ribs154,254, and354and protrusions148,248,348, and448) may be formed in a variety of different shapes. For example, the mounting structures may be generally C-shaped or U-shaped with arms that are generally parallel to one another, or with one arm inclined inward a greater degree than the other arm, or with one arm angled outward and away from the first arm, e.g., so as to be generally parallel to a base portion connecting the two arms. Similarly, the ribs may comprise planar ribs154(as seen inFIG.4), L-shaped ribs254(as seen inFIG.6), or other shapes different from the examples shown and described herein. Likewise, the protrusions148,248,348, or448extending from the interior surfaces113,213,313, or413of the exemplary hook assemblies may comprise planar protrusions148(as seen inFIG.4), curved protrusions248or348(as seen inFIG.5or6), hooked protrusions448(as seen inFIG.7), or other shapes different than those explicitly shown and described herein. Although not shown inFIGS.6and7, all embodiments of cover plates in accordance with the present disclosure are configured to secure to a backrest via insertion of one or more fasteners150or250that are aligned substantially parallel to the rear surface106of the backrest. Referring toFIG.5, the hook assembly210comprises cover plate211, weldment246, and hook215. Unlike the embodiment ofFIG.4, the hook215comprises its own component and is separate from (i.e., not integrally formed with) the cover plate211. The hook215is generally U-shaped having two upwardly extending arms joined by an arcuate portion. An upper rib254protrudes from the rear surface106of the backrest104and is generally L-shaped, having a first, planar upper arm extending outward from the rear surface106and a second, planar arm extending generally perpendicular from a distal end of the first arm opposite the rear surface106, wherein a gap is formed between the second arm of the upper rib254and the rear surface106, and a portion247of the weldment246is slotted into the gap during assembly. A planar upper surface255of the first arm of the upper rib254is configured to abut against the protrusion248. The protrusion248may include a concave upper surface249, and the upper loop120of the support member108may be seated within the concave upper surface249. The process of attaching the hook assembly210to the attachment region226of the backrest104first involves sliding the weldment246vertically upward or the seat back downward until portion247slots within the gap formed between the upper rib254and the rear surface106. Fastener152(not visible inFIG.5) may be inserted horizontally through the front face weldment246to secure the weldment to the backrest104, similar to the way in which faster152is inserted within weldment146inFIGS.4and10. The hook215is then passed vertically upward such that one of the arms is passed behind the weldment246(i.e., between the seat back and the weldment), and the cover plate211is rotationally (or pivotably) mounted on top of the weldment246. Rotational mounting of the cover plate211comprises placing the concave upper surface249of protrusion248against the upper loop120prior to pivotally rotating the cover plate211clockwise (with respect toFIG.5) about a pivot axis being defined at the upper loop120, such that the lower planar surface253is swung closer to the backrest104. An aperture151(not shown inFIG.5) on the planar surface253coaxially aligns with an aperture251on the weldment246when the cover plate is properly aligned, and one or more fasteners250is subsequently inserted substantially vertically through the coaxially aligned apertures151,251, in a fashion similar to the insertion of the one or more fasteners150inFIG.4. Following assembly, one of the upwardly extending arms of the hook215is disposed between the weldment246and the rear surface106, the arcuate portion of the hook215extends below the planar surface253of the cover plate211, and the other arm extends upward and outward from the arcuate portion such that the hook215is spaced apart from an exterior surface265of the cover plate211. FIG.6is provided for the purpose of demonstrating how mounting interfaces and associated structures may vary along their length, andFIG.6further demonstrates how a variety of cover plates, e.g.,211or311, may be interchangeably coupled to the attachment region of a seating unit in accordance with the present disclosure. FIGS.5and6respectively show hook assemblies210and310in which a weldment246is installed within the attachment region226prior to rotationally mounting the cover plate211or311on the backrest104. The process for installing the weldment comprises slotting the weldment portion247into the gap formed between the rear surface106of the backrest and at least one of the L-shaped ribs254, wherein the at least one L-shaped rib254holds the weldment portion247in close proximity to the rear surface106and prevents the weldment246from slipping out of the attachment region226. When the cover plate211or311is rotationally mounted on top of the weldment246, the cover plate protrusions248or348become wedged between the upper surface255of the rib254and the upper loop120of the support member108, with the cover plate portions248,348applying a compressive force to the L-shaped rib254, thereby compressing the weldment portion247between the rear surface106of the backrest and the L-shaped rib254. As such, the protrusions248and348abut against the rib254to structurally reinforce the attachment between the weldment246the backrest104, preventing the weldment246from biasing the L-shaped rib254outward and slipping out of the attachment region226. In some embodiments, rotationally and compressively mounting the cover plate on top of the rib254may, alone, provide enough structural reinforcement and/or compressive force to the rib254to securely couple the weldment246to the backrest104. However, other embodiments may include additional or alternate means for fastening the weldment246to the backrest104, including, e.g., the horizontal fastener152shown inFIG.6. More specifically,FIG.6shows another exemplary hook assembly310, which includes a third embodiment for a cover plate311being mounted over-top the weldment246(ofFIG.5) and secured to the attachment region226(ofFIG.5). Comparatively, the cross-sectional view ofFIG.6is taken through a plane generally corresponding with the location of line6-6ofFIG.3, whereas the cross-sectional view ofFIG.5is taken through a plane generally corresponding with the location of line5-5ofFIG.3. Thus, the cross-sectional plane ofFIG.6is shifted laterally with respect to the cross-sectional plane ofFIG.5, and hook assembly310includes cover plate311in place of cover plate211. Although not visible in the cross-sectional plane ofFIG.6, the hook assembly310is coupled to the backrest104by one or more threaded fasteners150or250, like those which are shown inFIG.4or5, being inserted substantially vertically through a planar lower surface353of the cover plate311. Two L-shaped ribs254protrude outwardly from the rear surface106within the attachment region226, and distal portions247of the weldment246slot within the gaps formed between the L-shaped ribs254and the rear surface106. The cover plate311includes a protrusion348extending from the interior surface313proximate an upper edge, and the protrusion348includes a recessed upper surface349that allows the cover plate311to rotationally mounted overtop the weldment246in the same manner as was described for cover plate211ofFIG.5. The recessed upper surface349may be concave like that ofFIG.5, or the recess may be the form of a channel having a rectangular, triangular, trapezoidal, or other cross-section. The cover plate311further includes exterior surface365opposite the interior surface313, and an integrally formed hook315extends generally upward and outward from the exterior surface365. Referring now toFIG.7, in still another aspect, the hook assembly410comprises a cover plate411having an integral hook415extending generally outwards and upwards from exterior surface465. The weldment346is integrally attached with (or welded to) the support member108at the upper loop120. Thus, when the fastener152is used to secure the weldment346to attachment region326, the support member108is also securely fastened to the backrest104. The weldment346includes an opening347proximate the attachment to the upper loop120, and an upper protrusion448extending from the interior surface413of the cover plate411passes through the opening347and latches upon an interior surface of the weldment346. Although not shown in the cross section ofFIG.7, the hook assembly410is likewise configured to secure to the backrest104following receipt of one or more threaded fasteners150inserted substantially vertically through an aperture151defined upon the planar lower surface453of protrusion448and through coaxially aligned apertures in the weldment346and rib354, similar to the configuration shown inFIGS.4and10. Following insertion of the fastener150, as shown inFIG.13, the fastener150is aligned substantially parallel with the rear surface106, and the head of the fastener150is inset from a bottom surface455of the cover plate411and hidden from view of a user. In addition to the cross-sectional views ofFIGS.4-7, a number of exploded views of the seating unit100are provided inFIGS.9-11, which show how the weldment146first is used to secure the support member108to the seat back106using the fasteners152, and then the cover plate111is coupled (according to the methods described above) to the weldment146and/or the seat back104using the second fasteners150. Turning toFIG.13, an underside of the hook and chair back subassemblies are depicted in order to better show how the hook assembly410ofFIG.7is mounted upon the backrest104, and fasteners150are used to securely couple the cover plate411to the backrest104. The fasteners150are inserted along substantially vertical insertion axes “A” and pass through apertures151on the cover plate411during assembly. Specifically, the apertures151are disposed on the planar lower surface453of protrusion448and inset from the bottom surface455. Following insertion, the heads of the fasteners150abut against the lower surface453of protrusion448, and, being inset from the bottom surface455, are hidden from the view of an observer standing behind the seating unit100and facing the rear surface106. Accordingly, seating units of the present disclosure include a hook assembly and a backrest, wherein fasteners inserted substantially parallel to the rear surface of the backrest couple the hook assembly to the backrest, and the fasteners are hidden from the line of sight of a typical user. AlthoughFIG.13depicts a configuration in which a pair of fasteners150are used to secure the cover plate411to the backrest104, it will be appreciated that a single fastener may suffice to accomplish the desired coupling. SEAT AND BACKREST SUPPORT STRUCTURE Referring again toFIGS.1-3, the backrest104is supported vertically above a rear edge135of the seat102by a flexible support member108, which allows for a rearward, pivotal deflections of the backrest104to occur in response to forces applied to the backrest104by a user. Referring toFIGS.1-3and8-12collectively, the support member108includes a plurality of arms122, each arm122including a horizontal portion114extending beneath the bottom surface117of the seat102with shaped portions128configured to provide a load-distribution function, the arms122having distal ends130secured within attachment locations164disposed on interior surfaces160of a frame156extending downward from an underside117of the seat102, as shown inFIG.8. Each arm122further includes an upright portion116for flexibly supporting the backrest104, and a transition portion118extends curvilinearly upward from the horizontal portion114to join the horizontal portion114with the upright portion116. The support member108is generally formed from a single wire being bent in a way that forms two arms122joined at an upper loop120joining upper ends of the upright portions116, where the upper loop120seats against the rim124extending from the rear surface106of the backrest104, as discussed above. The support member108,208or308may be formed from high carbon steel or spring steel. In other embodiments the support member may be formed from another suitable material(s), such as, for example, aluminum, polyvinyl chloride (PVC), Acrylonitrile butadiene styrene (ABS), HDPE (high-density polyethylene), or bamboo, among others. Importantly, materials from which the support member108is manufactured should be flexible enough to allow for pivotal deflections to occur when a user leans against the backrest104, and the material must also be strong enough to withstand typical loads applied to the seat102and backrest104by a user. In one aspect, the support member108generally comprises a single tube or wireframe, which is generally cylindrical and may be formed from bent metal. With reference toFIG.8, the horizontal portion114of each arm122extends curvilinearly beneath the seat102, as discussed in greater detail below, thereby forming shaped portions128that may provide a load distribution function to permit the seat to accommodate a larger range of user weights. The upper loop120may be secured to the backrest104in a wide variety of ways, as would be appreciated by those of ordinary skill in the relevant art, but in some embodiments, the weldment146of the hook assembly is welded in between the arms122in the upright portion116proximate the upper loop120, as shown inFIGS.16and17. Referring toFIGS.8and12, from the securing locations164at the distal ends130, the two shaped arms128extend toward the rear edge135in parallel with the bottom surface117of the seat102, and the shaped portions128comprise mirrored sinusoidal structures. That is to say, the shaped portions128remain parallel with the bottom surface117while extending curvilinearly reward in a periodic pattern of convergences toward—and divergences away from—a central longitudinal plane of the seat102, and the two shaped portions128of the arms122structurally mirror one another about the central longitudinal plane. The sinusoidal shape of each arm122may functionally increase the load-bearing capacity of the back shell or backrest104and/or to reduce stress concentrations in the distribution of force when a user pushes on the back shell104. The winding path of the shaped portions128increases the overall surface area through which forces applied to the seat by a user are distributed, which may reduce average peak stress concentrations across the back shell body to mitigate wear, and increasing user comfortability by preventing the manifestation of high-pressure zones on the back shell's surface. In the exemplary embodiments shown inFIGS.8-12, the shaped portions128have a sinusoidal or serpentine structure that is mirrored about the central plane. In the preferred embodiments the bends between the undulations are preferably smooth and rounded to avoid sharp corner stress concentrations. However, alternate embodiments may include relatively sharper bends in the shaped portions328, like those which are shown in support structure308ofFIG.17. Still further, alternative embodiments for a support structure may include a horizontal portion114having shaped portions128that are configured differently that the exemplary embodiments shown in the figures. For example, the shaped portions128may have a greater or reduced periodicity (i.e., there may be fewer or more undulations along the length of shaped portions128), or the shaped portions128may extend over and back across a central longitudinal plane, at least once, or the shaped arms may intersect one another. Referring toFIGS.8and16, support structure208ofFIG.16includes shaped portions228having a reduced periodicity relative to shaped portions128of the support structure108ofFIG.8. In other embodiments, the curvilinearly shaped portions128may be inverted across the central plane (as opposed to being mirrored), or the shaped portions128of the respective arms122may have a structure that is mirrored across a different plane or multiple planes. Thus, the shape of the arms in the horizontal portion of the support structure may improve the dynamic performance of the chair, increase a seating unit's load bearing capacity, influence the backrest's flexibility, and/or improve load distribution across a back shell. At the transition portions118, the two arms122wrap curvilinearly around the rear side of the frame to join with the upright portions116. When a user leans back into the backrest, the upright portions116of the support member108may be designed to rotate rearward until being impeded by a hard stop. Referring toFIG.2, the upright portion116is concave from a side profile, having arms122that extend upward from the transition portion118, slope inward towards the backrest104, and inflect rearward prior to being adjoined at the upper loop120. The upper loop120includes rounded shoulders and a horizontal connecting beam. With reference toFIG.10, the weldment146may be secured between the arms122proximate the upper loop120, and the backrest104is secured to the weldment146via fasteners152. With reference toFIGS.1-3and8-12the seat102is generally rectangular having a front edge134opposite the rear edge135, and opposing lateral edges132extending between the front and rear edges134and135. A bottom surface117of the seat102is securely attached to the top of the base (or frame)156. The seat102may optionally include flanges (best shown inFIGS.11and12) that extend downward from the bottom surface117and form an interface for attaching with the base156. The optional flanges may include apertures configured to align coaxially with apertures on the base156so that fasteners may be inserted therethrough to couple the seat102to the base156. It should be understood that the seat102may be attached to the base156by any means commonly known in the prior art, and alternate embodiments for seating units100may or may-not include a seat102having flanges. Some seating units (not shown) may not include a base156or256, but could, for example have a seat102that directly connects to the legs136,138. In exemplary seating units100and200(shown inFIGS.8-11and12, respectively), the base or frame156may include opposing lateral beams158that extend between the front and rear edges134,135of the seat102and along the bottom surface117. The lateral beams158are spaced inwardly from the various edges132,134, and135of the seat102, providing clearance for a housing140to be disposed over and conceal the base156, such that the housing140may be disposed flush against the bottom surface117. As shown inFIGS.8and12, the front legs136and the rear legs138may be secured directly, e.g., welded, fastened, press fit, etc., to the base156at ends of the lateral beams158adjacent the front and rear edges,134and135, respectively. The housing140conceals various connections between the frame156, the seat102, the legs136,138, and the horizontal portion114of support structure108(including shaped portions128). It should be noted that the housing140is drawn as a transparent structure inFIG.8so that the components within the housing's interior can be better visualized in the context of the complete seating unit assembly100, but it is otherwise identical to the housings140shown inFIGS.1-3and9-11. The exemplary housing140may be molded from a plastic material and may be transparent, translucent, or opaque, but the housing140may be formed from any suitable material, such as, for example, sheet metal. Referring toFIGS.1-3and8-11, the housing140comprises a substantially-hollow, domed structure having upwardly-vaulted walls, which terminate at the upper rim that rests flush against the bottom surface117. The housing140envelops the base156, and a plurality of clips144may couple the housing140to the base156. The housing140is generally rectangular when observed from the bottom view ofFIG.8, and openings142proximate corners of the housing140allow the legs136,138to extend outwardly from the base and through the openings142prior to bending toward the floor. Openings143in the rear portion of the housing140(i.e., proximate the rear edge135of the seat102) are provided so that the arms122of the horizontal portion114of the support member108may pass within the interior and extend curvilinearly along the bottom surface117of the seat102. Both exemplary seating units100,200(shown inFIGS.8and12, respectively) include a passageway162or262between the lateral beams158and below the rear edge135of the seat102. The arms122of the horizontal portion114of the support member108are configured to extend through the passageway162or262and continue along the bottom surface117. Specifically, the horizontal arms portion114of the support member108first traverses through openings143in the housing140(seeFIG.8), extends through the passageway162or262, and continues extending along the bottom surface117in the general direction of the front edge134. Distal ends130of the arms122are secured to interior sides160of the base156at securing locations164, which may be disposed relatively closer to the front edge134than the rear edge135. In the first exemplary embodiment for the seating unit100, shown inFIGS.8-11, the frame156includes a crossbeam159extending between the lateral beams158proximate the rear edge135of the seat102. The crossbeam159bows downward as it extends between the lateral beams158, thereby creating a passageway162defined between the crossbeam159and the bottom surface117of the seat102. In a second embodiment, a seating unit200, as shown inFIG.12, includes a frame156having two lateral beams158. Two parallel crossbeams259are vertically separated and integrally connected to the rear legs138beneath the rear edge135of the seat102, and the passage262is defined between the parallel crossbeams259. As such, each of exemplary seating units100and200includes a passage162or262beneath the seat102and being least partially defined by a crossbeam159or259extending perpendicularly between the lateral beams158of the frame the156. Referring toFIGS.9-12, the legs136and138may be generally U-shaped and extend outward and downward from the seat102proximate the front and rear edges134and135, respectively. The legs136,138may be integrally connected to the base156or may be fastened to the base156and/or beams158, e.g., via welds or other permanent connections. The legs136,138extend laterally outward from the base156, pass through openings142in the exterior housing140and continue to extend laterally outward beyond the lateral edges132of the seat102prior to bending downward and extending in the general direction of the floor. The configuration provides legs having enough clearance to pass over the top of seats102of other seating units100or200so that plurality of seating units400may be stacked together in the form of a vertical column, as shown inFIG.18. Optionally, a footrest137may be secured between the front legs136, and casters145may be optionally secured to distal ends of the legs136,138to increase the seating unit's mobility. What has been described above includes examples of the present invention. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the present invention, but one of ordinary skill in the art may recognize that many further combinations and permutations of the present invention are possible. Accordingly, the present invention is intended to embrace all such alterations, modifications, and variations that fall within the spirit and scope of the appended claims. To apprise the public of the scope of this invention, the following claims are made:

11857084

DETAILED DESCRIPTION With reference toFIGS.1-5,10denotes a chair with pivoting seat and backrest. The chair10comprises a frame12, a seat14and a backrest16. The frame12may be formed by a plurality of metal bars consisting of solid or tubular rods which are folded and fixed together. In one possible embodiment the frame comprises two frame side sections18, each of which comprises a front leg20, a rear leg22and a bottom element24which connects together the bottom ends of the front leg20and the rear leg22. With reference in particular toFIG.2, the two frame sections18are connected together by a front transverse element26and by a rear transverse element28. The front transverse element26connects together the top ends of the two front legs20and the rear transverse element28connects together the top ends of the two rear legs22. The rear transverse element28is situated at a greater height than the height of the front transverse element26. The front transverse element26comprises two side sections30and a central section32. The two side sections30are aligned with each other along a horizontal transverse line which defines a first hinging axis A. The rear transverse element28comprises two straight side sections34joined together by a curved central section36. The two side sections34of the rear transverse element28are aligned with each other along a horizontal transverse line which defines a second hinging axis B. The second hinging axis B is parallel to the first hinging axis A and is displaced backwards and upwards with respect to the first hinging axis A. With reference toFIGS.1-5, the seat14has a front section38and a rear section40. The front section38of the seat14is hinged with the frame12about the first hinging axis A. In one possible embodiment, the seat14may be formed by an upper panel42and by a lower panel44which are fixed together by means of screws46. The upper panel42and the lower panel44of the seat14are situated on opposite sides of the front transverse element26and enclose the front transverse element26inside the front section38of the seat14. At least one of the panels40,42may be provided with hinging seats48(FIG.2) which cooperate with the respective side sections30of the front transverse element26so as to form a hinged connection between the front section38of the seat14and the front transverse element26which allows the seat14to pivot about the first hinging axis A. Obviously it is understood that the hinged connection between the front section38of the seat14and front transverse element26of the frame12may be realized in any other way. With reference toFIGS.1-6, the backrest16comprises a backrest support50and a backrest panel52which is fixed to the backrest support50. The backrest panel52may be made of moulded plastic material and may have a curved surface for supporting the user's back. The curved central section36of the rear transverse element28extends behind the backrest panel52. The backrest support50may be formed by folded metal elements which are substantially U-shaped. With reference in particular toFIG.2, the backrest support50may comprise two uprights54which are parallel to each other and to which the backrest panel52is fixed. The two uprights54of the backrest support50may have top ends which are inserted and fixed inside respective seats56of the backrest panel52. The top ends of the uprights54may be inserted inside the seats56with slight interference. With reference in particular toFIG.2, the two uprights54of the backrest support50are joined together by a bottom transverse element58having two straight side sections60which are joined together by a curved central section62. The two straight side sections60are aligned with each other along a horizontal transverse line which defines a third hinging axis C. The backrest support50may comprise two stop elements64which may be formed by two metal plates which are fixed to the respective straight side sections60of the bottom transverse element58. The backrest16is hinged with the rear transverse element28of the frame12about the second hinging axis B. With reference toFIG.6, the hinged connection between the backrest16and the rear transverse element28may be realized by means of a pair of hinging plates66having respective circular seats68which engage rotatably with respective straight side sections34of the rear transverse element28. Each of the two hinging plates66may be fixed to a respective upright54of the backrest support50by means of screws70. The backrest16is also hinged with the rear section40of the seat14about the third hinging axis C. In one possible embodiment, the hinged connection between the backrest16and the rear section40of the seat14may be realized by enclosing the straight side sections60of the bottom transverse element58of the backrest support50between the upper panel42and the lower panel44of the seat14and by engaging these straight sections60by means of hinging seats72formed in at least one of the panels42,44. The third hinging axis C which hingeably connects the backrest16to the rear section40of the seat14is situated lower and slightly further forwards in relation to the second hinging axis B. The third hinging axis C is situated displaced backwards with respect to the first hinging axis A. In the rest configuration shown inFIG.3, the third hinging axis C may be lower than the first hinging axis A. With reference toFIG.7, the curved central section of the bottom transverse element58of the backrest support50is housed inside a chamber defined between the upper panel42and the lower panel44of the seat14. In the rest position of the chair, the curved central section rests against the upper panel42of the seat14and forms an end-of-travel stop which prevents forwards pivoting of the backrest16with respect to the rest position. When a user applies a backwards thrusting force onto the backrest16, the backrest16pivots backwards about the second hinging axis B. The backwards pivoting of the backrest16causes a forwards and upwards movement of the bottom transverse element58of the backrest support50.FIG.5shows by continuous solid lines the chair in the rest configuration and by broken lines the configuration of the chair in the condition where the backrest16is fully inclined backwards. The backwards inclination of the backrest16displaces the third hinging axis C forwards and upwards with respect to the rest configuration. Therefore, the rear section40of the seat14moves upwards with respect to the rest configuration and the seat14pivots about the first hinging axis A. As shown inFIGS.3,4and5, in the rest configuration the distance between the first hinging axis A and the second hinging axis B has a first value D1. The upwards and forwards movement of the second rotation axis C during the backwards pivoting movement of the backrest16results in a backwards displacement of the second hinging axis B and a forwards displacement of the first hinging axis A with respect to the rest configuration. In the configuration where the backrest16is fully inclined backwards, the distance between the first hinging axis A and the second hinging axis B has a second value D2greater than the first value D1. The increase in the distance between the first and second hinging axes A, B during the transition from the rest position into the backwards inclined position is possible owing to an elastic deformation of the frame12. In particular, the top ends of the two front legs20are elastically deformed forwards so as to allow forwards displacement of the first hinging axis A and the top ends of the rear legs22are elastically deformed backwards so as to allow the backwards displacement of the second hinging axis B. When no more backwards thrust is applied to the backrest16, the frame12returns into the undeformed rest configuration and the backrest16and the seat14return into the rest position. The raising, during the backwards inclination of the backrest16, of the rear section40of the seat14is such that the reaction to the backwards inclination of the backrest16is proportional to the user's weight, thus resulting in a pivoting mechanism of the seat and backrest which is of the weight-activated type, namely one where the reaction to the backwards inclination increases as the weight of the user increases. With reference toFIGS.8and9, the stop elements fixed to the bottom transverse element58of the backrest support50move between the upper panel42and the lower panel44of the seat14during the backwards inclination movement of the backrest between the rest position (FIG.8) and the fully inclined backwards position (FIG.9). In the configuration shown inFIG.9, the stop elements64come into contact with the upper panel42of the seat14. In this condition, the stop elements64prevent a further backwards inclination movement of the backrest support50and therefore form an end-of-travel stop which defines the position of maximum backwards inclination of the backrest16. The chair according to the present invention provides a high degree of comfort owing to the synchronized movement of the backrest and the seat during the backwards inclination of the backrest. In particular, the upwards movement of the rear portion of the seat during the backwards inclination of the backrest prevents the backrest from sliding upwards with respect to the user's back during the backwards inclination of the backrest, which would result in an unpleasant sensation due to the sliding contact with the user's clothes. With the chair according to the present invention it is possible to obtain a weight-activated action in a very simple manner and without large dimensional volumes which would limit the designer's freedom when choosing the chair design. The chair according to the present invention does not comprise any elastic elements since the return movement of the backrest and the seat into the rest position when there is no longer any backwards thrust applied by the user's back is achieved by the intrinsic elasticity of the frame12. In possible embodiments, by adopting different proportions of the frame and the other components it is possible to provide an easy chair with the same operating and ergonomic characteristics. Obviously, without altering the principle of the invention, the embodiments and the constructional details may be greatly varied with respect to that described and illustrated, without thereby departing from the scope of the invention as defined in the accompanying claims.

11857085

DETAILED DESCRIPTION Before explaining at least one embodiment of the inventive concepts disclosed herein in detail, it is to be understood that the inventive concepts are not limited in their application to the details of construction and the arrangement of the components or steps or methodologies set forth in the following description or illustrated in the drawings. In the following detailed description of embodiments of the instant inventive concepts, numerous specific details are set forth in order to provide a more thorough understanding of the inventive concepts. However, it will be apparent to one of ordinary skill in the art having the benefit of the instant disclosure that the inventive concepts disclosed herein may be practiced without these specific details. In other instances, well-known features may not be described in detail to avoid unnecessarily complicating the instant disclosure. The inventive concepts disclosed herein are capable of other embodiments or of being practiced or carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein is for the purpose of description and should not be regarded as limiting. As used herein a letter following a reference numeral is intended to reference an embodiment of the feature or element that may be similar, but not necessarily identical, to a previously described element or feature bearing the same reference numeral (e.g., 1, 1a, 1b). Such shorthand notations are used for purposes of convenience only, and should not be construed to limit the inventive concepts disclosed herein in any way unless expressly stated to the contrary. Further, unless expressly stated to the contrary, “or” refers to an inclusive or and not to an exclusive or. For example, a condition A or B is satisfied by anyone of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present). In addition, use of the “a” or “an” are employed to describe elements and components of embodiments of the instant inventive concepts. This is done merely for convenience and to give a general sense of the inventive concepts, and “a” and “an” are intended to include one or at least one and the singular also includes the plural unless it is obvious that it is meant otherwise. Finally, as used herein any reference to “one embodiment,” or “some embodiments” means that a particular element, feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the inventive concepts disclosed herein. The appearances of the phrase “in some embodiments” in various places in the specification are not necessarily all referring to the same embodiment, and embodiments of the inventive concepts disclosed may include one or more of the features expressly described or inherently present herein, or any combination of sub-combination of two or more such features, along with any other features which may not necessarily be expressly described or inherently present in the instant disclosure. Broadly, embodiments of the inventive concepts disclosed herein are directed to a console mounted armrest having an adjustable post to raise and lower the armrest, and a linkage. The linkage defines the tilt of the armrest with respect to the post. A single control mechanism controls the motion of the post, and thereby also controls the tilt of the armrest to maintain a desirable orientation with respect to the sidestick. The control mechanism defines multiple positive lock-out positions with respect to the post such that the control mechanism will always engage one of the positive lock-out positions. Referring toFIG.1, an environmental view of a console mounted armrest according to an exemplary embodiment is shown. The console mounted armrest includes an arm pad deck102connected to a locking mechanism108view a vertically displaceable post104. The post104moves up and down at the discretion of the user to maintain the arm pad deck102in a desired orientation with respect to a sidestick100or other such control element. As the post104moves up and down, a linkage106connected to the arm pad deck102alters the tilt of the arm pad deck102to maintain the orientation. The linkage106defines the tilt with respect to the linear vertical displacement of the post104. Because the tilt and vertical displacement are related, both may be controlled by the locking mechanism108. A single control element110allows the user to adjust both the height and tilt of the armrest. Referring toFIG.2, a perspective view of a console mounted armrest according to an exemplary embodiment is shown. An arm pad deck (and corresponding arm pad)202is pivotably connected to a post204, disposed at a posterior portion of the arm pad deck202; the post204may be raised and lowered. A linkage206connects an anterior portion of the arm pad deck202to a locking mechanism208or a portion of a corresponding armrest proximal to the locking mechanism208. As the post204is raised and lowered, the linkage206causes the arm pad deck202to tilt. The shape of the linkage206and the points of connection between the linkage206and the armrest or locking mechanism208define the relationship between the linear displacement of the post204and magnitude of tilt. In at least one embodiment, a single control element210actuates the locking mechanism208to set the linear displacement of the post204, and thereby the tilt of the arm pad deck202. The single control element210may comprise an extended rod to allow the user to actuate the locking mechanism208while the user's arm is on the arm pad deck202. Referring toFIG.3, a perspective, exploded view of a console mounted armrest according to an exemplary embodiment is shown. An arm pad deck302is pivotably connected to a post304at a posterior portion via a post connection pin316and pivotably connected to a linkage306at an anterior portion via linkage connection pin318. A locking mechanism308controls the linear displacement of the post304. The locking mechanism308is actuated by a single control element310. The single control element310may comprise a rod that engages one of a plurality of post grooves320defined by the post304. Each of the plurality of post grooves320defines a fixed position of the post304and corresponding tilt of the arm pad deck302to maintain a relationship between an arm pad312and control such as a side stick control. In at least one embodiment, a post spring314biases the post304upward. In such embodiment, when the single control element310is actuated, the post304is released to travel up toward a user's arm. The user may then apply a downward force to the arm pad312to arrive at the desired position. Referring toFIGS.4A-4B, side views of a console mounted armrest according to an exemplary embodiment are shown. In a fully retracted orientation (such as inFIG.4A), a post404connected to an arm pad deck402is fully retracted within the armrest and held in place via a locking mechanism408having a single control element410that engages a post groove420defined by the post404. In at least one embodiment, a post spring414configured to bias the post404upward is in a state of maximum extension. A linkage406connecting the arm pad deck402to the locking mechanism408controls the tilt of the arm pad deck402to rest flush with the armrest. In a fully extended orientation (such as inFIG.4B), the post404is fully extended, with a portion of the post404within the locking mechanism408and held in position via the single control element410engaging a different post groove420defined by the post404. In at least one embodiment, the post spring414is in a state of minimum extension. The linkage406connecting the arm pad deck402to the locking mechanism408controls the tilt of the arm pad deck402to maintain a relationship between the arm pad deck402and a corresponding control. Referring toFIGS.5A-5B, top, detail views of a locking mechanism508according to an exemplary embodiment are shown. The locking mechanism508defines a shaft to accommodate and guide post504. The post504defines a plurality of post grooves520; the post grooves520configured to engage a control element510. Furthermore, the control element510defines a control groove528. In at least one embodiment, the control element510includes stops524,526that define engaged and disengaged states of the locking mechanism508. In at least one embodiment, a control element spring522biases the control element510toward the engaged state. When engaged (such as inFIG.5A), a portion of the control element510is coincident with one of the post grooves520. The post504is held in a fixed position defined by the post groove520, which also control the tilt of an arm pad via a linkage506. Likewise, when disengaged (such as inFIG.5B), the control groove528is coincident with the post504so that the post504can move past the control element510. The post504may move (for example, via a post spring514) until the control element510coincides with one of the post grooves520, at which point the control element spring522biases the control element510toward the engaged state. It is believed that the inventive concepts disclosed herein and many of their attendant advantages will be understood by the foregoing description of embodiments of the inventive concepts disclosed, and it will be apparent that various changes may be made in the form, construction, and arrangement of the components thereof without departing from the broad scope of the inventive concepts disclosed herein or without sacrificing all of their material advantages; and individual features from various embodiments may be combined to arrive at other embodiments. The form herein before described being merely an explanatory embodiment thereof, it is the intention of the following claims to encompass and include such changes. Furthermore, any of the features disclosed in relation to any of the individual embodiments may be incorporated into any other embodiment.

11857086

DETAILED DESCRIPTION Detailed embodiments of the present disclosure are disclosed herein; however, it is to be understood that the disclosed embodiments are merely illustrative of the disclosure that may be embodied in various forms. In addition, each of the examples given in connection with the various embodiments of the disclosure is intended to be illustrative, and not restrictive. All terms used herein are intended to have their ordinary meaning in the art unless otherwise provided. All concentrations are in terms of percentage by weight of the specified component relative to the entire weight of the topical composition, unless otherwise defined. As used herein, “a” or “an” shall mean one or more. As used herein when used in conjunction with the word “comprising,” the words “a” or “an” mean one or more than one. As used herein “another” means at least a second or more. Referring now toFIG.1, a chair1having seat2, back3, and frame4is illustrated. Frame4supports the chair in part through legs5such that user7is able to sit therein. Chair1comprises a cleaning system9positioned at the area where the feet of user7sit. Cleaning system9is a brush which may be substantially cylindrical having a plurality of bristles extending in one or more directions. In some embodiments, the plurality of bristles may be located on one or more substantially planar surfaces and extend therefrom. Cleaning system9is attached to the frame4at the legs5with a cleaning support bar11extending across two legs of the frame4. On cleaning support bar11is a cleaning implement10which user7may use to clean feet8such as to remove particulate material that has been deposited thereon. The cleaning support bar11may be attached to the frame with one or more swivels12allowing the cleaning system to be positioned out of the way of the user when not in use (e.g. underneath seat2as depicted). In the embodiment depicted, two swivels12are used allowing for a circular rotation of the cleaning system with respect to the length dimension of the chair. In some embodiments, the cleaning system may rotate with respect to the length, height and/or width dimensions of the chair, or combinations thereof. The chair may include a suitable support in order to accommodate an occupant. These supports may be composed of, for example, a fabric such as canvas, mesh, plastic, wood, metal, or combinations thereof. Such support may be located on the seat and/or the back of the chair. In some embodiments, the supports are positioned to allow the occupant to sit in an upright position. In some embodiments, the supports may be positioned to allow for the user to sit in a reclined position or with the legs extended (e.g., in a chaise lounge configuration). Any support may be contoured in a manner such that the user may comfortably rest on the chair. It will be understood that the chairs of the present disclosure may have many different configurations such as chaise lounge, folding chair, reclining chair, rocking chair, or adirondack chair. In some embodiments, the chair is lightweight and foldable. The cleaning system may be configured in order to provide cleaning to an occupant sitting or lying in the chair in a typical position (e.g., as illustrated inFIG.1). Referring now toFIG.2, chair10is depicted having seat11, back12, and frame13. The cleaning system comprises an air blower14with orifice15oriented towards the portion of chair10where a user typically puts their feet. The air blower14propels air through orifice15towards a user's feet. Air blower14may operate with, for example, a compressor or a fan operating within the housing to force the air through orifice15. The rate and volume of airflow may be controlled with controller16which, in the embodiment depicted, is situated proximal to where a user may control air blower14while sitting. In some embodiments, controller16may be a binary switch (i.e., an on/off switch) or a dial allowing for control of the airflow. In certain implementations, the blower may be powered by an internally stored battery, a connection to a battery, or a connection to an electrical outlet (e.g., AC wall outlet). Referring now toFIG.3A, chair20is depicted having another fluid pump (e.g., air and/or water)29positioned underneath seat21. The fluid pump is in fluid communication to one or more nozzles25through hose24. When the pump is activated, fluid (water in the embodiment depicted), is forced through the nozzle to be sprayed at a user's feet near the leg portion of frame23with spray26. In the embodiment depicted, the hose is oriented in a rectangular configuration attached to both front legs33thereby allowing for fluid to clean the feet from the bottom and both left and right sides. In some embodiments, hose24may further comprise one or more nozzles oriented at the top such that the top of the foot may be cleaned as well. In certain implementations, the hose may comprise a single nozzle and one or more points of attachment to the frame such that the nozzle may be oriented to provide a spray in any direction. In some embodiments, the cleaning system may be oriented towards an area proximal to the chair. For example, the cleaning system may be oriented to spray fluid (e.g., water) towards an object or subject sitting or lying next to the chair. A user may move their feet through one or more of the sprays formed from the cleaning system in order to use the system. Additionally, chair20comprises a water reservoir27which is positioned on the back side of chair back22. The water tank27is in fluid communication with pump29through hose28. Water from reservoir27may be refilled in order to supply more fluid as necessary. In certain embodiments, the water reservoir is removably attached from the chair back and/or the connection hose. FIG.3Billustrates chair30having seat31and back32. The cleaning system comprises a fluid reservoir37oriented underneath seat31. Nozzles35are in fluid communication with reservoir37via hose34. Attached to reservoir37is a hand pump38which may be pumped by user to provide the required force to propel fluid (e.g., water, air) through hose34towards nozzle35to result in spray36. As various changes can be made in the above-described subject matter without departing from the scope and spirit of the present disclosure, it is intended that all subject matter contained in the above description, or defined in the appended claims, be interpreted as descriptive and illustrative of the present disclosure. Many modifications and variations of the present disclosure are possible in light of the above teachings. Accordingly, the present description is intended to embrace all such alternatives, modifications and variances which fall within the scope of the appended claims.

11857087

DETAILED DESCRIPTION Cables100are each connected at a first end to a single plug101, which can be plugged into a socket. It is also possible to connect the cables to a socket, into which a plug can be inserted. The cables100are also connected at their second end to a central plug102, which can be plugged into a socket. It is also possible to connect the cables to a central socket, into which a plug can be inserted. Due to the use of the central plug102, a central electrical device can be electrically connected to the cables in a particularly simple manner, so that the central electrical device can be connected after the fact, for example by a user. In addition, the use of the central plug102reduces the risk of incorrect contacting. FIG.2shows that the cables100are fastened to the base body200of a seating furniture chassis. Here, the plugs101at the first end of the cables are arranged such that they can be connected in a particularly simple manner to electrical peripheral devices, such as a motor or an operating device. Due to this arrangement, it is particularly simple for a user to correctly electrically connect the peripheral electrical device to the central electrical device. Referring now toFIG.3, an example embodiment of a seating furniture chassis according to the present invention is depicted and will now be described. As shown inFIG.3, the example seating furniture chassis can comprise a plurality of peripheral electrical devices300, a central electrical device301, an operating device302, side parts303, a data memory304, a signal processor305, a back part306, and a drive mechanism307. As described herein, the peripheral electrical devices can communicate with the central electrical device, which is advantageous because it allows the central electrical device to detect and control the peripheral electrical devices. As further described herein, the operating device302can be used by a user to control a drive mechanism307, such as an electric motor. First control signals from the operating device can be received and processed by the central electrical device. The central electrical device can be designed to generate second control signals and emit them to the drive mechanism as a function of the first control signals. Additionally, the data memory304can be configured as a digital data memory and the signal processor305can be configured to read out the data memory. Furthermore, the side parts303and the back part306can be fastened to the base body200(FIG.2). As described herein, the side parts comprise a component which, when the seating furniture chassis is used as intended, is arranged laterally next to a user sitting on a seat frame of the base body. The side part, for example, can be an armrest. Similarly, the back part comprises a component that is fastened to a rear of the base body. When the seating furniture chassis is used as intended, the rear is the side of the base body that is arranged behind the user sitting on the seat frame. The back part, for example, can comprise a backrest.

11857088

DESCRIPTIONS OF THE PREFERRED EMBODIMENTS Referring to the drawings and first toFIGS.1and2, there is shown a collapsible or adjustable bench10which, in this example, may be employed as an adjustable meditation bench or for any other suitable purpose.FIGS.1and2show the bench10in deployed configuration. The bench10generally comprises a seat12which, in this example, is formed of a rigid polymer with a soft elastomer insert which mates with a skirt14. The skirt14extends downwardly from the seat12. The skirt14has a front apron16, a rear apron18, and side aprons20and22which each extend between the front apron16and the rear apron18. The bench10also has a height adjustable leg assemblies24and26which are each pivotably coupled to the skirt14. The leg assemblies24and26each include respective upper portions28and30and respective lower portions32and34. The upper portions28and30of each of the leg assemblies24and26are received by respective grooves36and38of the lower portions32and34of each of the leg assemblies24and26. This allows the upper portions28and30of the leg assemblies24and26and the lower portions32and34of the leg assemblies24and26to be slidable relative to one another. The leg assemblies24and26are also each provided with respective feet40and42. The feet40and42are substantially cylindrical in this example. There is an adjustable strap44secured about the feet40and42. The adjustable strap44may be used to restrict movement of the leg assemblies24and26and the adjustable strap44may be employed as a yoga strap. The leg assemblies24and26of the bench10are deployed inFIGS.1and2and, in this example, the bench10has a height H1of nine inches in the deployed configuration. There is a detent that secures the bench10in the deployed configuration. The adjustable strap44may also be used to restrict movement of the leg assemblies24and26in the deployed configuration.FIGS.3and4show the bench10in a first intermediate configuration. The lower portions32and34of the leg assemblies of24and26of the bench10are retracted inFIGS.3and4and, in this example, the bench10has a height H2of seven inches in the first intermediate configuration. The leg assemblies of24and26of the bench10are extended and retracted by between the deployed configuration and the first intermediate configuration by a button release which allows the upper portions28and30of the leg assemblies and the lower portions32and34of the leg assemblies to be slidable relative to one another. There is a detent that secures the bench10in the first intermediate configuration. The adjustable strap44may also be used to restrict movement of the leg assemblies24and26. The adjustable strap44may also be used to restrict movement of the leg assemblies24and26in the first intermediate configuration. The leg assemblies24and26of the bench10are pivoted outwardly toward the skirt inFIGS.5and6to a second intermediate configuration and, in this example, the bench10has a height H3of five inches in the second intermediate configuration. The leg assemblies of24and26of the bench10are each mounted on respective pivot pins46aand46b, which are shown inFIG.7A, and allow the leg assemblies of24and26to be pivoted between the first intermediate configuration and the second intermediate configuration. There are detents, for examples detents48a,48b,48cand48dshown inFIG.7B, which secure the bench10in the second intermediate configuration. The adjustable strap44may also be used to restrict movement of the leg assemblies24and26in the second intermediate configuration. The leg assemblies24and26of the bench pivoted further outwardly toward the skirt inFIGS.8and9to a collapsed configuration and, in this example, the bench10has a height H4of three inches in the collapsed configuration The pivot pins46aand46b, which are shown inFIG.7A, and allow the leg assemblies of24and26to be pivoted between the second intermediate configuration and the collapsed configuration. There are detents, for examples the detents48a,48b,48cand48dshown inFIG.7B, which secure the bench10in the second intermediate configuration. FIG.10shows that the side aprons20and22of the skirt14each have a respective top edge50and52which slope downwardly from the rear apron18to the front apron16. The seat12has a sloped bottom54which is mates with the skirt14of the bench10. The seat12is generally wedge-shaped and has an apex56.FIGS.8and9show the seat12mates with the skirt14of the bench10, with the apex56of the seat12extending along the rear apron18of the skirt14, so that the bench10has a substantially flat top surface. The seat12may be removed from the skirt14to allow access to a storage compartment58as shown inFIG.10. The seat12may be used as a kneeling aid after it is removed. The orientation of the seat12may also be reversed.FIGS.11and12show the seat12mates with the skirt14of the bench10, with the apex56of the seat12extending along the front apron16of the skirt14, so that the bench10has an sloped top surface which, in this example, has slope of seven degrees. The seat12is accordingly shaped to be selectively mated with the skirt14to provide the bench with either a flat top surface or a sloped top surface. A logo60may also be embossed or printed on the seat12or other part of the bench10for advertising purposes. It will be understood by a person skilled in the art that many of the details provided above are by way of example only, and are not intended to limit the scope of the invention which is to be determined with reference to the following claims.

11857089

DETAILED DESCRIPTION OF THE INVENTION As described herein,FIG.1is a top perspective view of a first embodiment of a toddler walker with a toddler grasping a handlebar while simultaneously viewing media displayed on a display device mounted thereon, andFIG.2is a top perspective of the embodiment ofFIG.1, showing the independent adjustability for rotation and length of the handlebar assembly, and rotation and height for the display device assembly, as now described in further detail. The first embodiment of the toddler walker as shown inFIGS.1and2includes a body202which has a bottom panel (not shown), and a front panel224, a rear panel222, and two side panels226attached to the bottom panel so as to form an open box-like structure. This enables a toddler209that is using the toddler walker to carry items such as toys207in the walker. At least four wheel assemblies204are provided, which as further shown inFIGS.3and6each including a wheel205rotatably affixed to the body202so that when the wheels205rotate the body202moves via the wheels along a surface. A handlebar assembly235is provided with a handlebar232and a pair of leg channels234pivotally connected to the side panels, to enable the toddler209to grasp the handlebar assembly235when located behind the body202and direct movement of the body along the surface. Means are also provided for adjusting the handlebar232to a desired vertical position, wherein the leg channels234are each slidingly connected to a slotted member236, with the handlebar232being connected at each end to the slotted members236. As shown further inFIG.3, the means for adjusting the handlebar to a desired vertical position include a bolt310inserted through an aperture314on the leg channel234and a slot322in the slotted member236, with a nut320attaching to the bolt310to hold the slotted member236in sliding relation to the leg channel234. Loosening the nut320from the bolt310allows the slotted member236to be raised or lowered in relation to the leg channel234and tightening the nut320to the bolt310retains the slotted member236with respect to the leg channel234. Referring again toFIG.2, a display device assembly241is pivotally connected to the handlebar assembly235and has means for removably attaching a display device250for display to the toddler209as they direct movement of the walker along the surface. FIG.6is a local perspective view with parts separated showing the components for tensioning the wheels in the first embodiment ofFIG.1. Each wheel assembly204includes a hub611having a hub recess610centered therein. The wheel205of each wheel assembly204is rotatably affixed to the body202with an axle614attached to the side panel226. The axle614includes a threaded portion613. The wheel205is coupled to the axle614by inserting the threaded portion613of the axle through the hub recess610such that the hub611rests against a bearing surface612of the axle. A knob assembly606including a knob602is threaded onto the threaded portion613of the axle614to maintain the wheel205rotatably on the axle. Each wheel assembly204may also include means for adjusting the tension of the wheel such that the wheel may be set to require a desired amount of strength to push the walker along the surface. For example, the means for adjusting the tension of the wheel may include a lock washer608inserted onto the threaded portion613of the axle between the hub611and the knob602, wherein the lock washer608provides biasing so that tightening the knob602urges the lock washer608against the hub611to increase friction against the hub and require increased strength of the toddler to push the walker along the surface. The wheel assembly204may also have a label604including graphics indicating the position of the knob with respect to the wheel, thus enabling each wheel to be easily set to the same tension as the others. Referring back toFIGS.2and3, in one aspect, the handlebar assembly235is pivotally connected to the side panels226with a bolt312inserted through an aperture316in each leg channel and a mating aperture in the side panel226. A nut318attaches to each bolt312to hold each leg channel234in pivoting relation to the side panel226. Loosening the nut318from the bolt312allows the leg channel234to be pivoted in relation to the side panel226to a desired angular position and tightening the nut318to the bolt312retains the leg channel234with respect to the side panel226. Alternately, with reference now toFIG.4, the handlebar assembly235is pivotally connected to the side panels226with a bolt312inserted through an aperture in the leg channel234and threaded into a tapped insert402affixed in the side panel226. Loosening the bolt312from the tapped insert402allows the leg channel234to be pivoted in relation to the side panel226to a desired angular position and tightening the bolt312to the tapped insert402retains the leg channel234with respect to the side panel226. With reference toFIGS.2and5, the display device assembly241may include a crossbar249connected at each end to one of a pair of legs242, wherein each of the legs242is pivotally connected to the handlebar assembly235with a bolt502having threads503inserted through an aperture504in each leg channel234of the handlebar assembly235and a mating aperture506in each leg242. A nut508attaches to each bolt502to hold each leg242in pivoting relation to the leg channel234. Loosening the nut508from the bolt502allows the leg242to be pivoted in relation to the leg channel234to a desired angular position and tightening the nut508to the bolt502retains the leg242with respect to leg channel234. Means for removably attaching a display device250for display to the toddler209as they direct movement of the walker along the surface may include a device bracket252for removably holding the display device250. The device bracket252has a pair of threaded device mounts248oppositely disposed to removably hold the display device250, and a pair of locking knobs244. Each of the locking knobs244threadedly engage each threaded mount248such that the position of each of the threaded mounts248can be selectively adjusted to accommodate differently sized display devices by moving towards or away from each other as desired. Means for adjusting the height of the display device250may include a pair of nuts510for removably securing each of the threaded mounts248to the crossbar249through a slotted upright246attached to the crossbar. The device bracket252may be raised or lowered in relation to the crossbar249and the nuts510may be used to secure the device bracket252in a desired vertical position on the crossbar249. By providing the various adjustments described above, the toddler walker can easily accommodate differently aged and sized toddlers, thus extending the useful life of the toddler walker as the toddler grows older, until the point where they no longer need or want to use the toddler walker. Thus,FIG.7is a side elevation of the toddler walker adjusted for use by a toddler702having a smaller stature; andFIG.8is a side elevation of the toddler walker adjusted for use by a toddler802having a larger stature. FIG.9is a top perspective view of a second embodiment of a toddler walker that is similar to the first embodiment described above, the main difference being a modified display device assembly908that is independent of a modified handlebar assembly904and is slidably adjustable, rather than being pivotally connected to the connected to the handlebar assembly as in the first embodiment. Thus, as with the first embodiment, the toddler walker includes a body202which has a bottom panel (not shown), and a front panel224, a rear panel222, and two side panels226attached to the bottom panel so as to form an open box-like structure. At least four wheel assemblies204are provided, each including a wheel205rotatably affixed to the body202so that when the wheels205rotate the body202moves via the wheels along a surface. A modified handlebar assembly904is provided in this second embodiment with a handlebar232and a pair of modified leg channels902pivotally connected to the side panels226, to enable a toddler to grasp the handlebar assembly904when located behind the body202and direct movement of the body along the surface. Also shown is a horn906, which may be electrical (battery powered) or mechanical as known in the art. The horn906may be used with any of the embodiments described herein. As with the first embodiment, means are provided for adjusting the handlebar232to a desired vertical position, wherein the leg channels902are each slidingly connected to a slotted member236, with the handlebar232being connected at each end to the slotted members236. The means for adjusting the handlebar to a desired vertical position include a bolt310inserted through an aperture (not shown) on the leg channel902and a slot322in the slotted member236, with a nut320attaching to the bolt310to hold the slotted member236in sliding relation to the leg channel234. Loosening the nut320from the bolt310allows the slotted member236to be raised or lowered in relation to the leg channel234and tightening the nut320to the bolt310retains the slotted member236with respect to the leg channel234. As stated above, in this second embodiment, the modified display device assembly908is slidingly connected to the side panels226and has means for removably attaching a display device250for display to the toddler209as they direct movement of the walker along the surface. As shown further inFIG.10, each side panel26has a slotted bracket1006with a slot1008for receiving therethrough a mount1002with a threaded stud, wherein a nut1004is threaded onto the threaded stud to secure the mount1002to the slotted bracket. Also, in this second embodiment, the display device assembly908has a pivoting crossbar920attached at each end to one of a pair of legs924, wherein each of the legs924is pivotally connected to the side panels with a bolt502inserted through an aperture506in each leg924and a mating aperture in the mount1002secured to the side panel226. The bolt502is secured with a nut508and holds each leg924in pivoting relation to the mount1002. Loosening the nut508from the bolt502allows the leg924to be pivoted in relation to the mount1002to a desired angular position and tightening the nut508to the bolt502retains the leg924with respect to the mount1002. In an alternative aspect of this embodiment,FIG.11is a local perspective view of the second embodiment ofFIG.9showing a display device mount having height adjustability in addition to sliding capability. A slotted member1104is provided having a slot1106, selectively adjustable and held in place with respect to a modified leg1102using a bolt1108and mating nut (not shown). Referring back toFIG.9, the modified display device assembly908has means for pivoting the crossbar920in relation to the legs924, which may include a bolt922inserted into an aperture in the crossbar and a mating aperture in the leg, the bolt922being secured by a nut (not shown). The crossbar920may be pivoted in relation to the legs924to provide the desired angular position of the display device. In a third embodiment, as shown inFIG.12, the toddler walker is similar to the first and second embodiments but has independent sliding capability for both the handlebar assembly and the display device assembly. Thus, as with the first embodiment, the toddler walker includes a body202which has a bottom panel (not shown), and a front panel224, a rear panel222, and two side panels226attached to the bottom panel so as to form an open box-like structure. At least four wheel assemblies204are provided, each including a wheel205rotatably affixed to the body202so that when the wheels205rotate the body202moves via the wheels along a surface. A modified handlebar assembly1230is provided with a handlebar232and a pair of modified leg channels1212slidingly and pivotally connected to the side panels226to enable a toddler to grasp the handlebar232when located behind the body and direct movement of the body along the surface. With reference toFIG.13, each side panel226has a slotted rail1202with a slot1204for receiving therethrough a mount1206with a threaded stud, wherein a nut1208is threaded onto the threaded stud to secure the mount1206where desired along the slotted rail1202. A pair of legs channels1212are pivotally connected to the mounts1206with a bolt1210having a threaded portion inserted through an aperture1214in each leg channel1212and a mating aperture in each mount1206, the threaded portion of the bolt being secured with a nut1216. Thus, the leg channel1212pivots in relation to the mount1206(and as described above the mount1206slides in relation to the slotted rail1202). In this third embodiment, the modified display device assembly is substantially the same as that in the second embodiment described above with respect toFIG.9, in that it is slidingly connected to the side panels226and has means for removably attaching a display device for display to the toddler as they direct movement of the walker along the surface, including means for adjusting the height of the display device. Instead of being located in a (smaller) slotted bracket1006as inFIG.9, the mounts1002are located in the longer slotted rail1202along with the modified handlebar assembly1230. With respect toFIG.13, the slot1204in the slotted rail1202receives therethrough the mount1002with a threaded stud, wherein a nut1004is threaded onto the threaded stud to secure the mount1002to the slotted bracket Each of the legs924is pivotally connected to the mount1002with a bolt502inserted through an aperture506in each leg924and a mating aperture in the mount1002. The bolt502is secured with a nut508and holds each leg924in pivoting relation to the mount1002. Loosening the nut508from the bolt502allows the leg924to be pivoted in relation to the mount1002to a desired angular position and tightening the nut508to the bolt502retains the leg924with respect to the mount1002. With respect to all embodiments as described above, the entertainment and attention getting factor provided by the child's favorite video program presentation on the display device including familiar music, characters and learning animation is the key factor in increasing attention and commitment to by the child to working with the device.

11857090

DETAILED DESCRIPTION OF THE INVENTION The following detailed description is of the best currently contemplated modes of carrying out exemplary embodiments of the invention. The description is not to be taken in a limiting sense but is made merely for the purpose of illustrating the general principles of the invention, since the scope of the invention is best defined by the appended claims with reference to the drawings. As used herein, directional terms such as upper, lower, upward, downwardly, top, left, right and the like are used in relation to the illustrative embodiments as they are depicted in the figures, such that the upward direction (or upper) being toward the top of the corresponding figures and the downward direction being toward the bottom of the corresponding figures. A general overview of the various features of the invention will be provided, with a detailed description following. Broadly, an embodiment of the present invention provides an art rack with dowels. The invention comprises a first base rail and a second base rail placed parallel to each other on a surface such as a floor. The base rails comprise a plurality of top apertures opposite of the surface and a plurality of side apertures on a side of the base rail. An end of a base dowel may be inserted into a side aperture of the first base rail, and an opposite end of the base dowel may be inserted into the side aperture of the second base rail, connecting the base rails. A plurality of base dowels may connect the base rails. The first base rail and the second base rail connected by the base dowel or the plurality of base dowels form a base. A plurality of storage dowels are inserted into the top apertures of the base rails. Slots are formed between the storage dowels for the placement of artwork. The base dowels and the storage dowels may be cylindrical. In some embodiments, the base rails and storage dowels may be slabs of wood, such as standard 2×4s purchased at a hardware store. Artwork, such as canvas or wall art, may be placed in the slots for storage. The storage dowels enable multiple art works to be stored simultaneously without contacting or pressing on one another. The storage dowels separate, organize, and protect the artwork. Some storage dowels may be removed to form a thicker slot for the placement of thicker artwork. Additional storage dowels may also be inserted to form a thinner slot for the placement of thinner artwork or to form additional slots. In some embodiments of the present invention, storage dowels may be 24 inches long, but any size dowel may be used to accommodate larger or smaller art works. The storage dowels preferably extend past a height of the artwork. This enables the artwork to fit completely within the slot and prevents damage to a frame of the artwork. The storage dowels may be exchanged with longer or shorter dowels to customize the slot to the height of the artwork. The base dowels may be exchanged for longer or shorter dowels to customize the base to a width of the artwork. The base dowels may be connected to the first base rail and second base rail by fasteners, such as screws. The base rails may be mounted on a horizontal or vertical surface. This enables artwork to be stored in horizontal or vertical slots. In some embodiments of the present invention, a second base may comprise base rails with bottom apertures. The second base may be stacked or layered on the storage apertures of a first base via insertion of the storage dowels into the bottom apertures. This enables multiple levels of slots. The present invention may be disassembled and re-assembled for convenience, transportation, or storage. An adhesive such as glue may join the dowels to the base rails. Screws or nails may also be used. In some embodiments, the base may also be permanently joined to form a solid piece wherein the base dowels may no longer be disassembled from the base rails. In some embodiments, the base may be one solid piece. For example, the base may be a plastic, produced by a molding process wherein the base rails and base dowels are all part of the same mold. The material of the dowels and base rails are not particularly limited by the invention. The dowels and base rails may be wood, metal, plastic such as polyvinyl chloride, or any other suitable material. In some embodiments of the invention, the base dowels may be a block or a plank such as a piece of lumber. The present invention is not limited to the placement of canvas or wall art. The artwork may include stained glass windows, notebooks, sketchbooks, file folders, papers, cardboard boxes, poster/mat board, portfolios, tables, laptop computers or any other suitable material that may fit in the slots. Referring now to the Figures,FIG.1is a perspective view of art rack according to an embodiment of the present invention. A first base rail10is joined to a second base rail12by a base dowel18. Storage dowels20protrude vertically from top apertures16of the base rails10,12. Artwork26fits vertically in slots formed by a space between the storage dowels20. The art rack is customizable as the storage dowels20may vary in height, and not all top apertures16require a storage dowel20. FIG.2shows an exploded view according to an embodiment of the present invention. The base dowels18fit into side apertures14on the base rails10,12. Top apertures16are on a top face of the base rails10,12. to accommodate storage dowels20. FIG.3is a detail view taken on line3-3inFIG.1. Storage dowels20fit into top apertures16of the second base rail12. FIG.4shows an embodiment of the present invention mounted vertically onto a wall. The artwork26then fits into the slots horizontally. FIG.5shows an embodiment of the present invention with base rails10,12having a greater length. Accordingly, the embodiment has more storage dowels20and more slots for storing artwork26. FIG.6depicts an alternate embodiment of a base30with an alternate embodiment of base dowels22. The alternate embodiment of base dowels22are rectangular cuboids or blocks, providing a more secure and stable base. The alternate embodiment of the base dowels22may be joined to the first base rail10and the second base rail12by fasteners or by fitting into the side aperture14. FIG.7shows multi-layer art rack according to an embodiment of the present invention. Connector dowels24extend from top apertures16of a first base rail10and second base rail12. The first base rail10and second base rail12form a bottom base32. The connector dowels24secure the bottom base32to a top base34, forming a multi-layer art rack. The top base comprises a third base rail100and a fourth base rail120. The connector dowels24may be secured to the top base by means of a bottom aperture (not pictured) or by means of a fastener or adhesive. The connector dowels24may be thicker than storage dowels20. The thickness of the connector dowels24may vary. The top base34and bottom base32may each be utilized for storing artwork26. It should be understood, of course, that the foregoing relates to exemplary embodiments of the invention and that modifications may be made without departing from the spirit and scope of the invention as set forth in the following claims.

11857091

DETAILED DESCRIPTION OF CERTAIN EMBODIMENTS In accordance with the present disclosure, as illustrated inFIGS.1-17, a framing system or assembly (kit)100is shown and described and is configured to create a framed article that can be displayed either on a wall or can stand upright on a flat surface, such as a table or desk. The framed article is configured to display an image that is part of an image substrate20(FIG.3) that is held and displayed within the framing system100. The image substrate20is typically a rigid substrate on which an image is displayed. While the image substrate20is illustrated inFIG.11as a single layer, it will be appreciated that the image substrate20can include more than one layer, such as a rigid backing layer and a photo layer or the like. The image displayed can take any number of different forms including a paper clipping, a photo, artwork including a painting, or other artistic expression. As described herein, the framing system100provides an easy to use and easy to assemble kit that allows a user to assemble the frame and position and retain the image substrate therein. The framing system100has other accessories to allow it to be displayed in different ways, such as hanging on a wall or displayed on a flat table surface, etc. The framing system100has two main parts, namely, an outer frame element (first part)200and a back plate300(second part) that mates with the outer frame element200to form the assembled frame. As described herein, the outer frame element200and the back plate300are attached to one another with a mechanical fit and more particularly, can snap-fittingly mate with one another. The outer frame element200is a hollow piece that has a main body that defines a hollow center opening205. The outer frame element200can have any number of different shapes and sizes based on the intended shape and size of the framed article10. The main body of the outer frame element200has a plurality of (e.g., four) interconnected walls202,204,206,208. The illustrated main body has a square shape and therefore, each of the interconnected walls202,204,206,208can be in the form of a rail or the like. Each of the walls202,204,206,208has an outer surface201and an inner surface203. The illustrated outer surface201represents the portion of the frame system100that is readily visible and therefore, it can be smooth or it can have a decorative finish (and thus is not limited to being a smooth surface). Outer Frame Element200 The outer frame element200includes a plurality of recesses220that are formed along the inner surface203. As illustrated, there can be two recesses220formed along each of the walls202,204,206,208. For example, one recess220can be formed near one end of the respective wall, while the other recess220can be formed near the other end. The recesses220can be centrally located along the respective walls202,204,206,208or the recesses220can be located closer to a rear edge211of the respective wall. The rear edge211is the edge that faces rearward when the frame system100is displayed in an intended manner. As shown inFIG.11, the recess220can have a forward beveled edge and a flat rear edge, with the forward beveled edge being further from the rear edge211compared to the flat rear edge of the recess220which can be thought of as defining a shoulder. The outer frame element200also includes a plurality of protrusions (e.g. ribs) that are formed along the inner surface203. As shown inFIG.5, the plurality of protrusions comprises two or more sets of different protrusions formed along each of the walls202,204,206,208. For example, a set of first protrusions (ribs)240is provided; a set of second protrusions (ribs)250is provided; and a set of third protrusions (ribs)260is provided. Each first protrusion240is formed along the inner surface203and extends upwardly from an inner landing210that extends around the inner surface203. The first protrusions240are elongated structures each having a first length. In the illustrated embodiment, there are two first protrusions240that are spaced along the length of each wall202,204,206,208. The first protrusions240extend towards but do not reach the rear edge211. As shown, all of the first protrusions240associated with each of the walls202,204,206,208can be located between the two recesses220formed along the respective wall202,204,206,208. The first protrusions240are integrally formed along the inner surface of the walls202,204,206,208. The second protrusions250are elongated structures each having a second length. In the illustrated embodiment, there are six second protrusions250that spaced along the length of each wall202,204,206,208. The second protrusions250extend towards but do not reach the rear edge211. As shown, all of the second protrusions240associated with each of the walls202,204,206,208can be located between the two recesses220formed along the respective wall202,204,206,208. The second protrusions250are integrally formed along the inner surface203of the walls202,204,206,208. The second length is less than the first length and therefore, the first protrusions240are longer and extend further up the inner face of the walls202,204,206,208compared to the second protrusions250. The inner landing210has a channel or groove212formed therein. The channel212preferably extends completely around the inner landing210. The second protrusions250can have curved inner surfaces as shown inFIG.6andFIG.6also shows that the second protrusions250extend a greater distance into the channel212compared to the first protrusions240. As shown inFIGS.4-6, the third protrusions260can be formed along the inner landing210and are spaced from the inner surface203. The second protrusions250can be in the form of bumps or elongated protrusions and extend in the direction toward the rear edge211much like the first and second protrusions240,250. Like the second protrusions250, the third protrusions260extend into the channel212. The third protrusion260, like the second protrusion250, can have a rounded (curved) surface. The second protrusions250and third protrusions260can generally have a pill shape or partial pill shape as shown. The third protrusions260have third lengths that are less than both the first lengths of the first protrusions240and the second lengths of the second protrusions250. As best shown inFIG.4, all of the protrusions240,250,260extend outwardly from the inner landing210. The third protrusions260are located on one side (inner side) of the channel212and the first protrusions240and the second protrusions250are located on the other side (outer side) of the channel212. In the illustrated embodiment, there are two third protrusions260per each wall202,204,206,208. The two third protrusions260can be centrally located and be formed between a pair of second protrusions250. As described herein, the three sets of protrusions240,250,260have different functionality. Each of the walls202,204,206,208preferably has the same pattern of first, second and third protrusions240,250,260. As described herein, the third protrusions260also serves as a surface against which the image substrate20is seated as shown inFIG.3in which the third protrusions260are not visible since they lie below the image substrate20. One feature of the inner surfaces of the second protrusions250is to locate the outer edge of the image substrate20. As shown inFIG.3, when the image substrate20is inserted into the outer frame element200, the outer edge of the image substrate20contacts and seats against the second protrusions250. In other words, the second protrusions250serves to align the image substrate20within the framing system100. The tops of the second protrusions250also serve as secondary stops that prevent the back plate300from being pushed into the outer frame element200(in a direction toward the image substrate20). As also described herein, the first protrusions240act as bumper guards and they prevent the back plate300from shifting inside of the outer frame element200. In addition, the first protrusions240help keep the snap-fit attachment intact between the outer frame element200and the back plate300. As mentioned, the back plate300is configured to be inserted into and mate with the outer frame element200and more particularly, according to one embodiment, a snap-fit connection is achieved between the outer frame element200and the back plate300as described herein. The outer frame element200can be formed of any number of suitable materials including suitable plastics (e.g., injection molded plastics). Back Plate300 The back plate300serves as the rear part of the frame assembly100that is located behind the image substrate20and the engagement of the back plate300to the outer frame element200serves to capture and hold the image substrate20between the back plate300and the outer frame element200. As mentioned, the back plate300attaches to the outer frame element200and closes off the back of the frame system100. As also described herein, the image substrate20is disposed and held between the back plate300and the outer frame element200and more particularly, the user places the image substrate onto the inner landing210and then attaches the back plate300to the outer frame element200, thereby capturing the image substrate20therebetween. As shown, the back plate300is inserted into the hollow opening of the outer frame element200with locking features of the back plate300engaging locking features of the outer frame element200to form a snap-fit. The back plate300has a complementary shape to the outer frame element200and therefore, in the illustrated embodiment, the back plate300is square shaped. As best shown inFIGS.7and8, the back plate300has a first wall302, a second wall304, a third wall306, and a fourth wall308that are all interconnected to one another. Between the first wall302, the second wall304, the third wall306, and the fourth wall308, an inner wall310is provided and extends between these walls. The inner wall310is thus designed to completely seal off the inner space between the walls302,304,306,308. The inner wall310has a front face that faces and contacts the image substrate20and an opposite rear face of the inner wall310faces away from the inner wall310. Along the inner wall310there is a raised platform320that protrudes outwardly (rearwardly) from the inner wall310. The raised platform320has a center portion322and a plurality of leg portions324that extend from the center portion322to each of the walls302,304,306,308. Each of the leg portions324is defined by a curved (sloped) edge326. In the illustrated embodiment, there are four leg portions324and thus, four curved edges326. Between each curved edge326and one respective corner of the back plate300, there is a corner space350that has a wedge shape. Within the center portion322of the raised platform320there can be a raised pad325that provides a surface on which mounting hardware can be secured. The mounting hardware is generally illustrated inFIG.1at element50. The mounting hardware50can take any number of different forms that are configured to attach the back plate300to a support surface, such as a wall. For example, the mounting hardware50can take the form of a square of double-sided tape or it can be in the form of a metal element (metal layer or plate). Preferably, the mounting hardware seats flush against the raised pad325. As shown the raised pad325can have a square shape with the corners of the raised pad325being located close to the curved edges326of the raised platform320. The raised pad325thus serves to centrally locate the mounting hardware on the rear of the back plate300. At the interface between each leg portion324and the side wall302,304,306,308, there is an opening (mounting opening)400that is configured to receive a fastener or a stand to assist in mounting the framed article to a wall or the like or to allow the framed article to stand upright on a flat surface, such as a table. The opening400has an inner edge402that is curved and an opposite outer edge403in the form of a concave notch that is formed in one of the walls302,304,306,308. A fastener, such as a nail, can be received within the concave notch as a way to hang the framed article on the fastener. The fastener can be inserted into a wall for hanging the framed article onto the wall. The use of opening400to receive a kickstand for allowing the framed article to stand upright on a table is described herein. As previously mentioned, the back plate300snap-fittingly attaches to the outer frame element200and therefore includes locking features that mate with complementary locking features of the outer frame element200. For example, the back plate300includes a plurality of corner guides360best shown inFIG.8. The corner guides360are in each corner and are L-shaped in that one wall of the corner guide360is located along one wall of the back plate300and the other wall of the corner guide360is located along the other wall of the back plate300that defines the corner. Each of the walls302,304,306,308of the back plate300terminates in a forward edge315. The walls of the corner guide360extend beyond the forward edge315in that the walls of the corner guide360have greater length (height) than the other sections of the walls302,304,306,308. The corner guide360is configured to be received within the channel212formed in the landing210as shown inFIG.12. There are therefore four corner guides360in the illustrated back plate300. As also shown inFIG.12, the image substrate20lies partially over the channel212with the corner guide360being adjacent and in contact with the image substrate since the corner guide360is disposed within the channel212and can be in contact with the floor of the channel212.FIG.12shows that the corner guide360disposed between the outer edge of the image substrate20and the respective outer wall202,204,206,208. An additional locking feature of the back plate300comprises a plurality of locking ribs370that are configured to be received into and engage the recesses220that comprise the complementary locking features of the outer frame element200. More particularly, the locking ribs270snap-fittingly mate with the recesses220to interlockingly couple the back plate300to the outer frame element300. Each locking rib370comprises a flexible rib that is defined between two slots371formed in the wall302,304,306,308to allow the locking rib370to flex. At a forward end of the locking rib370an outwardly directed lip375is formed. The lip375is integrally formed with the rest of the locking rib370. As best shown inFIG.11, the lip375has a complementary shape as the recess220in that it includes a beveled edge that seats against the beveled surface of the recess220and a flat edge that seats against the flat surface of the recess220. InFIG.11, the locking rib370is snap-fittingly received into one respective recess220. The reception of the locking ribs370into corresponding recesses220results in a secure snap-fit being achieved between the outer frame element200and the back plate300. There are two locking ribs370located along each side wall302,304,306,308and in particular, the two locking ribs370are located near or at the ends of the respective wall302,304,306,308. Thus, in each corner of the framed article, there is one corner guide360disposed between two locking ribs370. This leads to the main securement between the outer frame element200and the back plate300being located in the corners of the framed article. As shown in the figures, includingFIG.11, the locking rib370has a local area of increased thickness and in particular, the local area can be in the form of a rail371or other protrusion that bulges slightly outward from the rest of the locking rib370. It will be appreciated that each of the two locking ribs370that define each corner has one rail371. As shown inFIG.11, the rail371does not extend the entire height of the locking rib370. As shown inFIG.8, there is a center tab380that is located along the wall302,304,306,308. The center tab380also extends beyond the forward edge315. The center tab380is located between the two locking ribs370located along the same wall302,304,306,308. The center tab380is designed, in combination with the third protrusions260, to prevent an outward bowing of the framed article after assembly (i.e., outward flexing of the outer frame element200). The center tab380opposes the third protrusion260. More specifically, each center tab380is disposed outside of and in contact with one respective pair of the third protrusions260. The center tabs380are thus located between the third protrusions260and the walls202,204,206,208of the outer frame element200and since the center tab380is significantly more rigid than the hollow outer frame element200, the center tabs380which are located outside (along the outer face) of the outer frame element200prevents any deformation and outward bowing of the hollow outer frame element200. Assembly of Frame System100 As mentioned, the frame system100is assembled to achieve a mechanical (snap-fit) between the outer frame element200and the back plate300. First, the image substrate20is placed within the hollow outer frame element200and rests on the inner landing210that is formed along the inner periphery of the outer frame element200. The rear plate300is then inserted into the center opening205of the hollow outer frame element200. The corner guides360are received within the channel212formed in the landing210as shown inFIG.12and the rigid center tabs380are positioned outside of and adjacent the third protrusions260. As shown inFIG.17, a plurality of raised platforms329are provided along the inner face of the back plate300on which the image substrate20rests. As shown, there are four platforms329on which the four corner regions of the image substrate20rests to ensure proper positioning and proper support of the image substrate20(the raised platforms329provide proper backing and push the image substrate20forward). The raised platforms329can be generally wedge shaped or triangular shaped as shown. The snap-fit between the outer frame element200and the back plate300is achieved by inserting the locking ribs370into the (locking) recesses220. As shown in the figures, this results in the image substrate20being captured between the outer frame element200and the back plate300. The corner guides360serve also as a self-aligning feature for the image substrate20. FIGS.9-13illustrate the details of how the outer frame element200snap-fits with the back plate300and the relative position of the image substrate20. Kickstand In yet another aspect of the present disclosure best shown inFIGS.14-16, a kickstand500can be provided. As mentioned, the back plate300includes a plurality of corner spaces350(FIG.9). One of the corner spaces350serves as a kickstand storage space. Within the corner space350, there is a post355that protrudes upwardly from the floor of the corner space350as shown inFIG.8. The post355has an undercut357formed therealong. As shown inFIGS.1and2, the kickstand500has a curved body with a first end502and an opposite second end504. The first end502is a flat surface that is positioned along the support surface, such as a table. As shown inFIG.16, the body of the kickstand500also includes an opening510with a slot511that extends from the opening510to the second end504. The opening510receive the post355resulting in a snap-fit between the post355(due to the undercut357thereof) and the kickstand500for temporary storage of the kickstand500. When the user is ready to use the kickstand500, the kickstand500is removed from the post355. The kickstand500also includes a slot520that defines a pair of locking snap-fit elements (e.g., locking tabs or catches)530. The snap-fit elements530are located and the end of two flexible prongs540that protrude outwardly from the second end504. These flexible prongs540are intended to be received within one opening400formed in the back plate300to achieve a snap fit between the kickstand500and the back plate300. As mentioned, the opening400has opposing edges to which the snap-fit element530can engage in a snap-fit manner. The flexible poring540allow for the snap-fit elements530to be initially received into the opening400and then flex outwardly into complementary locking edges formed in the opening400. The snap-fit elements530of the two flexible prongs540engage the edges of the opening400to cause a snap-fit engagement between the kickstand500and the back plate300. As mentioned, when the kickstand500is inserted into the opening400, the first end502faces downward and seats against the flat support surface (table surface). Since there are four openings400, the kickstand500can be inserted into any one of the four openings400. Disengagement Tool600 In one aspect of the present invention shown inFIG.18, a disengagement tool600can be used to easily disengage the outer frame element200from the back plate300. As shown, the disengagement tool600can be in the form of a curved card-like structure and more particularly, can comprise a 90 degree body defined by a two legs602,604. The shape and size of the tool600are selected in view of the dimensions of the frame assembly100. The 90 degree disengagement tool600is inserted into a space605(FIG.11) that is formed between the locking rib370and one of the respective walls202,204,206,208when the lip375is engaged with the recess220which results in the outer frame element200and the back plate300being coupled and engaged with one another. When the tool600is pressed down into the space605it encounters the rails371of the two locking ribs370that are formed at 90 degree angles and further movement of the tool600and increased contact with the rails371causes inward flexing of the locking ribs370and disengagement of the lips375from the respective recesses220, thereby freeing the respective corner of the framing system100. The disengagement tool600has two legs that are formed at 90 degrees since for the corner of the framing system100will not easily disengage unless both side walls of the corner disengage at the same time. If the disengagement tool600only had one leg and was inserted into only one space605, the corner will not easily disengage. As a result, the disengagement tool600has two legs and has a card-like construction. As mentioned, to use the disengagement tool600, the user simply inserts the bottom edge of the tool600into the space605and then pushes down until the bottom edge of the tool600contacts and rides over the two rails371causing inward flexing of the locking ribs370to disengage the locking ribs370from the recesses220. Once one corner of the framing system100becomes disengaged, the entire outer frame element200can be fairly easily removed. Alternatively, each corner of the framing system100can be disengaged using the disengagement tool600. It is to be understood that like numerals in the drawings represent like elements through the several figures, and that not all components and/or steps described and illustrated with reference to the figures are required for all embodiments or arrangements. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising”, when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not precludes the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Also, the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having,” “containing,” “involving,” and variations thereof herein, is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. The subject matter described above is provided by way of illustration only and should not be construed as limiting. Various modifications and changes can be made to the subject matter described herein without following the example embodiments and applications illustrated and described, and without departing from the true spirit and scope of the present invention, which is set forth in the following claims.

11857092

DETAILED DESCRIPTION Various aspects of the disclosure are described more fully below with reference to the accompanying drawings, which from a part hereof, and which show specific example aspects. However, different aspects of the disclosure may be implemented in many different ways and should not be construed as limited to the aspects set forth herein; rather, these aspects are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the aspects to those skilled in the art. Aspects may be practiced as methods, systems or devices. Accordingly, aspects may take the form of a hardware implementation, an entirely software implementation or an implementation combining software and hardware aspects. The following detailed description is, therefore, not to be taken in a limiting sense. The present disclosure relates to an apparatus, an art display box in particular, for storing, transporting, examining, and displaying pieces of art. In aspects, the art display box may further be configured to store, transport, examine, and display nail art. There has been an increasing interest in designing, creating, and displaying nail art pieces for both private and competitive viewing. The nail art may comprise an artificial nail canvas upon which the artwork is conveyed and/or affixed for display purposes. Competitions involve artists submitting the nail art for examination by judges, for example. While some of nail art may be fragile to handle, the artists may often store, transport, and ship the artwork to the competitions. For purposes of evaluating the nail art according to the criteria for the competition, the judges may need to remove and handle the nail art. Thereafter, the nail art may be return shipped to the artists. Aside from competition, the artists may sell or otherwise publicly or privately display the artwork by hanging it on a wall or placing it on a table or other surface, for example. As described further herein, a specialized box is provided for conveniently and safely storing, transporting, examining, and displaying pieces of artwork that is useful to artists, consumers, judges, or other professionals involved in nail art or other artistic endeavors. As discussed in more details below, the present disclosure relates to an art display box, and in particular, the art display box for storing, transporting, examining, and displaying pieces of nail art both conveniently and safely. The art display box according to the present disclosure enables the artists to conveniently open and close the box, to securely place pieces of nail art inside the box for transportation while preventing the pieces of nail art from shifting during the transportation. The art display box enables displaying exhibiting the pieces of the nail art placed inside the box, viewable from the top and the sides directions. The art display box also displays information and description about the art work through the back panel. FIG.1illustrates an example art display box from a front view in accordance with aspects of the present disclosure. The art display box100is an apparatus comprising six panels. Illustrated in a landscape orientation, the six panels include: a front panel102, a back panel112, a top panel120, a bottom panel122, a left panel124, and a right panel126, for example. A number of panels and surfaces of the art display box100according to the present disclosure is not limited to six. In some aspects, one or more of the surfaces of the panels may be curved. In aspects, at least one of the six panels of the art display box100may be movable for opening and closing the box. The back panel112may be movable, for example. In aspects, the back panel112may slide along guides, channels, or concaved paths (e.g., guide128) inside the left panel124and/or the right panel126. In aspects, the back panel112may slide downward from above the art display box100. Additionally or alternatively, the back panel112may slide upward from beneath the art display box100. In some other aspects, the guides may be the interior surfaces of the top panel and/or the bottom panel, allowing the back panel112to slide in and out sideways. The art display box100inFIG.1illustrates the back panel112fit in the guides or channels along the back edge of the left side panel124and right side panel126. In aspects, the guides or the channels may be located on three side panels. In yet some other aspects, the back panel112may snap into the side panels with tabs or protruding parts (not shown). All six panels and the stoppers104A-D of the box may be non-opaque or transparent, made of acrylic, polycarbonate materials, or glass, for example. The non-opaque or transparent panels and the stoppers enable viewing the artwork from front, top, bottom, left, and right views and viewing the information card from the back of the art display box100.FIG.1illustrates the art display box100with the back panel112but without installing a mounting plate. The back panel112is shown with the mounting plate116from a left side view inFIG.3 In aspects, all the six panels may be transparent or at least enables a user to see the artwork through at least a front view through the front panel102, from a top view through the top panel120, from a bottom view through the bottom panel122, from a left view through the left panel124, from a right view through the right panel126, and from a back view through the back panel112(e.g., when the mounting plate116is transparent and there is no information card114installed). In aspects, when the information card114is installed on the back surface of the mounting plate116(whether or not the mounting plate116is transparent), the information card114is viewable from the back view of the art display box100through the transparent back panel112. Hooks106A-B enable the art display box to be hang on the wall in a landscape orientation. Hooks106C-D enable the art display box to be hang on the wall in a portrait orientation. The hooks106A-D are attached to the back side of the back panel112. The hooks106A-D may include an area for interlocking a screw or supporting a nail with the back side of the art display box100. Additionally or alternatively, the art display box100may include hooks in different orientations for hanging the art display box100in a portrait or a landscape orientation. In aspects, the hooks106A-D may take forms of keyholes and brackets. In some other aspects a number of the hooks106A-D may be one per orientation or any other number than four. In yet some other aspects, the art display box100may be without the hook. As illustrated, the art display box100includes four stoppers104A-D that maintain the mounting plate116at a distance from the front panel102to prevent pieces of art affixed to the mounting plate116from being crushed against the interior front surface of the box. Although four stoppers104A-D are shown, more or fewer stoppers may be provided to maintain the distance of the mounting plate116from the front panel102. Additionally, the distance may be any suitable distance greater than a height of the pieces of artwork when affixed to the mounting plate116. In aspects, the four stoppers104A-D are non-opaque or transparent to prevent obstructing a view of the pieces of the artwork. In aspects, the four stoppers104A-D may be fixed inside the art display box100. In some other aspects, the four stoppers104A-D may be movable to adjust the distance from the interior surface of the front panel102and the mounting plate116, e.g., to account for different heights of pieces of artwork affixed to the mounting plate116. When the mounting plate116is inside the display art box100, the mounting plate116rests against the four stoppers104A-D between the back panel112and the four stoppers104A-D within the art display box100. In aspects, the stoppers104A-D may be placed at four side joints between the four side panels at a predetermined distance or gap, one inch for example, from the interior surface of the front panel102. The gap may be associated with rules of an art competition, such as a nail art competition, which may set a maximum height of the artwork, a maximum height of one inch, for example. In aspects, use of the art display box100enables checking the maximum height of the artwork by ensuring that the artwork does not touch the interior surface of the front panel102. Accordingly, the art display box100provides a convenient way for the designer to check compliance with the maximum height rule. By installing the artwork without touching the interior surface of the front panel, the art display box100may be useful in preventing the artwork from being disqualified based on the maximum height requirement. In some other aspects, positioning of the stoppers104A-D may be adjustable to accommodate a gap other than one inch, for different competition rules or for display, for example. As should be appreciated, the various methods, devices, applications, features, etc., described with respect toFIG.1are not intended to limit the apparatus100to being performed by the particular applications and features described. Accordingly, additional configurations may be used to practice the methods and systems herein and/or features and applications described may be excluded without departing from the methods and systems disclosed herein. FIG.2illustrates an example apparatus from a left side view in accordance with aspects of the present disclosure. The apparatus is an art display box100viewed from a left side. In this case, the left side view is a view of the art display box100through the transparent left panel124. In particular,FIG.2shows the art display box100without a back panel (e.g., back panel112) or a mounting plate (e.g., mounting plate116) inserted inside the art display box100.FIG.2illustrates the left side view of the top panel120and the bottom panel122. The stoppers104A-B are located inside the art display box100. A guide128is illustrated on the left panel124, on an interior surface of the left panel124(e.g., on a side opposite of the left view) inside the art display box100. The guide128enables the back panel112to slide in and out of the art display box100. FIG.3illustrates an example apparatus that is an art display box100from the left side view. In this case, the mounting plate116is placed against stoppers104A-B (the stoppers that are visible from the left side view). Additionally, pieces of artwork110A-C are affixed to the mounting plate116, in accordance with aspects of the present disclosure. In particular,FIG.3illustrates the art display box100with the front panel102, the artwork110A-C, the mounting plate116, the information card114, and the back panel112installed. In aspects, the left panel124is transparent, allowing a left side view of the artwork100A-C affixed to the mounting plate116. The back panel112includes the hooks106A, C, D (e.g., the hooks visible from the left side view). The information card114is placed between the back panel112and the mounting plate116. In aspects, one or more information cards114include descriptions of the artwork and are placed facing toward the back panel112of the art display box100. Since the back panel112is transparent, the one or more information cards114are visible through the back panel112from the back view of the art display box100. In aspects, the one or more information cards114may describe the artwork110A-C individually or collectively, may describe materials used for creating artwork110A-C, may describe methods for making the artwork110A-C, and/or may otherwise provide information in compliance with rules of a competition. As illustrated, the mounting plate116is placed against the stoppers104A-B. FIG.4Aillustrates an example art display box100from a front view through transparent front panel102, in accordance with aspects of the present disclosure. In this case, the three pieces of artwork110A-C are affixed on the mounting plate116and are visible through front panel112within the art display box100. In this case, the mounting plate116is also transparent and information cards114A-C are visible behind artwork110A-C. In other examples, the mounting plate116may be opaque and, while artwork110A-C would be visible from the front view through front panel102, information cards114A-C would not be visible from the front view. However, such information cards114A-C would be visible through transparent back panel112. As illustrated, the mounting plate116rests on stoppers104A-D between the back panel112and the front panel102, thereby preventing artwork110A-C from touching and/or being crushed against the front panel102. FIG.4Billustrates mounting plate116including artwork110A-C affixed thereon, in accordance with aspects of the disclosure. In this case, the mounting plate116has not been installed into art display box100. As withFIG.4A, mounting plate116is transparent and, although information cards114A-C are affixed to a back side of mounting plate116, the information cards114A-C are visible from a front view through mounting plate116. In aspects, the pieces of artwork110A-C may be securely and removably affixed to mounting plate116by magnets, for example. In some examples, the mounting plate116may be made of a magnetized material. A matting material, such as cloth or cardboard, may be affixed to the magnetized material to provide an aesthetic backing for the artwork110A-C. Alternatively, the mounting plate116may be made of a smooth, non-stick material, such as glass, acrylic or plastic, for example. In this case, the mounting plate116may be transparent. Bases of the respective pieces of artwork110A-C may also include a magnetized material for affixing in any position on the mounting plate116. Alternatively, the mounting plate116may be made of other suitable materials, such as glass, acrylic or plastic, for example. In this case, the mounting plate116may be transparent. The bases of the respective pieces of artwork110A-C may include a temporary binding material (e.g., tape, sticker, or temporary adhesive) for affixing the respective pieces of artwork110A-C in any position on the mounting plate116. In still other aspects, the mounting plate116may be covered with a textured material for affixing pieces of artwork comprising a Velcro®-like binding surface. In this way, securely and removably affixing the pieces of artwork110A-C to the mounting plate116may prevent the pieces of artwork110A-C from shifting upon transporting the art display box100. Accordingly, the art display box100may be shipped (e.g., to a competition) and carried, held or manipulated (e.g., during examination) without the pieces of artwork110A-C becoming dislodged from the mounting plate116. Even so, the pieces of artwork110A-C may be readily and easily removed from the mounting plate116, if desired. Thus, use of the art display box100according to the present disclosure enables an art creator to display artwork safely while at the same time enabling judges or other consumers to easily view and/or touch the artwork. In some aspects, an art designer may also satisfy competition rules for judging the artwork. In aspects, rules may require the artwork (e.g., ten pieces in a set of nail art) to be of a certain size and independently manipulable by judges (e.g., as individual pieces without being permanently secured to one another or to any medium). Thus, the artwork must be securely but temporarily (or removably) affixed to the mounting plate116to enable the judges to remove and hold individual pieces (e.g., of a set of ten pieces of nail art) from the art display box100. The mounting plate116being made of a magnetized or other suitable material (e.g., glass, acrylic, textured) enables both secure attachment and easy removal of the individual pieces of artwork, as well as enabling placement of the artwork in any desirable layout on the mounting plate116. The specialized mounting plate116further prevents the artwork from being dislocated or damaged while transporting the art display box100. In aspects, use of the specialized mounting plate116for securely and temporarily affixing the pieces of the artwork is superior than use of glue, which more permanently secures the pieces. In this case, judges during a competition may encounter difficulties removing or replacing the pieces of artwork during examination. The attachments by use of magnets or other temporary fixators (e.g., tape, sticker, Velcro®) prevent such difficulties. Other competition rules may also be easily satisfied by art display box100, including but not limited to securely fastening the artwork to a plain (e.g., color, no texture, and no mirror), flat surface. Some rules may require the mounting surface of the artwork to be flat, flush, and sturdy. Some other rules may require the artwork not to be attached to the bottom of the box for submission. According to the present disclosure, the mounting plate116is flat, flush, and sturdy and is distinct from the back panel112of the art display box100to satisfy the exemplar rules. In aspects, the mounting plate116may be placed inside the art display box100by removing the back panel112and placing the mounting plate116against the stoppers104A-D from the back of the art display box100. After placing the mounting plate116, the back panel112may be inserted in along the guides into the art display box100. FIG.5illustrates an example art display box100from the front view, in accordance with aspects of the present disclosure.FIG.5illustrates the back panel112and the art display box100aligned. The back panel112may be inserted in along the guides (e.g., guides128) into the art display box100. In aspects, the back panel112may be inserted into the art display box100vertically (e.g., from the top or bottom). Alternatively, the back panel112may be inserted into the art display box100horizontally (e.g., from the right or left sides). The back panel112may comprise one or more hooks106to hang the art display box100. FIG.6illustrates an example of an information card114for the artwork in accordance with aspects of the present disclosure. The information card114includes a description of the artwork inside the art display box100, for example. The information card114may indicate products and processes used to create pieces of the artwork. Additionally or alternatively, the information card114may indicate a story of the designer's interpretations of the artwork, such as a theme or impression. In the example of nail art, a set of ten pieces of the designed artwork may describe a story, for example. In aspects, the information card114may be placed on the back of the mounting plate116, facing toward the back panel112of the art display box100. This way, since the back panel112is transparent, the information card114is visible through the back panel112. FIG.7illustrates an example method of using the art display box, in accordance with aspects of the present disclosure. A general order of the operations for the method700is shown inFIG.7. Generally, the method700starts with a start operation702and ends with an end operation716. The method700may include more or fewer steps or may arrange ordering of the steps differently than those shown inFIG.7. The method700is directed to placing pieces of the artwork in the art display box. Hereinafter, the method700shall be explained with reference to the systems, component, devices, modules, methods, etc., described in conjunction withFIGS.1-6. Orient operation704places the art display box in an orientation with the front surface of the front panel down. This way, an exterior surface of the back panel of the art display box is facing up. Remove operation706removes the back panel from the art display box. With the art display box in the above-described orientation (e.g., with the front panel facing down, the back panel may be removed from the art display box by sliding the back panel along the guides in a horizontal direction, toward the bottom or top panel of the art display box, for example. The direction of sliding the back panel is not limited to sliding the back panel toward the bottom or top panel of the art display box but depends upon placement of the guides along interior surface of the side panels. Once the back panel is removed, the art display box is open from the backside. In some other aspects, the back panel may be removed by snapping out from the side panels with tabs or protruding objects. Insert operation708inserts the mounting plate into the art display box. In aspects, the mounting plate includes pieces of the artwork attached using magnets. Holding the mounting plate facing down (e.g., with the artwork facing the front panel), the mounting plate may be placed on stoppers such that the pieces of the artwork fit into the space inside the art display box without touching any of interior surfaces of the side panels or the front panel. The mounting plate rests on the stoppers along interior surfaces of the side panels to prevent the mounting plate holding the artwork from falling onto the interior surface of the front panel. Attach operation710places the information card, facing up, on the backside of the mounting plate. The writings and drawings on the information card may be visible on the backside of the mounting plate as the information card is attached. This way, the information card is visible from the back view through the back panel of the art display box. Replace operation712replaces the back panel on the art display box. In aspects, the back panel may be replaced by sliding the back panel along the guides on the interior surfaces of the side panels. The back panel may be slid in from the top of the art display box along the guides or concave paths on the left panel and the right panel, for example. The present disclosure does not limit locations of the guides to be on the left panel and the right panel, however. The guides may be configured to enable the back panel to slide in other directions. In yet some other aspects, the back panel may be placed by snapping into the side panels. After replacing the back panel, the information card and the mounting plate are secured between the back panel and the stoppers. Orient operation714orients the art display box with the front panel facing up. In this case, the artwork affixed to the mounting plate is viewable through the front panel. Should the designer wish to hang or display the art display box on a table, the art display box may be further oriented in a portrait or landscape orientation, for example. At end operation716, the art display box may be arranged for private display, public display, or displayed for a competition, for instance. As should be appreciated, operations702-716are described for purposes of illustrating the present methods and systems and are not intended to limit the disclosure to a particular sequence of steps, e.g., steps may be performed in different order, additional steps may be performed, and disclosed steps may be excluded without departing from the present disclosure. The description and illustration of one or more aspects provided in this application are not intended to limit or restrict the scope of the disclosure as claimed in any way. The aspects, examples, and details provided in this application are considered sufficient to convey possession and enable others to make and use the best mode of claimed disclosure. The claimed disclosure should not be construed as being limited to any aspect, for example, or detail provided in this application. Regardless of whether shown and described in combination or separately, the various features (both structural and methodological) are intended to be selectively included or omitted to produce an embodiment with a particular set of features. Having been provided with the description and illustration of the present application, one skilled in the art may envision variations, modifications, and alternate aspects falling within the spirit of the broader aspects of the general inventive concept embodied in this application that do not depart from the broader scope of the claimed disclosure. As will be understood from the foregoing disclosure, one aspect of the technology relates to an apparatus for storing one or more piece of artwork. The apparatus comprises a front panel, the front panel being transparent; a set of side panels, the set of side panels being transparent, each of the set of side panels joined along edges to at least two other side panels and the front panel, the interior surfaces of at least two side panels on opposing sides including guides; a plurality of stoppers affixed on aside interior surfaces at two or more side joints between adjoining side panels of the set of side panels, each stopper positioned at a distance from a front interior surface of the front panel; a mounting plate, the mounting plate positioned against the plurality of stoppers to create a predetermined gap between the mounting plate and an interior surface of the front panel, the mounting plate configured for securely and removably affixing one or more pieces of artwork; and a back panel, the back panel slidable along the guides to enclose the apparatus, the back panel being transparent. The apparatus further comprises a sheet positioned between the mounting plate and the back panel, the sheet visible through the back panel of the apparatus. The mounting plate is opaque. The securely and removably affixing the one or more pieces of artwork further comprises the mounting plate being at least partially magnetized; and the one or more pieces of artwork being at least partially magnetized for securely and removably affixing the one or more pieces of artwork on the mounting plate. The set of side panels comprises four side panels. The mounting plate is flat and flush, and is configured to securely hold the one or more pieces of artwork when the apparatus is in any orientation. The front panel, the set of side panels, and the back panel are made of an acrylic material. The stoppers are made of an acrylic material. The mounting plate is configured to securely hold the one or more pieces of artwork when the apparatus is being transported. The the mounting plate is transparent. Another aspect of the technology relates to a method of using an art display box. The method comprises orienting the art display box with a front panel facing down; removing a back panel by sliding the back panel in a first direction along at least one guide on a first side panel of the art display box; inserting a mounting plate having one or more pieces of art affixed to a mounting surface, wherein the mounting plate is inserted with the mounting surface oriented toward an interior surface of the front panel, and wherein the mounting plate is positioned against at least one stopper at a joint between at least the first side panel and a second side panels to create a predetermined gap between the mounting surface of the mounting plate and the interior surface of the front panel; replacing the back panel by sliding the back panel in a second direction along at least the guide on the first side panel of the art display box, wherein the second direction is opposite the first direction; and orienting the art display box with the front panel facing up, wherein the one or more pieces of artwork are visible through the front panel. The method further comprises placing a sheet on a back surface of the mounting plate, the back surface opposite the mounting surface of the mounting plate, the sheet being visible through the back panel of an assembled art display box. The back panel includes a hook on an exterior surface for hanging the art display box. The mounting plate is configured to securely hold the one or more pieces of artwork when the apparatus is in any orientation. The front panel, the first side panel, the second side panel, and the back panel are made of acrylic material. In another aspect, the technology relates to an art display box. The box comprises a front panel, the front panel being transparent; a set of side panels, the set of side panels being transparent, each of the set of side panels joined along edges to at least two other side panels and the front panel, the interior surfaces of at least two side panels on opposing sides including guides; a plurality of stoppers affixed on side interior surfaces at two or more side joints between adjoining side panels of the set of side panels, each stopper positioned at a distance from a front interior surface of the front panel; a mounting plate, the mounting plate positioned against the plurality of stoppers to create a predetermined gap between the mounting plate and an interior surface of the front panel, the mounting plate comprising a magnetized material for securely and removably affixing one or more pieces of artwork; and a back panel, the back panel slidable along the guides to enclose the apparatus, the back panel being transparent. The box further comprises a sheet positioned between the mounting plate and the back panel, the sheet visible through the back panel. The one or more pieces of artwork are at least partially magnetized. The mounting plate is transparent. The mounting plate is opaque. Any of the one or more above aspects in combination with any other of the one or more aspect. Any of the one or more aspects as described herein.

11857093

DETAILED DESCRIPTION The present invention includes a holder apparatus10to enable a food server to easily hold and carry a plurality of plates with food disposed thereon. As shown inFIG.1andFIG.2of the drawing, a first embodiment of the present invention utilizes an elongated body12having a geometric axis (not shown). A plurality of slots16, each dimension for engaging the periphery of a respective dish C, extend in oblique relationship to the geometric axis whereby a plurality of dishes C, that are carrying food thereon, may be simultaneously moved with great ease by a food server. The holder10incorporates four slots16. In this embodiment, the geometric axis of the body is substantially parallel to lowest part (as viewed in lowest part shown inFIG.2). The slots16in the body12are disposed substantially at a 60 degree included angle with respect to the geometric axis of the body12. The angle is generally selected to position the plates C in a substantially horizontal position when the plates C engage the slots, handle14of the holder10is being held by a hand, the side of the body of the holder is substantially abutting the forearm of the user whereby the forearm of the user supports the weight of the holder10, the dishes C and the food (not shown) on the dishes. A second embodiment of the present invention is shown inFIG.3in which a holder20includes an elongated body21. The holder20is provided with slots26dimensioned and configured for receiving the edges of plates C.FIG.3better illustrates the manner of use of both the illustrated embodiments. As shown, the user extends his arm A and grasps the handle24of the apparatus20. Preferably a nose28in the case of the holder20inFIG.3will nest comfortably in the crook of the user's arm to achieve maximum stability. The term “crook of the user's arm” will be understood to refer to the soft inside part of the arm when the elbow is bent. The holder10illustrated inFIG.1is provided with a nose18, as best seen inFIG.2having abutting arcuate and planar sides. The shape of the nose18it is particularly advantageous to engage the crook of the user's arm for maximum stability. In a typical form, the apparatus10has an overall length of about 14.50 inches, the slots16have opposed planar walls that are spaced apart 0.50 inches, and the handle14has a length of approximately 5 inches. The dimensions of embodiments will vary with the thickness of the plates used, the volume of the food typically placed on each plate, and the length of the forearm of the user. From the above it will be seen that a wait staff member utilizing an embodiment of the present invention can dramatically reduce the number of trips required to transfer foods from a kitchen area to consumers seated at respective tables. Furthermore, the ability to carry multiple plates in a manner that does not contaminate the food by unintended touching of the prepared food, does not contaminate the clothing of the user (as when attempting to carry three or four plates in a manner that crowds the respective plates against the body of the wait staff person), and does not alter the chef's presentation due to inadvertent touching of the contents of individual plates is a substantial advantage. The reduction of trips leads to greater wait staff productivity, less wait staff fatigue, and customers that benefit from faster service, more sanitary food, and presentations that are not impaired incident to delivery to the customer's table. Happier customers are more likely to return and more likely to reward the waitstaff for their efforts. Typically, waitstaff can pick up a single holder that is preloaded by kitchen staff with, for example, four respective servings for a given table. Upon delivery, waitstaff can secure the holder by a suitable hook (not shown) that engages, for example, the handle14. A suitable hook is easily provided on a belt worn by the user. Accordingly, the waitstaff person then has his hands free to complete any other tasks necessary to assure the satisfaction of the customer. The benefits achieved in organizing the delivery to a single table will be understood to be significant. However, still, further benefits can be achieved by the use of the apparatus in a method in accordance with the invention for organizing the delivery of all plates to all tables in a given restaurant. Typically restaurant kitchens have an expediting area where the plates and dishes for respective customers at respective tables are assembled as preparation each individual dish is completed. Consider, for example, the complications involved in rationally organizing the prepared foods for 20 customers each of which has five dishes and the customers are sitting at7different tables. In the system, in accordance with the present invention, a plurality of apparatus in accordance with the present invention is positioned in an expediting location within the kitchen with respective apparatus designated for either a specific table or even a specific customer. Accordingly, as the individual dishes are completely prepared they are positioned in the designated apparatus for either a specific table or even a specific person. Thus, the server merely needs to pick up the loaded apparatus and carry it directly to the patron of the restaurant. Accordingly, the delivery to the customer is expedited and the probability of errors and delivery to the wrong customer is reduced. Referring now toFIG.4there is shown a kitchen workstation30where a kitchen worker completes the placement of the respective foodstuffs on the individual customer's plates before delivery to the dining room tables. As an illustration of a particularly advantageous utilization of the apparatus described above and shown inFIGS.1-3, the table is provided with a plurality of rectangular cross-section recesses32. As an illustration of the concept, each rectangular recess32is dimensioned and configured for engagement with, for example, the handle14of one of the holders10. Thus, kitchen staff can arrange, for example, all four plates for a given table on a single holder10. For larger tables, more than one holder is designated for each table. Accordingly, the waitstaff can very rapidly make the required deliveries. The workstation30illustrates only four recesses32. It will be understood that a much larger number of recesses will be necessary to accommodate most restaurants. Typically, the array of mounting points for holders10may be disposed on a kitchen island or kitchen peninsular counter whereby (1) kitchen staff can access a first side of the arrayed holders10carried by recesses32or other mounting structure and (2) wait staff can access a second side of the arrayed holders10. Although the illustrated embodiments utilize a handle14,24having a handgrip that extends laterally with respect to the axis of the body12,21it will be understood that other embodiments may utilize a pistol grip. The pistol grip, as well as other handles, may include individual recesses for the food server's fingers to further enable gripping of the apparatus by the food server. Some embodiments of the present invention may further include a clamp that is generally U-shaped and dimensioned and configured for gripping the edge of a table. In such embodiments, the server may use a clamp to temporarily position the apparatus on the edge of a table. More particularly, the apparatus may be loaded with respective plates or empty when so attached to a table. Thus, the food server can attach the apparatus to a table in the kitchen and load the apparatus with dishes full of food and then pick up the loaded apparatus and carry it to a table where the food server may attach the loaded apparatus to the dining room table while the food server removes individual plates from the apparatus. All publications and patent applications mentioned in this specification are indicative of the level of skill of those skilled in the art to which this invention pertains. All publications and patent applications are herein incorporated by reference to the same extent as if each individual publication or patent application was specifically and individually indicated to be incorporated by reference. Some embodiments of the apparatus include a hook apparatus to enable the server to carry the apparatus, when not in use, by engaging the hook with his or her belt or perhaps engaging the lower extremity of the pocket opening for the server's pant pocket. Still, other embodiments of the present invention include a plurality of lateral extensions for accommodating stemware in addition to the plates. In most embodiments, lateral extensions will have crescent-shaped axial extremities to enable stemware to be slid into the crescent-shaped axial extremities. Typically, the lateral extensions will all be coplanar and the number of lateral extensions on each side of the geometric axis will be the same. Accordingly, when the apparatus is fully loaded with stemware the loaded apparatus will be easier to manipulate by the server because of the improved balance between the respective sides of the apparatus. Alternative embodiments particularly suited, for example, a wine bar may exclude the slots for engaging plates. All publications and patent applications mentioned in this specification are indicative of the level of skill of those skilled in the art to which this invention pertains. All publications and patent applications are herein incorporated by reference to the same extent as if each individual publication or patent application was specifically and individually indicated to be incorporated by reference. Although the description above contains many specifics, these should not be construed as limiting the scope of the invention, but as merely providing illustrations of some of the presently preferred embodiments of this invention. Thus, the scope of this invention should be determined by the appended claims and their legal equivalents. Therefore, it will be appreciated that the scope of the present invention fully encompasses other embodiments which may become obvious to those skilled in the art, and that the scope of the present invention is accordingly to be limited by the appended claims, in which reference to an element in the singular is not intended to mean “one and only one” unless explicitly so stated, but rather “one or more.” All structural, chemical and functional equivalents to the elements of the above-described preferred embodiment that are known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed by the present claims. Moreover, it is not necessary for a device or method to address each and every problem sought to be solved by the present invention, for it to be encompassed by the present claims. Furthermore, no element, component, or method step in the present disclosure is intended to be dedicated to the public regardless of whether the element, component or method step is explicitly recited in the claims. No claim element herein is to be construed under the provisions of 35 U.S.C. 112, sixth paragraph, unless the element is expressly recited using the phrase “means for.”

11857094

DETAILED DESCRIPTION The innovation is now described with reference to the drawings, wherein like reference numerals are used to refer to like elements throughout. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding thereof. It may be evident, however, that the innovation can be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate a description thereof. Various embodiments are discussed hereinafter. It should be noted that the figures are described only to facilitate the description of the embodiments. They are not intended as an exhaustive description of the invention and do not limit the scope of the invention. Additionally, an illustrated embodiment need not have all the aspects or advantages shown. Thus, in other embodiments, any of the features described herein from different embodiments may be combined. As stated above, there is a long felt need in the art for a reusable and flavor dispensing drinking straw that can be used to consume beverages, and that is both biodegradable and eco-friendly. Additionally, there is a long felt need in the art for a flavor dispensing drinking straw device that is multi-functional, and is not limited in purpose to only being used to consume a beverage. More specifically, there is a long felt need in the art for a flavor dispensing drinking straw that can also be used to infuse a flavor into a beverage of the user's choice, and in an appropriate quantity. Additionally, there is a long felt need in the art for a flavor dispensing drinking straw that is both portable and aesthetically pleasing. Moreover, there is a long felt need in the art for a flavor dispensing straw that can be used with various different types of containers, such as cups, glasses, bottles and more. Finally, there is a long felt need in the art for a flavor dispensing drinking straw that is relatively inexpensive to manufacture and that is both safe and easy to use. Referring initially to the drawings,FIG.1illustrates a perspective view of one potential embodiment of the flavor dispensing drinking straw device100of the present invention in accordance with the disclosed architecture. The flavor dispensing drinking straw device100is preferably comprised of a topper102, a tubular straw104, a spiral straw106and a quantity of a flavoring or syrup300. Unless otherwise stated herein, the various components of the flavor dispensing drinking straw100of the present invention are preferably comprised of reusable, dishwasher-safe, food grade plastic or silicone. The spiral straw106wraps around the tubular straw104, wherein the tubular straw104extends through a centralized passageway formed by the spiral straw106. The topper102forms a repository and is filled with the flavorings and/or syrups300. More specifically, the topper102has a flavor opening1022therein that extends to, and is in fluid communication with, an interior cavity1023for storing the flavorings and/or syrups300until needed. The flavor opening1022is covered with a hinged lid108when not in use to prevent spillage and/or contaminants from entering into the topper102. The lid108can be opened to fill the topper102with the flavorings and/or syrups300. The topper102is preferably comprised of a compressible material, wherein a user can gently compress the topper102when he or she desires to infuse his or her beverage with the flavorings and/or syrups300stored therein, as described more fully below. Additionally, the topper102comprises an exterior surface1021having a plurality of volumetric gradations1027thereon to instruct a user of how much flavorings and/or syrups300to add to the topper102and/or how much has been dispended from the topper102into the beverage of choice. The tubular straw104is similar to a traditional straw and has a continuous opening or channel1040extending along its entire length. As best shown inFIG.1, the tubular straw104extends through and beyond the topper102in at last two different directions. Nonetheless, the tubular straw104is not in fluid communication with the interior cavity1023or the flavoring/syrup300stored therein, and forms a seal at each of its entry and exit points with the topper102so that the device100is leak-proof. As explained more fully below, the user consumes the flavored beverage via the tubular straw104in the ordinary course of use. The spiral straw106is shaped and designed to uniquely wrap around the tubular straw104, and is also comprised of a central passageway1060formed by the various spirals and a continuous opening1062extending along its length. The spiral straw106is connected to, and in fluid communication with, the bottom of the interior cavity1023of the topper102via an egress or opening1026therein such that when the user gently compresses the topper102the flavoring/syrup300stored therein is pushed through the continuous opening1062and into the beverage of choice, as described more fully below. As previously stated, the topper102is preferably comprised of a food-grade, biodegradable, environmentally friendly and compressible silicon material. When the topper102is not squeezed or retains its normal configuration, the flavor/syrup300stored in the interior cavity1023of the topper102does not travel through the continuous opening1062in the spiral straw106and into the beverage container or glass. Similarly, both the tubular straw104and the spiral straw106are preferably comprised of a silicone and are FDA and RoHs approved. Further, all the components of the flavor dispensing drinking straw device100are free from phthalate, lead, cadmium, mercury and PBBs. In one embodiment, a cleaning brush may be also commercially available along with the flavor dispensing drinking straw device100to properly clean the device100and, particularly, the continuous opening1040in the tubular straw104and the continuous opening1062in the spiral straw106. The tubular straw104can be easily used to consume water, juices, smoothies, milkshakes or any other drink, and the spiral straw106can be used to easily add granular or liquid flavoring, syrups, medicines, etc. into a beverage. More specifically, the tubular straw104acts as conduit for the beverage placed in a tumbler or glass to be consumed, and the spiral straw106acts as a conduit or delivery system for the syrup or flavoring300stored in the interior cavity1023of the topper102. In one embodiment, the diameters of each of the tubular straw104and the spiral straw106are approximately same. However, in an alternate embodiment, the tubular straw104and the spiral straw106may have different diameters, for example, to allow for faster or slower infusion of the flavorings/syrup300through the spiral straw106, or consumption of the flavored beverage via the tubular straw104. The spiral straw106is designed such that the flavor or syrup300from the internal cavity1023of the topper102travels easily into a container, glass or bottle when squeezed by the user. Additionally, the overall outside diameter of the spiral straw106should be small enough so that it can be inserted into a standard consumer water bottle. FIG.2illustrates a partial perspective view of one potential embodiment of the topper102of the flavor dispensing drinking straw device100of the present invention in accordance with the disclosed architecture. As shown, at the top of the topper102, a flavor filling hole1022is present which can be securely covered by a lid108. To fill the interior cavity1023of the topper102with a flavoring or syrup300, the hinged lid108may be opened. Once filled with an appropriate amount of flavoring or syrup300(i.e., which a user may determine by using the volumetric markings1027present on the exterior surface1021of the topper102), the lid may be closed to prevent spillage or contamination from entering the internal cavity1023. Additionally, a tubular straw top hole1024allows the tubular straw104to be accessed by a user for consuming a beverage or water from a tumbler or glass. It should be noted that the filled flavor or syrup300can only be accessed by the spiral straw and not by the tubular straw104. It should also be appreciated that the flavor filling hole1022and the tubular straw top hole1024can be located at any desired place along the top portion of the topper102, and that the size of the openings1022,1024are according to the size of the topper102and the diameter of the tubular straw104. FIG.3illustrates a partial perspective view of one potential embodiment of the flavor dispensing drinking straw device100of the present invention in accordance with the disclosed architecture, wherein a flavoring substance300is being added to the internal cavity1023of the topper102. As stated earlier, the flavor filling hole1022is used for filling the internal cavity1023of the topper102with a flavoring or syrup300that can then be infused on demand into a beverage via the spiral straw106. A liquid medicine can also be placed into the internal cavity1023of the topper102to allow a user to drink the medicine dissolved in water or any other beverage. The flavor filling hole1022is accessed by opening the lid108. In use, the flavoring or syrup300travels through the spiral straw106via the spiral straw opening1026when the topper102is gently squeezed by a user. The compressive forces push the syrup or flavoring300down into the tumbler or glass in which the flavor dispensing drinking straw device100is used. Further, the tubular straw104passes through the topper102via the holes1024,1025, but is not in fluid communication with the internal cavity1023. More specifically, the tubular straw104is sealed within the topper102, and cannot access the stored flavoring or syrup300. The topper102may have any design, logo, trademark or embroidery302positioned along its exterior surface1021, and the topper102and the straws104,106may be available in multiple colors and sizes to satisfy the requirements of various users. FIG.4illustrates a partial and transparent perspective view of one potential embodiment of the flavor dispensing drinking straw device100of the present invention in accordance with the disclosed architecture, wherein a flavoring substance300is contained within the internal cavity1023of the topper102and ready for use. As shown, the flavor/syrup/diluted medicine300is stored in the interior cavity1023of the topper102. After filling of the cavity1023with the flavor/syrup/diluted medicine300, the lid108at the top of the topper102is closed. To mix the flavor/syrup/diluted medicine300with water or a beverage in a container or glass, the topper102is squeezed and thus forces the flavor/syrup/diluted medicine300to travel through the spiral straw106into the beverage of choice. Once mixed, the flavored beverage or water may be consumed through the tubular straw104in a manner similar to that of a conventional straw. However, the design of the spiral straw106is such that the flavor/syrup/diluted medicine300will not travel through the spiral straw106when the topper102is not squeezed. More specifically, the spiral straw106acts as a conduit from the topper102to carry flavor/syrup/diluted medicine300to the bottle/glass/tumbler. FIG.5illustrates a perspective view of one potential embodiment of the flavor dispensing drinking straw device100of the present invention in accordance with the disclosed architecture, wherein the device100is removably attached to a beverage container500and has been used to flavor the beverage contained therein. As shown, the bottle or beverage container500is comprised a lid501and a base or body portion502. The tubular straw104and the spiral straw106may pass through an opening in the lid501or may be used without the lid501, and the length of both the straws104,106is such that the straws104,106touch the bottom of the base502of the bottle500. In use, when the topper102is gently squeezed by a user, the flavor/syrup/diluted medicine300stored within the interior cavity1023of the topper102travels through the spiral straw106to mix with the water or any other beverage present in the bottle500. Thereafter, the flavored beverage or water504may be consumed through the tubular straw104by the user. In the present embodiment, the lid501may have an opening through which the tubular straw104and the wrapped spiral straw106may be inserted into the bottle500. In a preferred embodiment of the present invention, the straws104,106of the present embodiment are approximately 9″ in length, and have an outer diameter of between 7 mm and 9 mm, said sizes being generally compatible with 20 oz, 30 oz and 40 oz tumblers and bottles. Notwithstanding, the device100of the present invention is not so limited and many other lengths and diameters may also be used to satisfy user need and/or preference or to suit a particular application. FIG.6illustrates a perspective view of one potential embodiment of the flavor dispensing drinking straw device100of the present invention in accordance with the disclosed architecture, wherein the device100is removably attached to a beverage container500and a user600is gently squeezing the topper102to infuse the flavoring substance300into the beverage contained in the beverage container500. As shown, when the topper102is squeezed by the hand of a user600, the flavor/syrup/diluted medicine300stored in the internal cavity1023of the topper102travels through the continuous opening1062in the spiral straw106to mix with the water or other beverage504present in the bottle500. The flavor/syrup/diluted medicine300is mixed thoroughly in the bottle500, and can be enjoyed by the user600via the tubular straw104. FIG.7illustrates a perspective view of various potential embodiments of the flavor dispensing drinking straw device of the present invention in accordance with the disclosed architecture. As shown, for different types of containers or glasses, different types of flavor infused straws may be made commercially available. For example, the flavor infusing straw device100may be used for a bottle500, wherein an alternative embodiment of the flavor infusing device701may be used in conjunction with a wine bottle710. Similarly, a flavor infusing straw device703may be used for a juice bottle712, a flavor infusing device704may be used in conjunction with a tumbler714and a flavor infusing device706may be used with a cup716. Stated differently, the flavor dispensing drinking straw device of the present invention can be of various sizes and topper designs and shapes, and color, length and diameter may vary to meet requirements of different users. Certain terms are used throughout the following description and claims to refer to particular features or components. As one skilled in the art will appreciate, different persons may refer to the same feature or component by different names. This document does not intend to distinguish between components or features that differ in name but not structure or function. As used herein “flavor/syrup dispensing straw”, “silicone straw”, “flavor or syrup infusing straw”, “drinking straw”, “flavor splash straw” and “flavor infusing straw” are interchangeable and refer to the flavor/syrup dispensing drinking straw100of the present invention. Notwithstanding the forgoing, the flavor dispensing drinking straw100of the present invention and its various components can be of any suitable size and configuration as is known in the art without affecting the overall concept of the invention, provided that it accomplishes the above stated objectives. One of ordinary skill in the art will appreciate that the size, configuration and material of the flavor dispensing drinking straw100and its various components as shown in the FIGS. are for illustrative purposes only, and that many other sizes and shapes of the flavor dispensing drinking straw100are well within the scope of the present disclosure. Although the dimensions of the flavor dispensing drinking straw100are important design parameters for user convenience, the flavor dispensing drinking straw100and its various components may be of any size that ensures optimal performance during use and/or that suits the user's needs and/or preferences. Various modifications and additions can be made to the exemplary embodiments discussed without departing from the scope of the present invention. While the embodiments described above refer to particular features, the scope of this invention also includes embodiments having different combinations of features and embodiments that do not include all of the described features. Accordingly, the scope of the present invention is intended to embrace all such alternatives, modifications, and variations as fall within the scope of the claims, together with all equivalents thereof. What has been described above includes examples of the claimed subject matter. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the claimed subject matter, but one of ordinary skill in the art may recognize that many further combinations and permutations of the claimed subject matter are possible. Accordingly, the claimed subject matter is intended to embrace all such alterations, modifications and variations that fall within the spirit and scope of the appended claims. Furthermore, to the extent that the term “includes” is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term “comprising” as “comprising” is interpreted when employed as a transitional word in a claim.

11857095

DETAILED DESCRIPTION Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings. In the following detailed description of the preferred embodiments, reference is made to the accompanying drawings that form a part hereof, and in which is shown by way of illustration specific preferred embodiments in which the disclosed embodiments may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the disclosed embodiments, and it is understood that other embodiments may be utilized and that logical structural, mechanical, electrical and chemical changes may be made without departing from the spirit or scope of the disclosed embodiments. To avoid detail not necessary to enable those skilled in the art to practice the disclosed embodiments, the description may omit certain information known to those skilled in the art. The following detailed description is, therefore, not to be taken in a limiting sense. Also, in the description of embodiments, terms such as first, second, A, B, (a), (b) or the like ray be used herein when describing components of the disclosed embodiments. Each of these terminologies is not used to define an essence, order or sequence of a corresponding component but used merely to distinguish the corresponding component from other component(s). It should be noted that if it is described in the specification that one component is “connected,” “coupled” or “joined” to another component, the former may be directly “connected,” “coupled,” and “joined” to the latter or “connected”, “coupled”, and “joined” to the latter via another component. Hereinafter, specific embodiments of the present disclosure will be described in detail with drawings. The clothing referred to in this specification includes not only clothing and apparel, but also objects that can be worn by a person, such as shoes, socks, gloves, hats, and scarves, as well as objects that can be used by a person such as dolls, towels, and blankets, and includes all objects that can perform washing. FIG.1is a front view illustrating a clothing hanger according to an embodiment of the present disclosure. The clothing hanger according to an embodiment of the present disclosure ay include a vertical frame1, a support frame2, an extension frame5and a moving bar10. The vertical frame ay be formed long in the vertical direction. A space in which the moving bar10to be described later is received may be formed inside the vertical frame1. The support frame2may be connected to the upper end of the vertical frame1. The support frame2may support clothing. In more detail, the support frame2may include a center part3connected to the upper end of the vertical frame1and a pair of support parts4formed long from both sides of the center part3to support clothing. In addition, the support frame2may further include an upper body6fastened to the upper side of the center part3. The center part3may be located in the center of the support frame2. The center part3may be fastened to the upper end of the vertical frame1from the upper side of the vertical frame1. A space in which the elevating body30(seeFIG.2) to be described later is received may be formed inside the center part3. The support part4may support the shoulder portion of the clothing. The support part4may be formed to be formed long in an inclined direction such that the height of the support part is lowered as the distance from the center part3is increased. The pair of support parts4may include a first support part4A located on one side of the center part3and a second support part4B located on the other side of the center part3. A space for receiving the multi-joint link40(seeFIG.2) and the extension frame5connected to the multi-joint link40may be formed inside the support part4. The upper body6may be fastened to the center part3from the upper side of the center part3. An inner space in which the elevating body30(seeFIG.2) can lift may be formed inside the upper body6. In other words, the inner space of the upper body6may communicate with the inner space of the center part3. A hook6A of the upper body6may be provided. The hook6A may be connected to the upper portion of the upper body6. The hook6A may be hung on a holder such as a wardrobe to support the entire clothing hanger. The upper body6may be provided with an elastic band66. The elastic band66may surround at least a portion of the upper body6from the rear. The height of the elastic band66may be higher than the height of the upper body6. The elastic band6B is elastically deformed and can support the collar of clothing. The elastic band6B may surround the unfolded collar of the clothing from the outside. The elastic band66may be fixed by a ban fixing device60(seeFIG.12) to be described later. The extension frame5may be movably provided inside the support frame2. In some detail, the extension frame5may be provided movably inside the support part4of the support frame2and may protrude to the outside of the support part4. The extension frame5may be formed long in a direction parallel to the support part4. The extension frame5together with the support part4can support the clothing. The extension frame5may protrude from the support part4. The length at which the extension frame5protrudes from the support part4may be adjusted according to the operation of the moving bar10and the handle10A, which will be described later. Accordingly, the extension frame5can stably support clothing having various sizes. A pair of extension frames5may be provided. The pair of extension frames5may include a first extension frame5A protruding from the first support part4A and a second extension frame5B protruding from the second support part4B. The first extension frame5A may be formed long in a direction parallel to the first support part4A. The second extension frame5B may be formed long in a direction parallel to the second support part46. Each extension frame5may include an insertion part51inserted into the support part4, and a hanging part52formed at are end of the insertion part51. The insertion part51may be formed in a size to be inserted into the inside of the support part4. The insertion part51may be formed long in a direction parallel to the support part4. The hanging part52may be formed in a size that is not inserted into the inside of the support part4. The hanging part52may be hung on the end of the support part4and not be inserted into the support part4. The moving bar10may be provided so as to be capable of elevating inside the vertical frame1. The moving bar10may be formed long in the vertical direction in parallel with the vertical frame1. The lower end of the moving bar10may protrude downward of the vertical frame1. A handle10A may be connected to the lower end of the moving bar10. The handle10A may be located on the lower side of the vertical frame1. The user can lower the moving bar10by pulling the handle10A, and, by means of the elevating body30(seeFIG.2) and the multi-joint link40(seeFIG.2) connected to the moving bar10. A pair of extension frames5may protrude from both sides of the support frame2, respectively. Meanwhile, the clothing hanger according to the embodiment of the present disclosure may further include a lower frame7, a lower extension frame8, and a side frame9. The lower frame7may be connected to the lower portion of the vertical frame1. The lower frame7may be formed long in the left and right direction. The lower frame7is preferably disposed horizontally. The lower frame7may be spaced downward from the support frame2, more specifically the support part4. A space in which the tension spring70(seeFIG.2) and the lower extension frame8connected to the tension spring70are received may be formed in the lower frame7. A pair of lower frames7may be provided. The pair of lower frames7may include a first lower frame7A located at one side of the vertical frame1and a second lower frame7B located at the other side of the vertical frame1. The first lower frame7A may be vertically overlapped with the first supporting part4A, and the second lower frame7B may be vertically overlapped with the second supporting part4B. The lower extension frame8may be movably provided inside the lower frame7. The lower extension frame8may protrude outward of the lower frame7. The lower extension frame8may be formed long in a direction parallel to the lower frame7. The lower extension frame8may protrude from the lower frame7. The user can pull the lower extension frame8to protrude the lower extension frame8from the lower frame7. Accordingly, the direction of the side frame9, which will be described later, can be appropriately changed according to the shape of the clothing, and the side frame9can smoothly apply the mechanical force from the inside of the clothing in the left and right direction. A pair of lower extension frames8may be provided. The pair of lower extension fames8may include a first lower extension frame8A protruding from the first lower frame7A, and a second lower extension frame8B protruding from the second lower frame7B. Each lower extension frame8may include an insertion part81inserted into the lower frame7, and a hanging part82formed at an end portion of the insertion part81. The insertion part81may be formed in a size to be inserted into the lower frame7. The insertion part81may be formed long in a direction parallel to the lower frame7. The hanging part82may be formed in a size not to be inserted into the lower frame7. The hanging part82may not be inserted into the lower frame7by being hung on the end part of the lower frame7. The side frame9may be formed long in the vertical direction. The side frame9may connect the extended frame5and the lower extended frame8. In more detail, the side frame9may connect the hanging part52of the extension frame5and the hanging part82of the lower extension frame8to each other. The side frame9may be elastically deformed. The side frame9may include a non-metal material. A plurality of vertically spaced grooves may be formed in the side frame9. As a result, the side frame9may be elastically deformed to suit the shape of the clothing, and a mechanical force may be applied thereto. A pair of side frames9may be provided. The pair of side frames9may include a first side frame9A and a second side frame9B. The first side frame9A may connect the first extended frame5A and the first lower extended frame8A. The second side frame9B may connect the second extended frame5B and the second lower extended frame8B. The first side frame9A may be located on one side of the vertical frame1, and the second side frame9B may be located on the other side of the vertical frame1. The first side frame9A and the second side frame9B may overlap the vertical frame1in the left and right direction. The side frame9can apply a mechanical force to both sides of the clothing. In more detail, the side frame9may apply a mechanical force from the inside to the outside of the body of the clothing hung on the clothing hanger. Accordingly, the clothing may be kept taut, and refresh operations such as ironing may be performed smoothly. Meanwhile, the first button19A may be located on the outer surface of the vertical frame1. The first button19A may be located on the lower front surface of the vertical frame1. The first button19A may be included in the first stopper19(seeFIG.7) that prevents the moving bar10from lifting. When the user presses the first button19A, the moving bar10lifts by the elastic force of the elastic member12(seeFIG.2), and the extension frame5can be inserted into the support part4of the support frame2. This will be described in detail later. A second button89A may be located on the outer surface of the lower frame7. The second button89A may be located on the front surface of the lower frame7. The second button89A may be provided in the first lower frame7A and the second lower frame7B, respectively. The second button89A may be included in a second stopper89(seeFIG.11) that prevents the lower extension frame8from moving toward the vertical frame1. When the user presses the second button89A, the lower extension frame8moves toward the vertical frame1by the elastic force of the tension spring70(seeFIG.2) to be inserted into the lower frame7. This will be described in detail later. A hook device76for applying mechanical force by pulling the lower portion of the clothing may be provided on the upper side of the lower frame7. In one example, the hook device76may directly pull the lower portion of the clothing. As another example, a separate clip may be connected to the hook device76and the clip may pull the lower portion of the clothing. The hook device76may have a variable height according to the degree of protrusion of the lower extension frame8with respect to the lower frame7. Accordingly, it is possible to smoothly apply mechanical force to the lower portion of the clothing having various heights. This will be described in detail later. FIG.2is a cross-sectional view illustrating the inside of the clothing hanger according to an embodiment of the present disclosure. The clothing hanger according to an embodiment of the present disclosure may further include an elevating body30and a multi-joint link40. The elevating body30may be connected to the upper end of the moving bar10and may be elevated together with the moving bar10. The elevating body30may be integrally formed with the moving bar10. The elevating body30may be provided to be capable of elevating in the center part3of the support frame2. In more detail, the elevating body30may lower into the inner space of the center part3or lift into the inner space of the upper body6. A pair of multi-joint links40may be rat ably connected to both sides of the elevating body30, respectively. The multi-joint link40may be built into the support part4. The multi-joint link40is rotatably connected to the elevating body30and may have a variable length according to the elevation of the elevating body30. The multi-joint link40may be bellows. The multi-joint link40may connect the elevating body30and the extension frame5to each other. When the moving bar10and the elevating body30lift, the length of the multi-joint link40may be shortened, and the multi-joint link40may pull the extension frame5. Thus, the extension frame5can be inserted into the support part4of the support frame2. Conversely, when the moving bar10and the elevating body30lower, the length of the multi-joint link40may increase as illustrated inFIG.2, and the multi-joint link40may push the extension frame5. Accordingly, the extension frame5may protrude from the support part4of the support frame2. However, the present disclosure is not limited thereto, and it is also possible that the rotation link40is rotatably directly connected to the upper end portion of the moving bar10. In this case, the upper end portion of the moving bar10is located inside the center part3, and the clothing hanger may not include the elevating body30. Meanwhile, at least one long hole11may be formed in the moving bar10, and an elastic member12may be disposed in each elongated hole11. The long hole11may be formed long in the vertical direction. The elastic member12may provide an upward direction to the moving bar10. The elastic member12may be a tension spring or a compression spring. An insertion protrusion1A to which the elastic member12is connected may be provided inside the vertical frame1. The insertion protrusion1A may be inserted into the long hole11of the moving bar10. The insertion protrusion1A may be formed to protrude from the inner surface of the vertical frame1toward the long hole11. The elastic member12may be located between the insertion protrusion1A and the long hole11. The elastic member12may be located in at least one of between the lower end of the long hole11and the insertion protrusion1A and between the upper end of the long hole11and the insertion protrusion1A. In other words, the elastic member12may be located below and/or above the insertion protrusion1A. In this case, when the moving bar10lowers with respect to the vertical frame1, the upper end of the long hole11may be close to the insertion protrusion1A, and the elastic member12may be compressed or tensioned. Accordingly, the elastic member12may provide an upward elastic force to the moving bar10by the restoring force of the elastic member12. Meanwhile, the tension spring70may be built in the lower frame7. The tension spring70may provide an elastic force to the lower extension frame8in an inward direction of the lower frame7. In more detail, when the lower extension frame8moves outward, the tension spring70may be tensioned. Accordingly, the tension spring70may pull the lower extension frame8in a direction closer to the vertical frame1by the compressed restoring force. FIG.3is an enlarged cross-sectional view illustrating the inside of the upper portion of the clothing hanger according to an embodiment of the present disclosure,FIG.4is a view for explaining a configuration in which the extension frame is guided according to an embodiment of the present disclosure, andFIG.5is a perspective view illustrating an elevating body according to an embodiment of the present disclosure. The elevating body30may include a main body31and a roving bar connector32protruding downward from the main body31. The main body31may have a block shape. The moving bar connector32may protrude downward from the bottom surface of the main body31. It is preferable that a plurality of moving bar connectors32are formed. The support part3may include a stop plate3A for limiting the levering range of the elevating body30. The stop plate3A may form the bottom surface of the support part3but is not limited thereto. In more detail, a protrusion part32protruding downward from the main body31may be formed on the elevating body30. The elevating body30may lower until the protrusion part32comes into contact with the upper surface of the stop plate3A. The moving bar connector32may be connected to the upper end of the moving bar10through the stop plate3A of the support part3. Since the elevating body30elevates in a state where the moving bar connector32passes through the stop plate3A, the moving bar connector32may be formed to be sufficiently long. The vertical length of the moving bar connector32may be longer than the length of the protrusion part33in the vertical direction. A gradient surface36may be formed on the main body31of the elevating body30. A pair of gradient surfaces36may be formed. A pair of gradient surfaces36may guide a pair of multi-joint links40, respectively. The gradient surface36may be formed to be inclined in a direction in which the height decreases as it approaches the side surface of the elevating body30. In more detail, a link passage groove34through which the multi-joint link40passes is formed on the side surface of the body31, and a through-hole35communicating with the link passage groove34may be formed on the upper surface of the main body31. The gradient surface36may be formed to connect the lower end of the through-hole35from the lower end of the link passage groove34. The link passage groove34may be formed long in the vertical direction. A link connection hole35A to which the multi-joint link40its rotatably connected may be formed in the through-hole35A. When the elevating body30lifts, the multi-joint link40may approach the gradient surface36, and when the elevating body30lowers, the multi-joint link40may move away from the inclined surface36. The length of the multi-joint link40may be smoothly varied according to the elevation of the elevating body30by the gradient surface36. Meanwhile, a guide groove g formed long in the direction of the support part4may be formed inside the support part4of the support frame2. The guide groove g may be formed long on both surfaces of the inner side of the support part4. The guide groove g may guide the multi-joint link40and the extension frame5. In more detail, the lower end part of the support link40may be rotatably connected to the extension frame5by the rotation shaft41. Both ends of the rotation shaft41may be inserted into the guide groove g. Therefore, when the length of the rotation link40is changed, the rotation shaft41can move along the guide groove g. Accordingly, the guide groove g can guide the multi-joint link40and the extension frame5connected to the rotation shaft41. FIG.6is an enlarged view illustrating a portion of a lower side of a clothing hanger according to an embodiment of the present disclosure. The hook device76may include a lower hook77, a first connection member78, and a second connection member79. The lower hook77may be located on the upper side of the lower frame7. The first connecting member78may be rotatably connected to each of the lower hook77and the lower frame7. The second connecting member79may be rotatably connected to each of the lower hook77and the lower extension frame8. The lower hook77may be connected to the lower end of the clotting to apply a mechanical force to the lower end of the clothing. For example, a separate clip (not illustrated) may be hung on the lower hook77, and the clip may pull the lower portion of the clothing. The first connection member78may be disposed to be inclined in a direction in which the height decreases as it approaches the vertical frame1. One end of the first connection member78may be rotatably connected to the first connector71formed on the upper surface of the lower frame7. The other end of the first connecting r ember78may be rotatably connected to the lower hook77. The second connecting member79may be disposed to be inclined in a direction in which the height decreases as the distance from the vertical frame1increases. One end of the second connection member79may be rotatably connected to the second connector83formed on the upper surface of the lower extension frame8. The other end of the second connection member79may be rotatably connected to the lower hook77. A long hole72through which the second connector83passes may be formed on the upper surface of the lower frame7. The long hole72may be formed long in the longitudinal direction of the lower frame7. With the above configuration, when the lower extension frame8protrudes from the lower frame1, the inclination of the first connecting member78and the second connecting member79can be gentle, and the distance between the lower frame7and the lower hook77in the vertical direction may be reduced. As a result, the hook device76may apply a mechanical force downward to the clothing connected to the lower hook77, and the clothing may become taut. FIG.7is a view for explaining the operation of a first stopper according to an embodiment of the present disclosure, andFIG.8is a view illustrating a connection relationship between a first stopper and a moving bar according to an embodiment of the present disclosure. The clothing hanger according to an embodiment of the present disclosure ray include a first stopper19that prevents the moving bar10from lifting. The first stopper19may include a first button19A provided on the outer surface of the vertical frame1, a first stopper main body198formed long in the horizontal direction from the first button19A, and a protrusion19C protruding from the first stopper main body198and hung on the moving bar10. The first button19A may be provided on the outer surface of the vertical frame1. In more detail, a stopper mounting part18to which the first stopper19is mounted may be formed on the vertical frame1. The stopper mounting part18may have a hollow cylindrical shape protruding forward from the lower front surface of the vertical frame1. The stopper mounting part1B may surround the outer circumference of the first button19A. The inside of the stopper mounting part1B may communicate with the internal space of the vertical frame1. The first stopper19may be mounted to the stopper mounting part1B to be movable in the horizontal direction, in more detail, in the front and rear direction. When the user presses the first button19A, the first stopper19can move rearward, and when the user does not apply a force to the first button19A, the first stopper can move forward by the elastic force of the first compression spring16. The first stopper main body19B may be formed long rearward from the first button19A. The diameter of the first stopper main body19B may be smaller than the diameter of the first button19A. The first stopper main body19B may pass through the vertical frame1. In more detail, the first stopper main body19B may be formed long from the inner portion of the button mounting part1B to pass through the through-hole1C formed on the rear surface of the vertical frame1. In addition, an opening13through which the first stopper main body19B passes may be formed in the moving bar10. The opening13may be a long hole that passes through in the front and rear direction and is formed long in the vertical direction. In addition, a connection cover17to cover the through-hole1C and to which the rear end of the first stopper main body196is connected may be provided on the rear surface of the vertical frame1. The protrusion19C may protrude radially outward from the first stopper main body19B. In more detail, the protrusions19C may protrude from the first stopper main body19B to both left and right sides. The protrusion19C may be hung by the hanging part18formed on the moving bar10.FIG.7illustrates a state where the moving bar10lowers to the maximum and the protrusion19C is hung by the uppermost hanging part18. The hanging part18may be formed in the open hole13of the moving bar10. In more detail, the protruding body13A is formed on both sides of the inner circumference of the open hole13, and a plurality of hanging parts18may be formed on the rear surface of the protruding body13A. The pair of protruding bodies13A may protrude in a direction closer to each other on both sides of the inner circumference of the opening13. The protruding body13A may be formed long in the vertical direction. The hanging part18may be formed to protrude rearward from the rear surface of the protruding body13A. There may be a plurality of hanging parts18formed on each protruding body13A. For example, each of the protruding bodies13A may have five hanging parts18formed therein. The plurality of hanging parts18may be formed at different heights. Each of the hanging parts18may include a horizontal surface18A on which the protrusion19C is hung, and an inclined surface18B connected to the horizontal surface18A. The horizontal plane18A may be hung in contact with the bottom surface of the protrusion19C. In other words, even if the moving bar10receives a force in the upward direction by the elastic force of the elastic member12(seeFIG.2), the horizontal surface18A of the hanging part18is hung on the protrusion19C and may not lift. The inclined surface18B may be formed to be inclined in a direction in which the height decreases fro the rear end of the horizontal surface18A toward the front. In a case where the moving bar10lowers, the inclined surface18B may press the protrusion19C rearward. In more detail, the front surface of the protrusion19C may be inclined or rounded in a direction in which the height decreases toward the front. Accordingly, when the moving bar10lowers, the inclined surface18B may be in contact with the front surface of the protrusion19C and push the protrusion19C rearward. Accordingly, the moving bar10can be smoothly lowered without being hung by the protrusion19C. The lower end of the inclined surface18B of any one of the hanging parts8may be connected to the front end of the horizontal surface18A of the other hanging part18located below one of the hanging parts18. The first stopper19may be provided with a first compression spring16. The first compression spring16may provide an elastic force to the first stopper19in a direction in which the protrusion19C hung on the hanging part18. In other words, the first compression spring16may push the first stopper19forward. The first compression spring16may be disposed on the outer circumference of the first stopper main body19B. The first compression spring16may be located between the protrusion19C and the connection cover17. When the user presses the first button19A, the protrusion19C may compress the first compression spring16by pressing it rearward. If the user does not apply force to the first button19A, the first compression spring16may move the first stopper19forward by pressing the protrusion19C forward. Since the plurality of hanging parts18are formed at different heights, the position of the moving bar10and the protrusion length of the extension frame5with respect to the support frame2may vary according to the height of the hanging part18on which the protrusion19C is hung. A direction guide part1D for guiding the mounting direction of the first stopper19may be formed on the inner circumference of the stopper mounting part1B. In addition, an auxiliary protrusion19D may be formed on the first stopper19. The auxiliary protrusion19D is located inside the stopper mounting part16and may protrude radially outward from the first stopper main body19B. In this case, the auxiliary protrusion19D passes through the direction guide part1D only in a case where the first stopper19is inserted in the set direction, otherwise the auxiliary protrusion19D may be hung by the direction guide part1D. Hereinafter, the operation of the first stopper19will be described. When the user pulls the handle10A at the lower end of the moving bar10, the moving bar10may lower. When the moving bar10lowers, the inclined surface18B of any one of the hanging parts18ray press the protrusion19C rearward. Accordingly, the first stopper19may move rearward and the first compression spring16may be compressed between the protrusion19C and the connecting cover17. Since the protrusion19C has moved rearward, the moving bar10may lower. When the inclined surface18B of any one of the hanging parts18is lower than the protrusion19C, the first stopper19can move forward by the elastic force of the first compression spring16, and the protrusion19C may be hung by the other hanging part18located above one of the hanging parts18. In this case, when the user pulls the handle10A at the lower end of the moving bar10again, the above-described process is repeated and the moving bar10may lower further. Accordingly, the user can easily adjust the protrusion length of the extension frame4protruding from the support frame2in conjunction with the elevation of the moving bar10. Meanwhile, when the user presses the first button19A, the first stopper19may move rearward. Accordingly, the protrusion19C can compress the first compression spring16without being hung by the hanging part18. Since the protrusion19C is not hung by the hanging part18, the moving bar10may lift by the elastic force of the elastic member12(seeFIG.2). Accordingly, the extension frame5can be inserted into the support part4of the support frame2. Accordingly, the user can simply restore the protrusion of the extension frame5with respect to the support frame2by pressing the first button19A. FIG.9is an enlarged cross-sectional view illustrating the inner portion of the lower portion of the clothing hanger according to an embodiment of the present disclosure,FIG.10is a view illustrating a connection relationship between a second stopper and a lower extension frame according to an embodiment of the present disclosure, andFIG.11is a view for explaining the operation of a second stopper according to an embodiment of the present disclosure. The clothing hanger according to an embodiment of the present disclosure may further include a second stopper89for preventing the lower extension frame8from moving into the lower frame7. The second stopper89may include a second button89A provided on the outer surface of the lower frame7, a second stopper main body89B formed long in the horizontal direction from the second button89A, and a protrusion89C protruding from the second stopper main body29B and hung on the lower extension frame8. The second button89A may be provided on the outer surface of the lower frame7. In more detail, a stopper through-hole73through which the second stopper89passes may be formed in a portion adjacent to the outer end portion of the front surface of the lower frame7. The second stopper89may be provided on the lower frame7to be movable in the horizontal direction, more specifically, in the front and rear direction. When the user presses the second button89A, the second stopper89can move rearward, and when the user does not apply a force to the second button89A, the second stopper89can move forward by the elastic force of the second compression spring88. The second stopper main body89B may be formed long rearward from the second button89A. The diameter of the second stopper main body89B may be smaller than the diameter of the second button89A. The second stopper main body89B may be inserted into the lower frame7. In more detail, the second stopper main body898may extend from the inner portion of the stopper through-hole73toward the rear surface of the lower frame7. In addition, an opening81through which the second stopper main body89B passes may be formed in the lower extension frame8. The opening81may be a long hole that passes through in the front and rear direction and formed long in the left and right direction. The protrusion89C may protrude radially outward from the second stopper main body89B. In more detail, the protrusion89C may protrude from the second stopper main body89B in the vertical direction. The protrusion89C may be hung by the hanging portion82formed in the lower extension frame8. The hanging part82may be formed in the open hole81of the lower extension frame8. In more detail, a protruding body81A may be formed on the upper and lower surfaces of the inner circumference of the opening81, and a plurality of hanging parts82may be formed on the rear surface of the protruding body81A. The pair of protruding bodies81A may protrude in a direction closer to each other at the upper and lower sides of the inner circumference of the opening81. The protruding body81A may be formed long in the left and right direction. The hanging part82may be formed to protrude rearward from the rear surface of the protruding body81A. There may be a plurality of hanging parts82formed on each protruding body81A. The plurality of hanging parts82may be formed at different positions in the longitudinal direction of the lower extension frame8. In other words, the plurality of hanging parts82may be disposed in the left and right direction. Each of the hanging parts82may include a vertical surface82A on which the protrusion89C is hung, and an inclined surface82B which is connected to the vertical surface82A. The vertical surface82A may be hung in contact with the outer surface of the protrusion89C. The outer surface of the protrusion89C may mean a surface opposite to the surface facing the vertical frame1among both side surfaces of the protrusion89C. Even if the lower extension frame8receives a force in the direction to be inserted into the lower frame7by the elastic force of the tension spring70, the vertical surface82A of the hanging part82is hung by the protrusion89C and may not move. The inclined surface82B may be inclined in a forward direction from the rear end of the vertical surface82A toward the outside. In a case where the lower extension frame8moves in a direction to protrude from the lower frame7, the inclined surface82B may press the protrusion89C rearward. In more detail, the front surface of the protrusion89C may be inclined or rounded in a direction toward the front toward the outside. Accordingly, when the lower extension frame8moves outward, the inclined surface82B may contact the front surface of the protrusion89C and push the protrusion89C rearward. Accordingly, the lower extension frame8can move smoothly without being hung by the protrusion89C. The outer end of the inclined surface82B of any one of the hanging parts82may be connected to the front end of the vertical surface18A of the other hanging part82adjacent to one of the hanging parts82. The second stopper89may be provided with a second compression spring88. The second compression spring88may provide an elastic force to the second stopper89in a direction in which the protrusion89C hangs the hanging part82. In other words, the second compression spring88may push the second stopper89forward. The second compression spring88may be disposed on the outer circumference of the second stopper body89B. The second compression spring88may be located between the protrusion89C and the rear surface of the lower frame7. When the user presses the second button89A, the protrusion89C may compress the second compression spring88by pressing it rearward. If the user does not apply force to the second button89A, the second compression spring88may press the protrusion89C forward to move the second stopper89forward. Since the plurality of hanging parts82are formed at different positions in the left and right direction, the protrusion length of the lower extension frame8with respect to the lower frame7can vary according to the position of the hanging part82on which the protrusion89C is hung. Hereinafter, the operation of the second stopper89will be described. When the user pulls the lower extension frame8outward, the inclined surface82B of any one of the hanging parts82may press the protrusion89C rearward. Accordingly, the second stopper89may move rearward, and the second compression spring88may be compressed by being pressed by the protrusion89C. Since the projection89C has moved rearward, the lower extension frame8can n rove outward. In other words, the lower extension frame8may protrude from the lower frame7. When the lower extension frame8moves outward, the tension spring70connected to the lower extension frame8may be tensioned. When the inclined surface82B of any one of the hanging parts82moves outward than the protrusion89C, the second stopper89can move forward by the elastic force of the second compression spring88, and the protrusion89C may be hung by the other hanging part82located inside one of the hanging parts82. In this case, if the user pulls the lower extension frame8again, the process described above is repeated, and the lower extension frame8may move further. Accordingly, the user can easily adjust the protruding length of the lower extension frame8protruding from the lower frame7. Meanwhile, when the user presses the second button89A, the second stopper89may move rearward. Accordingly, the protrusion89C may compress the second compression spring88without being hung by the hanging part82. Since the protrusion89C is not hung by the hanging part82, the lower extension frame8may move inwardly by the elastic restoring force of the tension spring70. In other words, the lower extension frame8can be inserted into the lower frame7. Accordingly, the user can simply restore the protrusion of the lower extension frame8with respect to the lower frame7by pressing the second button89. FIG.12is a view illustrating an elastic band and a band fixing device according to an embodiment of the present disclosure. The clothing hanger according to an embodiment of the present disclosure may further include a band fixing device60for fixing the elastic band6B. The band fixing device60may be fastened at the front of the upper body6. In more detail, a fastening hole6C to which the band fixing device60is fastened may be formed on the front surface of the upper body6. The band fixing device60includes a main body61, a fixing part62is hinged to the main body61to fix the elastic band6B, and a fastening part63which protrudes from the rear of the main body61to fasten to the upper body6. The main body61may have a plate shape which is formed long in the vertical direction. The fixing part62may be provided in front of the main body61. The fixing part62is hinged to the main body61to be able to rotate in the vertical direction. Preferably, a torsion spring (not illustrated) providing an elastic force for rotating the fixing part62toward the main body61is provided on the hinge. The fixing part62may fix the elastic band6B together with the main body61. In more detail, both end portions of the elastic band6B may be fixed between the main body61and the fixing portion62. The fastening part63may be formed long rearward from the rear surface of the main body61. The fastening part63may be inserted into the fastening hole6C of the upper body6. Since the band fixing device60fixes the elastic band6B, the elastic band6B can stably support the collar of clothing having various shapes. According to a preferred embodiment of the present disclosure, the extension frame may protrude from both sides of the support frame. As a result, the clothing hanger can be extended in the left and right direction to stably support clothing of various sizes. In addition, the moving bar may be interlocked with the extension frame by the elevating body and the multi-joint link. Accordingly, the user can simply extend the clothing hanger in the left and right direction by pulling the handle connected to the moving bar downward. In addition, the elevating body can be lifted vertically in the inner space of the center part and the inner space of the upper body communicating therewith. Accordingly, the clothing hanger can be kept compact while securing enough space for the elevating body to be capable of elevating. In addition, the upper body may be provided with an elastic band elastically deformed, the band fixing device may fix the elastic band. This allows the elastic band to stably support the collar of the clothing. In addition, when the user presses the first button, the moving bar may move upward by the elastic force of the elastic member, and the extension frame may be inserted into the support frame. Accordingly, the clothing hangers which are extended in the left and right direction can be restored simply and conveniently. In addition, a plurality of hanging parts to which the first stopper is hung may be formed at different heights of the moving bar. Thereby, the protrusion length of the extension frame can be easily adjusted. In addition, the first compression spring may provide an elastic force to the first stopper in a direction in which the protrusion hangs on the hanging part. Accordingly, if the user does not apply force to the first button, the first stopper can prevent the moving bar from lifting. In addition, the hanging part may include a horizontal surface and an inclined surface. Accordingly, in a case where the moving bar lowers, the projection does not hang on the hanging part, but in a case where the moving bar lifts, the protrusion may become hung on the hanging part. In addition, the lower extension frame may protrude from both sides of the lower frame, and the side frame connecting the extension frame and the lower protrusion frame to each other may move outward. Accordingly, the side frame can push the clothing to both sides within the body of the clothing, and the clothing can be kept taut in the left and right direction. In addition, the side frame may be elastically deformed to suit the shape of the clothing to apply a mechanical force. In addition, when the user presses the second button, the lower extension frame may be inserted into the lower frame by the elastic force of the tension spring. Accordingly, the clothing hangers which are extended in the left and right direction can be restored simply and conveniently. In addition, the plurality of hanging parts to which the second stopper is hung may be formed at different positions in the left and right direction. Thereby, the protrusion length of the lower extension frame can be easily adjusted. In addition, the second compression spring may provide an elastic force to the second stopper in a direction in which the protrusion hangs the hanging part. Accordingly, if the user does not apply force to the second button, the second stopper may prevent the lower extension frame from moving inward. In addition, the hanging part may include a vertical surface and an inclined surface. Accordingly, in a case where the lower extension frame moves outward, the protrusion does not hang on the hanging part, and in a case where the lower extension frame moves inward, the protrusion may become hung on the hanging part. In addition, the hook device relay apply a mechanical force by fixing the lower portion of the clothing. Thereby, the clothing can be kept taut in the vertical direction. In addition, the height of the hook device may be changed according to the movement of the lower extension frame. Accordingly, the mechanical force can be stably applied to clothing of various sizes.

11857096

DETAILED DESCRIPTION OF THE EMBODIMENTS It will be appreciated that for simplicity and clarity of illustration, where appropriate, reference numerals have been repeated among the different figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the exemplary embodiments described herein. However, it will be understood by those of ordinary skill in the art that the exemplary embodiments described herein may be practiced without these specific details. In other instances, methods, procedures, and components have not been described in detail so as not to obscure the related relevant feature being described. Also, the description is not to be considered as limiting the scope of the exemplary embodiments described herein. The drawings are not necessarily to scale and the proportions of certain parts may be exaggerated to better illustrate details and features of the present disclosure. The term “comprising” when utilized, means “including, but not necessarily limited to”; it specifically indicates open-ended inclusion or membership in the so-described combination, group, series, and the like. The disclosure is illustrated by way of example and not by way of limitation in the figures of the accompanying drawings in which like references indicate similar elements. It should be noted that references to “an” or “one” embodiment in this disclosure are not necessarily to the same embodiment, and such references can mean “at least one”. In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, the features defined as “first” and “second” may explicitly or implicitly include one or more of the said features. In the description of embodiments of the application, “a plurality of” means two or more, unless otherwise specifically defined. Referring toFIG.1toFIG.5, a traction pillow includes a pillowcase1and an elastic pillow interior2. The pillow interior2has an opening21. The opening21penetrates from an upper side of the pillow interior2to a lower side of the pillow interior2. The pillowcase1includes an upper surface11and a lower surface12. The upper surface11is provided with a first connector3. The lower surface12is provided with a second connector4. When the pillowcase1sleeves the pillow interior2, and the first connector3is detachably connected to the second connector4via the opening21to enable the upper surface11and the lower surface12to clamp the pillow interior2, the upper surface11and the lower surface12press the pillow interior2to form a neck brace supporting portion5. By using the above structure, the traction pillow includes a pillowcase and an elastic pillow interior. The pillow interior has an opening. The opening penetrates from an upper side of the pillow interior to a lower side of the pillow interior. The pillowcase includes an upper surface and a lower surface. The upper surface is provided with a first connector. The lower surface is provided with a second connector. When the pillowcase sleeves the pillow interior, and the first connector is detachably connected to the second connector via the opening to enable the upper surface and the lower surface to clamp the pillow interior, the upper surface and the lower surface press the pillow interior to form a neck brace supporting portion. Compared with the neck brace supporting portion directly formed in an existing ordinary pillow on the market, the neck brace supporting portion formed by pressing the pillow interior by the upper surface and the lower surface of the pillowcase is more full and has stronger cervical traction feeling, so that the traction pillow can provide a higher elastic reset supporting force, is not prone to collapse, and can provide a strong support to the neck, relax the muscles around the neck, improve the blood circulation, relieve the symptoms of neck pain and numbness, and improve the user experience. In this embodiment, the first connector3is arranged on an inner side of the upper surface11, and the second connector4is arranged on an inner side of the lower surface12. The first connector3includes a first connection portion31and a first connection surface32. One side of the first connection surface32is connected to the inner side of the upper surface11. The first connection portion31is connected to the other side of the first connection surface32. The second connector4includes a second connection portion41and a second connection surface42. One side of the second connection surface42is connected to the inner side of the lower surface12. The second connection portion41is connected to the other side of the second connection surface42. The first connection portion31is detachably connected with the second connection portion41. Specifically, the first connection portion is a first connection buckle, and the second connection portion is a second connection buckle. The first connection buckle and the second connection buckle are detachably connected. By using the above structure, the upper surface and the first connection surface cover the first connection buckle, and the lower surface and the second connection surface cover the second connection buckle, so as to hide the first connection buckle and the second connection buckle. The traction pillow looks flatter and more beautiful, and direct contact between a user and the first connection buckle as well as the second connection buckle during use can also be effectively prevented, so as to prevent the user from having a foreign body sensation and a discomfort feeling in the cervical vertebra, and to make it easier for the user to accept the traction pillow. Further, the first connection surface is connected to the inner side of the upper surface in a suturing manner, and the second connection surface is connected to the inner side of the lower surface in a suturing manner. In this embodiment, when the first connector3is connected to the second connector4via the opening21to enable the upper surface11and the lower surface12to clamp the pillow interior2, a first gap7is reserved between the upper surface11and the opening21. A second gap8is reserved between the lower surface12and the opening21. The first gap7, the opening21, and the second gap8are communicated with each other to form a heat dissipation channel. By using the above structure, when a user uses the pillow, heat can be dissipated through the heat dissipation channel, so as to prevent the heat from being concentrated on the pillow and make a more comfortable sleep environment for the user, to improve the sleep quality of the user. In this embodiment, the opening21is formed in the middle of the pillow interior2. When the first connector3is connected to the second connector4via the opening21to enable the upper surface11and the lower surface12to clamp the pillow interior2, the upper surface11and the lower surface12press the pillow interior2to form the neck brace supporting portion5located in the middle and side wing portions6located on two sides. The upper surface11and the lower surface12press the pillow interior2to form a recessed neck brace supporting portion5located in the middle and raised side wing portions6located on the two sides. Specifically, the traction pillow further includes platforms9located on two sides of the pillow, and the platforms9are located below the side wing portions6. Further, the side wing portions6are used for supporting the head, and the platforms9are used for supporting arms. By using the above structure, when the traction pillow is used, the recessed neck brace supporting portion formed by pressing the pillow interior can better abut against the cervical curve of a user, to provide a stable, strong, and full support for the cervical vertebra, relax the muscles around the neck, improve the blood circulation, relieve the symptoms of neck pain and numbness, and improve the user experience. Furthermore, the side wing portions formed by pressing the pillow interior can provide a stable, strong, and full support for the head, relax the muscles around the shoulders, improve the blood circulation, and relieve the symptoms of shoulder pain and numbness. Much further, during sleeping, a user can put the arms on the platforms no matter the user lies supine or prostrate, so that the platforms can support the arms to relieve the symptoms of arm pain and numbness. In this embodiment, the pillow interior is a memory foam pillow interior or a latex pillow interior. The pillowcase1has a sleeving hole13. The pillowcase1sleeves the pillow interior2via the sleeving hole13. A zipper131is arranged at the sleeving hole13. The zipper131is used for opening or closing the sleeving hole13. By using the above structure, the memory foam pillow interior or the latex pillow interior has the characteristics of air permeability, hygroscopicity, and good elasticity. Thanks to its unique softness and high latex elasticity, the traction pillow can comply with the cervical curve. The full neck brace supporting portion formed by pressing the memory foam pillow interior or the latex pillow interior can support the cervical vertebra of a user more powerfully, and can also make the neck get better relax, to achieve an objective of better protecting the cervical vertebra. Due to the design according to the ergonomic principle, sleep is effectively prompted. For some cervical spondylosis patients, the traction pillow can achieve the objectives of prevention and treatment. Sometimes, the traction pillow is also helpful for some patients suffering from high blood pressure, snoring, asthma, and other diseases. Further, the user can also open or close the sleeving hole by using the zipper, so that it is convenient for the user to replace and clean the pillowcase. As described above, one or more embodiments are provided in conjunction with the detailed description, The specific implementation of the present disclosure is not confirmed to be limited to that the description is similar to or similar to the method, the structure and the like of the present disclosure, or a plurality of technical deductions or substitutions are made on the premise of the conception of the present disclosure to be regarded as the protection of the present disclosure.

11857097

The following detailed description is of the best currently contemplated modes of carrying out exemplary embodiments of the invention. The description is not to be taken in a limiting sense but is made merely for the purpose of illustrating the general principles of the invention, since the scope of the invention is defined by the appended claims. DETAILED DESCRIPTION OF THE INVENTION This invention is a new article of manufacture adapted to be used as a retainer or hanging device in the various arts. For example, it may be used in the hanging of curtain rods or other articles on walls. Broadly, embodiments of the present invention generally encompass a support assembly utilizing an anchoring portion, a support portion and a receptacle portion structure that provides a way to easily hang or retain items on a wall. In general, the support assembly is intended to be fixed with unusual firmness to a wall surface with minimal if any use of tools such as hammers, drills or screwdrivers. In some embodiments, the support assembly may be used without other separate securing means such as nails or screws. In some embodiments, the anchoring portion of the support assembly is constructed to have slender elements, such as pointed tines, that can be easily inserted into and embedded in the walls and can be easily removed without significant damage to the wall. In general, embodiments of the support assembly comprise an anchoring portion, a support portion and a receptacle portion. The support assembly is especially suitable for mounting on walls made of penetrable compositions such as plaster, plasterboard, sheet rock, strawboard and the softwoods. The support assembly may be used as a separate assembly to secure items to a surface or the features may be integrated into other items to secure those items to a surface. Items that may be secured with the support assembly may include items such as household or office items, not limited to shelving, picture frames, posters, racks, tooth brushes, toilet paper, decorative items, window treatments, cabinets and operative devices, such as clocks, speakers, and other electrical items. The support portion generally provides a support for the support assembly against the wall surface. For example, the support portion provides a resistance force to a load that is place on other portions of the support assembly such as the receptacle portion. The resistance force is provided by the support portion resting on a generally immovable surface. The support portion is configured and shaped such that it will provide the resistance force without damaging the generally immovable surface. In one example embodiment where the support assembly functions as a curtain rod support assembly, the support portion rests against a wall surface and the support portion provides the resistance force to support a curtain rod held by the receptacle portion. The shaping of the support portion is generally planar having a flat rear surface that rests against the surface of the wall and spreads the force from the support assembly sufficiently across the wall surface. The receptacle portion generally receives, holds and couples other devices to the support assembly. The receptacle portion is configured and shaped such that it will removably receive and secure the other device to the support assembly. The receptacle portion may be configured to have a shape such as a hook or a support to receive and secure separate elements such as curtain rods or hooks/wires on the back of wall hangings. In an example embodiment where the support assembly is used as a curtain rod support assembly, the receptacle portion is shaped to mate with the outside shape of the curtain rod so that the rod can be received and secured to the receptacle portion. As shown inFIGS.1A-1B, the shaping may be round or curved to receive a round curtain rod. The anchoring portion generally provides the anchoring elements that anchor the support assembly to another surface. Generally, the anchoring portion comprises one or more sharpened protrusions that are pushed into the other surface so that the support assembly is secured to that surface. The anchoring portion may be integral with the other portions of the assembly or the anchoring portion may be a separate element that is coupled with the support assembly to anchor the assembly to the other surface. In embodiments, the anchoring portions may be any desired shape that provides the anchoring of the support assembly to the surface. In some embodiments, the anchoring portion comprises one or more sharpened tines that extend from the support assembly. The configuration of the tines may be at any angle or curve as desired for that embodiment. As described below, the tines may be bent to be positioned at a right angle to the wall, at other angles or bent to be arcuate or curved up or down in relation to the wall. In some embodiments, the anchoring portions are tines formed as a generally flat tine, for example with a generally trapezoidal cross-sectional profile. In some embodiments, the anchoring portions are formed as generally rounded tines like a wire or nail. In some embodiments, the anchoring portion may include a compound curvature for each of the tines which enables them to hold very firmly in any wall into which they are pushed. The compound curvature effects a greater resistance to withdrawal of the support assembly from a wall than do other hangers having nails or having tines which may be either straight or curved in only one plane. The curving of each of the tines of the anchor portion in two planes may comprise a curvature both in a vertical plane and in a horizontal plane. In the vertical plane, each of the tines is curved so that its end portion arches upwardly or downwardly and in the horizontal plane each of the tines is configured so that its end portion arches outwardly or inwardly, each of the tines curving in said horizontal plane away from or towards the other tine. In other words, each of the tines is curved as viewed in top plan and curved as viewed in said elevation. With this special configuration, when the support assembly is pushed into a wall the tines, as they enter the wall, due to their compound curvature, curve in multiple directions. That is, each of the tines curls within the interior of the wall, this curling greatly impeding any attempted subsequent removal of the hanger from the wall. In operation, the tines are forced to enter the wall until the support portion abuts the wall. Then, items such as pictures, window treatments and the like may be hung from the receptacle portion which is integrally formed from the support assembly. In some embodiments, the anchoring portions are a separate element such as a nail or securing devices such as a “monkey hook”. In some embodiments, the support assembly is manufactured from a blank of sheet metal from which the support assembly may be efficiently formed with little or no waste material. The support assembly may be primarily formed, as by stamping, from a blank of sheet metal, e.g. soft steel, and constitutes generally a flat blank from which the support portion and the receptacle portion can be formed by cutting and/or bending portions of the blank. In some embodiments, the support assembly is manufactured by rigidly coupling the portions together using techniques such as welding or gluing with adhesives. In some embodiments, the support assembly is manufactured with plastics, resins, epoxies or other suitable materials. These embodiments may be molded as an integral assembly or they may be manufactured by rigidly coupling the portions together using techniques such as gluing with adhesives. In some embodiments, the anchoring portions may also be formed from a portion of the blank. For example, the anchoring portions may be formed as one or more slender pointed tines protruding rearwardly and horizontally and the support portion projects downwardly and the receptacle portion projects forwardly. In this embodiment, the tine is free of the plate except at its base where it is integral with the plate. In embodiments with two tines, the tines may be mirror-images of one another. It will be appreciated that the shearing off of the length of the tines and the rearward orientation of the tines gives the support portion a t-shaped head configuration. Moreover, the joint of the base of each tine and the support portion may constitute a shoulder which has a large interior area integral with the support portion to assure that the support portion will not break from the plate. The dimensions of portions of the support assembly may have any dimension suitable for stably supporting an article from the receptacle portion. For example only and not for limitation, in some embodiments of the support assembly, when used as a curtain rod support assembly, the length of the receptacle portion may range from about 1 inch to 12 inches, the length of the supporting portion may range from about 1 inch to 12 inches, the length of the anchoring portion may range from about 1 to 12 inches and an angle of curvature of the anchoring portion having a radius ranging from about 0.20 inches to 3 inches. In a preferred embodiment of a curtain rod support assembly, the length of the receptacle portion may range from about 2 to 5 inches, the length of the supporting portion may range from about 2 to 5 inches, the length of the anchoring portion may range from about 1 to 5 inches, and the curvature of the anchoring portion having a radius ranging from about 0.25 to 1.50 inches. In one preferred embodiment of a curtain rod support assembly, the angle of curvature of the anchoring portion having a radius of about 0.50 inches. The width of portions such as the support portion are sized to stabilize the support assembly on the wall surface. Depending the material from which the support assembly is made, the thickness of its portions are sized to provide sufficient rigidity to the support assembly. The accompanying drawings illustrate different practical embodiments of the invention, but the constructions therein shown are to be understood as illustrative, only, and not as defining the limits of the invention. Anchoring Portion Generally Perpendicular to or Angled Downward from the Mounting Surface: In some example embodiments, as shown inFIGS.1A and1B, the support assembly100has an anchoring portion120that comprises tines configured to be inserted into the wall at a generally perpendicular angle to the wall surface. Suitable anchoring portions and anchoring means include those disclosed in U.S. Pat. No. 1,651,392, issued Dec. 6, 1927 which is herein incorporated by reference in its entirety. Referring first toFIGS.1A and1B, the support assembly100comprises an anchoring portion120, a support portion160and a receptacle portion140. In this embodiment, the anchoring portion120comprises one or more tines122extending from the support assembly100and configured to be inserted into the wall generally perpendicular to the surface of the wall. The tines122may be cut out from the sides of the support portion160and/or the receptacle portion140with the tines converging to a sharp point which facilitates the driving of the tines into the wall surface. In some embodiments, the tines122may be made relatively large as compared with the width of the blank and thus possesses maximum strength to support shearing strains imposed by loads to which the support assembly may be subjected. The support portion160of the support assembly100is generally shaped in the form of a flat plate, which, during the driving of the tines122, serves as a head for the tines. The receptacle portion140has a support end140A and a receptacle end140B. For the embodiment shown, such as to support a curtain rod, the receptacle portion140is generally bent or otherwise coupled at a right angle to the support portion160with a shaped receptacle end140B to receive and retain a curtain rod. In a preferred embodiment the anchoring portion120comprises tines configured to extend through the wall and into the hollow wall cavity. The length of the tines may be any suitable length to extend through the wall. In a preferred embodiment, the length of the tines may be about 0.50 to 1.0 inches long and in one preferred embodiment, the length is at least inches long. It is understood that the support assembly100and the receptacle end140B may have other shapes to support other items. FIGS.1C-1Jillustrate the ornamental design of an example embodiment of a curtain rod support assembly:FIG.1Cis a front elevational view of the curtain rod support assembly showing the new design,FIG.1Dis a rear elevational view thereof,FIG.1Eis a rear view thereof,FIG.1Fis a front view thereof,FIG.1Gis a top view thereof,FIG.1His a bottom view thereof,FIG.1Iis a left side view thereof andFIG.1Jis a right side view thereof. Arcuate Anchoring Portion Anchored within the Wallboard: In some example embodiments, the anchoring portion comprises generally arcuate tines extending from the support portion of the support assembly. In these embodiments, the tines are configured to be inserted into the wall starting at a generally perpendicular angle to the wall surface and the curve of the tines causing the tines to project through the wallboard and downward or upward as they are inserted into the wallboard. In these embodiments, the tines may curve upwards or downwards and the radius of curvature may be about equal to or less than the thickness of the wallboard to which the support assembly is attached. With these embodiments, and slightly different thanFIG.2A, it is not necessary for the tines to pierce through both side surfaces of the wallboard surface in order for the tines to function effectively. In some embodiments, the anchoring portion may function properly even when there is no void, cavity, or hollow behind the wallboard. Suitable anchoring portions include those disclosed in U.S. Pat. No. 3,298,651, issued Jan. 17, 1967 and U.S. Pat. Pub. No. 20070235622A1 published Oct. 11, 2007 for U.S. patent application Ser. No. 11/706,839 filed on Feb. 14, 2007, both of which are herein incorporated by reference in their entirety. Referring first to the example embodiment inFIGS.2B-2C, the support assembly200comprises an anchoring portion220, a support portion260and a receptacle portion240. In this embodiment, the anchoring portion220comprises one or more tine222extending from the support assembly200and configured to be inserted into the wall generally perpendicular to the surface of the wall and continue into the wall by rotating the support assembly200downward and towards the wall. In these embodiments, the radius of curvature of the tine222may be any suitable dimension, but in a preferred embodiment it is slightly less than the thickness of the wall. In some embodiments, the tines222may have multiple curvatures (not shown). In these embodiments, the anchoring portion220may include a compound curvature for each of the tines which enables them to hold very firmly in any wall into which they are pushed. The compound curvature effects a greater resistance to withdrawal of the support assembly200from a wall than do other hangers having nails or having tines which may be either straight or curved in only one plane. The curving of each of the tines222of the anchor portion220in two planes may comprise a curvature both in a vertical plane and in a horizontal plane. With this special configuration, each of the tines222curl within the interior of the wall, this curling greatly impeding any attempted subsequent removal of the support assembly200from the wall. FIGS.2D-2Jillustrate the ornamental design for a curtain rod support assembly:FIG.2Dis a front elevational view of the curtain rod support assembly showing the new design,FIG.2Eis a rear view thereof,FIG.2Fis a front view thereof,FIG.2Gis a top view thereof,FIG.2His a bottom view thereof,FIG.2Iis a left side view thereof andFIG.2Jis a right side view thereof. It is understood that depending on the length of the tines and the thickness of the wallboard, this embodiment may be used as an anchor either through or within wallboard. Arcuate Anchoring Portion Anchored Through Wallboard: In some example embodiments, the anchoring portion comprises one or more generally arcuate tine extending from the support portion of the support assembly and the tines are configured to extend through both surfaces of a wallboard. In these embodiments, the tines are configured to be inserted into the wall starting at a generally perpendicular angle to the wall surface and the curve of the tines causing the tines to project through the wallboard and downward or upward as they are inserted into the wallboard. As shown in the example embodiments ofFIGS.2A-2B, the anchoring portion220comprise one or more tines222extending from the support assembly200at an upward curve. The curve is generally shaped to allow the pointed end of the tines222to be inserted into the wall, and through a pushing of the tines through a front surface of the wall and a rotation of the assembly downward, the tines continue into the wall and the pointed end of the tine222rests on the backside or rear surface of the wallboard above the aperture created where the tines222went through the wall. In this position, the support assembly200is secured to the wallboard by multiple features such as (1) the tines222being supported vertically by the small aperture in the wallboard, (2) the tines222being held horizontally by the angle of aperture in the wallboard and friction with the aperture walls, (3) the support portion260resting on the outside surface of the wall surface and (4) the pointed tip of the tine222resting on the backside of the wall surface. In this embodiment, the curve and the length of the tine222is configured to allow for the tine offset224reflecting the width of the wallboard. The configuration ofFIGS.2A-2Balso helps the support assembly efficiently support the forces placed on the support assembly and the wall. In particular, in the embodiment shown, the assembly provides additional elements that better support loads than if the tines alone were securing the assembly to the wall. As shown in the example embodiment ofFIG.2A, the moment caused by force F-1(which may be the result of the assembly holding a curtain rod with the receptacle portion240) about the Pivot is offset by the offsetting moments caused by F-A (tine220against the backside of the wall) and F-B (tine220against the aperture through the wall and against the outside of the wall surface). Because some of the applications for the support assembly will include a receptacle portion240that extends away from the wall surface, the support moment caused by that moment arm and the load F-1will put a significant force and moment on the tines220in the aperture. And for many wall materials, such as wallboard, the wall material's ability to withstand the strain caused by that moment with narrow tines220will be very limited. And different than support assemblies that may only have one of the support or anchoring portions, embodiments of the support assembly with both an anchoring portion (e.g. tines220at F-A) and the tines220going through the aperture (at F-B) are able to use both of these portions to offset the moment caused by load F-1. And embodiments that have a long support portions and long anchoring portions (e.g. tines220), the moment arms created by their longer length enhance their ability to offset the moment caused by the load F-1. This offsetting or reduction of the support moment caused by F-1will reduce the amount of strain on the tine where it goes through the aperture in the wall. This reduction in strain allows for greater loads to be applied as F-1or allows a reduction in the strain resistance properties needed in the wall material. Regarding shear stresses, the wall material will provide a resistance force of F-C to counter F-1. This shear resistance will be provided by a compression force of the wall material against the portion of the tine going through the wall. When the wall material is a material such as wallboard, this material is traditionally designed to provide good compression resistance. The length of the anchoring, support and receptacle portions may be any length suitable for their purpose. In some embodiments of the support assembly, when used as a curtain rod support assembly, the length of the receptacle portion may range from about 1 inch to 12 inches, the length of the supporting portion may range from about 1 inch to 12 inches, the length of the anchoring portion may range from about 1 to 12 inches and an angle of curvature of the anchoring portion having a radius ranging from about 0.20 inches to 3 inches. In a preferred embodiment of a curtain rod support assembly, the length of the receptacle portion may range from about 2 to 5 inches, the length of the supporting portion may range from about 2 to 5 inches the length of the anchoring portion may range from about 1 to 5 inches, and the curvature of the anchoring portion having a radius ranging from about 0.25 to 1.50 inches. In one preferred embodiment of a curtain rod support assembly, the angle of curvature of the anchoring portion having a radius of about 0.50 inches. Depending the material from which the support assembly is made, the width and thickness of its portions are sized to provide sufficient rigidity and support to the support assembly. In some embodiments, the anchoring portion may have multiple arcuate portions having multiple angles of curvature. For example, the anchoring portion may have a first arcuate portion and a second arcuate portion where the first arcuate portion has a radius of curvature in the range of about 0.25 inches to 0.75 inches and the second arcuate portion has a radius of curvature larger than the radius of curvature of the first arcuate portion. In some embodiments, the radius of curvature of the second arcuate portion comprises a range of about 0.50 inches to 12 inches. FIG.2Cshows an example embodiment of the support assembly200being used to support a curtain rod280around a window frame282and the tines222are behind the outside wall surface. Arcuate Anchoring Portion Anchored with Separable Tine: In some example embodiments, the anchoring portion comprises a separate element that can be coupled with other elements of the support assembly to secure the assembly to a surface. In these embodiments, the anchoring portion may have the generally shape and function of the anchoring portions described above, but as a separate element coupled to the support assembly through a coupling element like a hole, slot, channel or other means to couple the anchoring portion to the support assembly. For example, the anchoring portion may be separate tines that are coupled to the support assembly through holes in the support portion. In some embodiments, the anchoring portion may comprise curved tines, similar to “monkey hooks” configured to be inserted through the coupling means of the assembly and into the wall and securing the assembly to the wall. Suitable embodiments of a separable tine include wire tine elements similar to those disclosed in U.S. Pat. No. 4,509,713 filed Aug. 24, 1984 and U.S. Pat. App. Pub. No. 2005/0218284 published on Oct. 6, 2005 for U.S. patent application Ser. No. 11/030,388 filed Jan. 6, 2005, both of which are herein incorporated by reference in their entirety. FIG.3Cshows an example embodiment where the anchoring portion320comprises a separate monkey hook to be inserted into holes362(seeFIGS.3A and3B) in the support portion360of the assembly300. The hook portion324helps secure the anchoring portion320against the support portion360and provides a surface that someone can pull on when trying to remove the anchoring portion320from the wall390. For the embodiment shown inFIG.3A, the single hole362in the center of the support portion360allows the assembly300to essentially self-level itself on the surface of the wall390. For the embodiment shown inFIG.3B, the multiple holes362provide a more secure anchoring of the assembly300to the wall surface. Anchoring Portion Generally Straight and Anchored with Separable Anchoring Portion: In some example embodiments, the anchoring portion comprises a separate or separable element that may be coupled with other elements of the support assembly to secure the assembly to a surface. In these embodiments, the anchoring portion may have the general shape and function of the anchoring portions described above, but is a separate element coupled to the support assembly through a coupling element like a hole, slot, channel or other means to couple the anchoring portion to the support assembly. As shown in the example embodiments ofFIGS.4A-4I, the support assembly400further includes a bracket portion463to couple with the anchoring portion420. As shown inFIGS.4A-4C, the anchoring portion420may be a separable element from the support portion460and the receptacle portion. The bracket portion463is configured to receive and retain the anchoring portion420. The bracket portion463generally comprises a support bracket having a first leg464, a second leg465and a third leg466. The first leg464generally extending along a side of the support portion460and couples the bracket portion to the support assembly400. The second leg465is coupled to the first leg464and generally extends at an angle from the first leg464. The second leg465generally extends perpendicular from the first leg and is oriented generally parallel to the receptacle portion440. The third leg466is coupled to the second leg465and generally extends at an angle from the second leg465and oriented generally at an angle to have a distal end of the third leg proximal to the first leg464. The legs also have a first and second opening (467A and467B) that are aligned and configured to receive and retain the anchoring portion420. The anchoring portion420is separate from or separable from the bracket portion463and is configured to extend from the first opening467A to the second opening467B and into the wall whereby the anchoring portion420anchors the support assembly400in the wall. The separability of anchoring portion from the rest of the bracket assembly may be made by any means that allows the anchoring portion to separate from the bracket assembly without a large amount of force. For example, in one embodiment, the anchoring portion, such as a nail or pin, may be inserted into the aligned openings prior to a coating or painting process and when this coating dries, the anchoring portion is attached or rigidly coupled to the openings. When suitable force is applied to the anchoring portion, such as a tap from a hammer, the coating is broken, and the anchoring portion is separated from the openings so that it can proceed to go into the wall surface. Examples of suitable configurations of the legs of the bracket portion463and the anchoring portion420include those disclosed in U.S. Pat. No. 2,464,295, issued Mar. 15, 1949 which is herein incorporated by reference in its entirety. The anchoring portion420may be any element that can anchor the support assembly400into the wall. As shown, the anchoring portion420may comprise an element such as a nail or pin. In some embodiments, the support portion460, the receptacle portion440and the bracket portion463may be an integral assembly manufactured from a single plate of material. In some embodiments, the bracket portion463may be created from cut-away portions of the support portion460and/or the receptacle portion440. In some embodiments, to increase the opposing moments (seeFIG.2A) the bracket portion463may be configured to be at an increased distance from, for example above, the point where the receptacle portion440couples to the support portion460. FIGS.4A-4Iillustrate the ornamental design for a curtain rod support assembly also showing the anchoring portion:FIG.4Ais a front elevational view of the curtain rod support assembly showing the new design,FIG.4Bis a rear elevations view thereof,FIG.4Cis a side elevational view thereof,FIG.4Dis a rear view thereof,FIG.4Eis a front view thereof,FIG.4Fis a top view thereof,FIG.4Gis a bottom view thereof,FIG.4His a left side view thereof andFIG.4Iis a right side view thereof. FIGS.5A-5Hillustrate the ornamental design for a curtain rod support assembly without the anchoring portion:FIG.5Ais a side elevational view of the curtain rod support assembly showing the new design,FIG.5Bis a side elevational view thereof,FIG.5Cis a rear view thereof,FIG.5Dis a front view thereof,FIG.5Eis a top view thereof,FIG.5Fis a bottom view thereof,FIG.5Gis a left side view thereof andFIG.5His a right side view thereof. Example Embodiments of the Support Assembly in Operation Operationally, the support assembly generally functions by inserting the anchoring portion into the wall surface until the support portion rests on the wall surface. With the support assembly secured to the wall, items can be hung from the assembly with the receptacle portion. For most installations, the insertion of the assembly into the wall may be done with pressure applied by a hand or thumb pushing on the assembly. In some embodiments, the assembly may be inserted into the wall with the tap of a hammer. For installation of embodiments having straight perpendicular anchoring portions, the support assembly is positioned so that the tips of the anchoring portions can be pushed into the wall surface. The anchoring portion (e.g., tine) is pushed into the wall until the support portion abuts the wall. For installation of embodiments having arcuate anchoring portions, the support assembly is temporarily positioned so that the pointed end of the anchoring portions (e.g., tines) can be pushed through the wall surface to start a small aperture in the wall. The anchoring portions are then further pushed into the wall and the support assembly is rotated (e.g. downward) until the support portion of the assembly is supported by the wall surface. For installation of embodiments having a separate anchoring portion, the support assembly is held against the wall surface and the anchoring portion (e.g., monkey hook, nail or pin) is inserted into the holes of the support portion and into the wall surface until the support assembly is secured to the wall. Once the support assembly is secured to the wall surface, articles such as pictures, window coverings and the like may be hung from the receptacle portion which is integrally formed from the support assembly. Support assemblies configured to support curtain rods and curtain rod support assemblies may have receptacle portions which are shaped to receive and retain the curtain rod. Extraction of the support assembly is achieved by pulling the support assembly in the opposite direction that was applied to secure the assembly to the wall surface. For assemblies with arcuate anchoring portions, the support assembly may be rotated to help pull the assembly from the wall. Although this invention has been described in the above forms with a certain degree of particularity, it is understood that the foregoing is considered as illustrative only of example embodiments and principles of the invention. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the invention to the exact construction and operation shown and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope of the invention which is defined in the claims and their equivalents.

11857098

DETAILED DESCRIPTION Referring toFIGS.1and2, there is illustrated a curved curtain rod10shown in an extended state (FIG.1) and a retracted state (FIG.2). The curved curtain rod10includes an outer curved rod12and an inner curved rod14that telescopes in and out of the outer rod12to adjust the combined length of the rods12,14. A fixed end cap assembly16is attached to one end of the outer curved rod12, and an adjustable end cap assembly18is attached to one end of the inner curved rod14. The adjustable end cap assembly18allows the curved curtain rod10to be tightly secured between two opposing surfaces, such as the opposing surfaces of walls of a shower or tub enclosure. Alternatively, the fixed end cap assembly16may be replaced with an adjustable end cap assembly18so that both ends of the curved curtain rod10includes adjustable end cap assemblies18. The low-profile design allows a curtain to be drawn closer to wall for a better seal. By way of example only, the outer rod12may have of length of 43.5 inches, a radius of curvature of 91.419 inches, and an outer diameter of 1.00 inches. The inner rod14, by way of example only, may have a length of 39.0 inches, a radius of curvature of 91.499 inches, and an outer diameter of 0.840 inches. A rod adjustment connector20is used to secure the rods,12,14at their relative positions to set the desired combined overall length of the rods12,14. The rod adjustment connector includes a plate22mounted near to an end of the outer rod12opposite the fixed end cap assembly16. The plate22defines two screw holes24that align with holes through the outer rod12. Screws thread through the screw holes24of the plate22and contact an outer surface of the inner rod14. As an alternative to the rod adjustment connector20, a rod lock collar26may be used. As illustrated inFIGS.3A-3E, the rod lock collar26surrounds the inner rod14and can be set at anywhere along the inner rod14to establish the combined overall length of the inner and outer rods12,14. The collar26defines two threaded holes28that each receive a screw29that contacts an outer surface of the inner rod14to lock the collar26in place on the inner rod14. The locked collar26then acts as a stop to prevent the inner rod14from being further inserted into the outer rod12. With reference toFIGS.4A and4B, the fixed end cap assembly16includes a wall plate30for mounting to a wall and a wall plate cover32that fits over the wall plate30to provide a pleasing aesthetic appearance. A rubber pad34attaches to one side of the wall plate30to increase friction with a wall surface for installation and to prevent damage to the wall surface. A shaft36inserts into the end of the outer rod12. An end of the shaft36outside the outer rod12includes a hub38that fits into a complimentary socket40defined by the wall plate32on a side opposite the rubber pad34. A bell-shaped cover42overlies the interconnection of the hub38with the socket40of the wall plate30to provide a pleasing aesthetic appearance. The bell-shaped cover42also extends into the outer rod12between the shaft36and the outer rod12. There is a friction fit between the cover42and the inner surface of the outer rod12. Turning toFIGS.5A and5B, the adjustable end cap assembly18includes components that are identical to those of the fixed end cap assembly16. For instance, the adjustable cap assembly18includes the wall plate30, the wall plate cover32, the rubber pad34and the shaft36. The adjustable cap assembly18also includes an insert44that attaches to the inner rod14and includes external threading46that cooperates with internal threading48of another bell-shaped cover50to provide the adjustability of the adjustable end cap assembly18. The bell-shaped cover50overlies the interconnection between the hub38of the shaft36and the socket40of the wall plate30. The bell-shaped cover50also extends over the inner rod14with enough clearance to allow the cover50to rotate about the inner rod14. A slip disk52is situated between the shaft30and the bell-shaped cover50to facilitate rotation between the two components. To operate the adjustable end cap assembly18, a user turns the bell-shaped cover50in one direction to lengthen the adjustable end cap assembly18to secure the curved curtain rod10between two opposing surfaces and turns the bell-shaped cover50in an opposite direction to shorten the adjustable end cap assembly18to release the curved curtain rod10from between two opposing surfaces. Referring toFIGS.6A-6D, there is illustrated the wall plate30. The wall plate30has an oval shape formed by a perimeter wall54. By way of example only, the length may be 5.0 inches, and the width may be 3.65 inches. The wall plate30includes bosses56that each define a mounting hole58and have a countersunk portion60to receive heads of mounting screws. The plate30includes longitudinally extending wall supports62and transversely extending wall supports64. The wall plate30includes a boss66centrally located that defines the socket40. The socket40includes a large, arcuate concave center portion68and two outer, identical, smaller arcuate concave portions70. The smaller portions70include an opening72that has a cross-section dimension slightly smaller than its corresponding portion of the hub38on the shaft36so that the hub38has a snap fit engagement with the socket40to secure the hub38in the socket40against unintentional removal but permits rotation therein. A bottom side of the wall plate30includes a central recess53surrounded by an oval surface55. The central recess53is shown as circular but could be oval as well. The perimeter wall54extends beyond the oval surface55and includes a bottom surface57. The perimeter wall54includes lock recesses59for securing the wall plate cover32to the wall plate30. With reference toFIGS.7A and7B, the rubber pad34has an oval shape similar to the wall plate30. The rubber pad34includes hollow center region74(i.e., there is no material in this region). The hollow center region74can be circular as shown or may be oval. The outer perimeter of the rubber pad34includes a step that forms a lower annular surface75. An edge of the wall cover plate77engages the lower annular surface75(seeFIG.8D). The bottom surface57of the wall plate30also may engage the lower annular surface75. The rubber pad34can be attached to an underside of the wall plate30using any conventional method. More specifically, the hollow center region74aligns with the central recess53of on the bottom side of the wall plate30. A pressure surface81about the hollow center region74engages the oval surface55of the bottom side of the wall plate30. The rubber pad34may be glued to the wall plate30. For example, the pressure surface81and the oval surface55may be glued together. As noted above, the rubber pad34protects wall surfaces. It also prevents rattling and movement when the wall plate30is being installed to a wall. It further provides enhanced force against a wall surface to increase the load capacity of the curved curtain rod10. More specifically, because the pad34includes hollow center region74, the surface area of the pad34that engages the wall (the oval area) is decreased. As a result of the decreased surface area of pad34, the force against the wall is increased. The preferred pressure area on the pad34is noted by an oval line79centered on the engagement between the pressure surface81and oval surface55. Thus, it is preferred that the pressure provided by the wall plate30be concentrated on an area along and about the oval line79. This preferred placement of the pressure applied by the wall plate30also provides increased resistance to downward twisting of the curved shower rod10that could be caused by the weight of a curtain hanging from the rods12,14. It has been found that the load capacity can be as much as 2.3 to 6 times the amount of a commercially available curved rod. The table below identifies increased load results. 75% of extension88% of extension100% of extensionon tileon tileon tileNew Design28 lbs16 lbs12 lbsPrior Design12 lbs5 lbs2 lbs RegardingFIGS.8A-8D, the wall plate cover32includes three stacked wall sections76,78,80. The first section76has an oval shape, and the second and third sections78,80have a circular shape. The three sections76,78,80are centrally aligned and define a hollow interior82. The third section80defines a circular aperture84through which the shaft36extends. The first section76includes a wall77that includes detents85projecting inward. The detents85can be received in the lock recesses54of the wall plate30to secure the wall plate cover32to the wall plate30. InFIGS.9A-9C, there is illustrated the shaft36used in both the fixed end cap assembly16and the adjustable end cap assembly18. The shaft36includes an elongated segment86with a generally plus-sign cross-section formed by rectangular ribs102and arcuate ribs104. The rectangular ribs102can extend across a terminal end106of the elongated segment86. The terminal end106of the elongated segment86includes two diametrically opposed fingers88that extend longitudinally away from the elongated shaft36. The other end of the elongated segment86includes an annular flange90and the hub38. The annular flange90resides between the elongated segment86and the hub38and includes a straight portion92and a conical portion94. The hub38includes a central cylindrical portion96and two smaller cylindrical portions98extending outward from the hub38along a rotational axis100of the hub38. The central cylindrical portion96is received in the large concave center portion68of the socket40of the wall plate30. The two smaller cylindrical portions98are each received with a snap fit in the small concave outer portions70of the socket40of the wall plate30. This enables the shaft36to pivot in the socket40about the rotational axis100of the hub38. Turning toFIGS.10A-10D, there is illustrated the bell-shaped cover42for the fixed end cap assembly16. The cover42includes an elongated cylindrical portion108and a domed portion110. An exterior112of the cylindrical portion108includes longitudinal ribs114that help provide a friction fit in the end of the outer rod12. One of the ribs114also includes a short rib116piggybacked on top. This short rib116is sized to fit into a notch in the end of the outer rod12so that the cover does not rotate relative to the rod12. An inside surface118of the cylindrical portion108includes two diametrically opposing elongated channels120that receive the ribs102of the shaft36. The ribs102have a slight clearance in the channels120so that the cover42may rotate relative to the shaft36(e.g., a few degrees). A terminal end122of the cylindrical portion108may include an annular chamfer to aid in inserting the cover42into to the outer rod12. Referring toFIGS.11A-11C, there is illustrated the insert44for the adjustable end cap assembly18. The insert44is hollow therethrough and includes a cylindrical portion124and a threaded portion126. The threaded portion126includes the threading46, which is right-handed threading. The cylindrical portion124and the threaded portion126are separated by an annular flange128. The cylindrical portion124includes a smooth outer surface130that inserts into the inner rod14with a friction fit so that it cannot be unintentionally removed. By way of example only, the outer diameter of the cylindrical portion124of the insert44may be 0.768 inches, and the inner diameter of the inner rod14may be 0.875 inches. The annular flange128acts as a stop to limit how far the insert44may be inserted into the inner rod14. Annular flange128prevents the insert44from being inserted beyond the cylindrical portion124so that the threads46do not become damaged. The cylindrical portion124includes a small longitudinally extending rib132adjacent the annular flange128that is received in a slot formed in a terminal end of the inner rod14to prohibit the insert44from rotating relative to the inner rod14. The threaded portion126defines diametrically opposed and longitudinally extended arcuate channels134. Each of the channels134includes opposing stops136. The rectangular ribs102of the shaft36are received in the channels134between the stops136when the shaft36extends into insert44. The stops136are spaced so that the ribs102can rotate up to 45 degrees in the channels134. This allows rotational play between the shaft36and insert44. With reference toFIGS.12A and12B, there is illustrated the bell-shaped cover50for the adjustable end cap assembly18. The bell-shaped cover50is hollow and includes an elongated cylindrical portion138and a domed portion140. The cylindrical portion138includes an outer surface142for gripping to operate the adjustable end cap assembly18and an inner surface144with a smooth portion146and a threaded portion with the threading48. The insert44extends into the cylindrical portion with its threading46mating with the threading48of the cover50. The domed portion140covers the interconnection between the hub38of the shaft36and the socket40of the wall plate30. To install the curved curtain rod10, a user determines the desired location on opposing wall surfaces to mount the wall plates30. The wall plates30should be positioned directly opposite one another both horizontally and vertically on the wall surfaces. The wall plates30are then mounted with fasteners, such as nails or screws, extending through the mounting holes58. Screw anchors also may be used. Next, the outer rod12and the inner rod14are extended relative to one another so that the fixed end cap assembly16and the adjustable end cap assembly18can be mounted in their wall plate30. To do this, the hub38of the shaft36is snapped into the socket40of the wall plate30. The wall plate covers32are then snapped onto the wall plates30. The bell-shaped covers42,50are then put in place over the interconnection between shaft36and the socket40. In the next step, the outer rod12and the inner rod14can be secured together using the rod adjustment connector20or the lock collar26. Finally, the adjustable end cap assembly18is used to tighten the curved curtain rod10between the wall plates30mounted to the wall surfaces. The bell-shaped cover50of the adjustable end cap assembly18is turned away from the user to extend the adjustable end cap assembly18to put pressure on the wall plates30and the wall surfaces. The matter set forth in the foregoing description and accompanying drawings is offered by way of illustration only and not as a limitation. While particular embodiments have been shown and described, it will be apparent to those skilled in the art that changes and modifications may be made without departing from the broader aspects of the technological contribution. The actual scope of the protection sought is intended to be defined in the following claims.

11857099

DESCRIPTION OF THE EMBODIMENTS The present invention will be further described in detail below with reference to the accompanying drawings. The accompanying drawings are only used for exemplary description and cannot be understood as a limitation to the present patent. In order to describe the present embodiment more concisely, some parts in the accompanying drawings or description that are well known to those skilled in the art but are not related to the main content of the invention will be omitted. In addition, for ease of description, some parts in the accompanying drawings may be omitted, enlarged or zoomed out, but they do not represent the actual product size or overall structure. Embodiment 1 As shown inFIG.1, the present invention provides a fruit peeler. The fruit peeler includes a base and a planing blade. The base adopts a structure similar to the bearing and comprises a first circular ring1and a second circular ring2. An outer diameter of the first circular ring1is arranged to be smaller than an inner diameter of the second circular ring2. The first circular ring1is placed in the second circular ring2and rollingly connected by rolling members3arranged between an outer wall of the first circular ring1and an inner wall of the second circular ring2. In the present embodiment, the rolling members are roll balls, and a sealing ring is provided on an outer side of the roll balls to prevent dust. The first circular ring1is provided with two fixed arms4. The two fixed arms4are spaced and symmetrically arranged on the first circular ring1, and the connecting line between the two fixed arms4passes through a center of the first circular ring. A right end of the fixed arm4is rotatably connected to the first circular ring1through a first rotating connecting member. The first rotating connecting member comprises a first connecting base5and a first connecting nail6, and the first connecting base5is fixed to a left surface of the first circular ring1. The fixed arm4is rotatably connected to the first connecting base5through the first connecting nail6passing through the right end of the fixed arm4and the first connecting base5. Tooth-shaped surfaces cooperated with each other are provided at a position where the fixed arm4contacts and fits with the first connecting base5, such that there is a certain damping effect and gear effect when the fixed arm4rotates relative to the first connecting base5, and therefore the fixed arm4will not rotate relative to the first connecting base5under action of gravity. The fixed arm4can rotate relative to the first circular ring1, with the first connecting nail6as a rotating shaft, to a first position perpendicular to the first circular ring1or a second position horizontal to the first circular ring1. A left end of the fixed arm4is a fork-shaped structure, and is rotatably connected a turntable8by a connecting pin7. The connecting pin7passes through the turntable8in a radial direction. The turntable can be turned in inner side (i.e., an upper side of the fixed arm4in the figure) and outer side (i.e., a lower side of the fixed arm4in the figure) directions of the fixed arm4, with the connecting pin as a rotating shaft. An insertion pin9is mounted at a center of the turntable8. The insertion pin9is vertically arranged at the center of the turntable and protrudes relative from a surface of the turntable8, and the insertion pin9is arranged to be rotatable relative to the turntable8. As shown inFIG.1, the planing blade10is arranged in the same direction in which length of the planer frame11extends, and the planer frame11is arranged at the outer side position of the fixed arm4and is connected to the second circular ring2. The right end of the planer frame11is rotatably connected to the second circular ring2through a second rotating connecting member. The second rotating connecting member comprises a second connecting base12and a second connecting nail13. The second connecting base12is fixed to the second rotating member2, and the planer frame11is arranged to be located at an outer side of the second circular ring2. The planer frame11is rotated to the third position with the second connecting nail13as a rotation shaft or is rotated outward relative to the second circular ring2to a horizontal fourth position. As shown inFIG.2, the planer frame11comprises a lower planer frame111and an upper planer frame112. The planing blade10are mounted on an inner side of the upper planer frame112, and a lower end of the lower planer frame111is connected to the second rotating member2through a second rotating connecting member. A lower end of the upper planer frame112is pivotally connected to an upper end of the lower planer frame111through the third connecting nail14and the torsion spring15is sleeved on the third connecting nail14. One end of the torsion spring15is pressed against an inner side surface of the lower planer frame111, and the other end of the torsion spring15is pressed against an inner side of the upper planer frame112. The upper planer frame112can be rotated inward relative to the lower planer frame111to a horizontal position relative to the second circular ring2with the third connecting nail14as a rotation shaft, and thus facilitating the folding of the planer frame11. As shown inFIG.1andFIG.3, as a further improvement, a guiding blade101is provided on the planing blade10. A cutting edge of the guiding blade101is arranged to be intersected with a cutting edge of the planing blade10obliquely, and an angle of intersection is between 3 degrees and 5 degrees. In this way, the planing blade10may push the fruit to rotate when the fruit skin is planed, which is convenient for a next peeling operation without moving the fruit to rotate with the fingers. The operation is more convenient and the peeling is faster. Embodiment 2 As shown inFIG.4, the structure of the present embodiment is similar to that of Embodiment 1, and the difference lies in that the second circular ring2is connected to a cover16provided with a concave surface, and a diameter of an opening of the concave surface is cooperated with the inner diameter of second circular ring2. The opening of the cover16is arranged to face a direction in which the fixed arm4extends when the fixed arm4is perpendicular to the first circular ring1. In this way, the cover16can play a role in collecting the fruit skin. Embodiment 3 As shown inFIG.5, the structure of the present embodiment is similar to that of Embodiment 1, and the difference lies in that the base comprises a first shell1a, the second rotating member comprises a second shell2a, and the first shell1ais stacked on the second shell2aand is rotatably connected to the second shell2athrough a fourth connecting nail17. The first shell1acan also be placed in a concave surface provided on the second shell2a, and the first shell1ais also provided with a concave surface at the same time, such that the fruit surface can be avoided, and the length arranging requirement of the planer frame11can be reduced. Two fixed arms4are spaced and symmetrically arranged on an upper surface of the first shell1a, and the connecting line between the two fixed arms4passes through a center of the first shell. The planer frame11is arranged on an upper surface of the second shell2a. The above are only specific embodiments of the present invention, and the design concept of the present invention is not limited to them. Any insubstantial modification made to the present invention using the concept of the spirit of the present invention shall fall within the protection scope of the present invention.

11857100

DESCRIPTION OF THE DISCLOSURE As embodied and broadly described herein in the Figures, the present disclosure is directed to food elevating platform (“platform”)10. According to one embodiment of the disclosure, platform10may be in the form suitable for use in a food container (e.g., bowl, seeFIG.3) or a food preparation container, such as a cooking pot. Additional embodiments may be suitable for use in beverage containers, coolers (e.g., ice chests), or other situations where it is desirable to separate food and/or beverages from other items, not necessarily only by the effect of gravity. Platform10includes first frame12that surrounds a mesh screen14. It should be understood that while the drawings illustrate a circular embodiment of the present disclosure, these drawings are for exemplary purposes only. Platform10may be realized in other shapes and/or configurations, such as but not limited to shapes such as ovals, rectangles, squares, or any other configuration to engage a container. First frame12may include support structure for one or more wings16. Wings16may be configured to extend from a stowed position within platform10to selectively engage one or more surfaces of a container such as bowl26(seeFIG.3). Wings16may overlap one another, or at least partially, and allow for engagement of different shapes of containers. Additionally, the wings16may be configured to move together as a unit or separately to provide additional flexibility in engaging the surfaces of a container such as bowl26. Further, wings16allow for the positioning of platform10at different levels within a container. For example, if all of the wings16are stowed within platform10via slot20, then the dimensions of first frame12and second frame18dictate the position of platform10when placed in a particular container, depending upon its shape. However, if one desires to place platform10at a different (e.g., higher) level within the particular container, extending one or more of the wings16effectively and selectively increase the dimensions of platform10, resulting in platform10engaging a different portion of the wall of the particular container (in the case of a sloping wall container, for example). Wings16may include one or more edges30. Edges30may be configured with frictional material to selectively engage a surface, such as side28or bowl26. Edges30may be molded into wings16or as separate components selectively attached to wings16. In embodiments, edges30may be removable and/or replaceable. This adjustability may be desirable for a number of situations. One such situation is that of a traditional vegetable salad. Typically, vegetable salads include a number of different vegetables including lettuce, tomatoes, cucumbers, olives, and onions. Most salads are also topped with some sort of liquid dressing, for example, wine and vinegar, ranch dressing, Italian dressing, and French dressing. Often the amount of dressing applied to the salad is excessive, either intentionally or accidentally. Due to gravity, the dressing flows over the vegetables and collects at the bottom of the container or bowl. Any vegetables at the bottom of the bowl end up soaked in dressing to the point of becoming soggy and unappetizing. Typically, those eating salads start from the top of the bowl and so only reach the vegetables at the bottom of the bowl last, after they have spent some time soaking in dressing and becoming soggy. Thus, those vegetables are often not eaten and are wasted. Using platform10to elevate the vegetables of the salad from the collected dressing at the bottom of the bowl16prevents this occurrence and therefore eliminates the soggy vegetable situation. Another situation is that of storing vegetables, fruits, and meats, particularly those precut before storage. While some specialized containers exist for storing these items, these specialized containers do not allow for the use of one's existing bowls and containers and necessitate acquiring these containers. In addition, these containers often are of limited size and volume capacity, which may be undesirable. For example, cut fruit, such as strawberries, can cause water and juice of the strawberries to come to the cut surfaces. These liquids then cause the fruits to become soggy, particularly those fruits at the bottom of a bowl or container as the liquids accumulate from all of the cut fruit in the container. Thus, platform10, when used with the container, allows liquids from the cut fruits to drain beneath the lowest cut fruits and prevent the fruits from becoming soggy. Yet another situation is that of a fruit punch. Typically, fruit punch is made with water, sugar, flavoring, and a variety of fruits, as well as ice to keep the fruit punch chilled. However, those consuming the fruit punch tend to not want to have ice and/or fruit in their glass of fruit punch. As the fruit punch is collected either by dipping a glass in the punch bowl or using a ladle, ice and/or fruit can easily end up in either the glass or ladle. However, using platform10in the bottom portion of a punch bowl, ice and/or fruit can be trapped beneath platform10, leaving the remaining liquid in the punch bowl to be chilled by the ice and flavored by the fruit without having either end up in a glass or ladle of punch. Another situation is that of food preparation, in particular cooking a number of ingredients that result in the accumulation of undesired liquids. For example, cooking ground beef, such as for tacos, tends to produce some liquids that include fat, grease, or other liquids. These liquids may be undesirable in the finished product (taco) as they may cause the taco shell to become soggy and structurally unsound. Using platform10in a container, placing the cooked ground beef into the container and onto platform10allows the unwanted liquids to drain through and beneath platform10. The drained ground beef can thus be used in tacos without the messy liquids damaging the taco shells. Another situation is that of marinating a food product, such as chicken. While it is desirable to expose chicken to be cooked in a marinade (a liquid containing spices, seasonings, and other ingredients) often it is not desirable to allow some of the chicken (or other food product) to be submerged in the marinate while other portions are allowed to dry. Using platform10, marinade can run over the chicken be collected in the bowl beneath platform10. If the bowl is covered, such as using a lid, plastic film, or other product, shaking the container can redistribute the marinade on the chicken and then allow it to resettle beneath platform10due to gravity. Yet another situation in which platform10is desirable is that of cereal. Cereal, commonly known as breakfast cereal but often consumed at all times of the day, is typically done by first pouring cereal into a bowl or container and then pouring milk or a milk substitute over the cereal to a desired level. Often, this level is overestimated. As a result, the cereal becomes soggy as the consumer reaches the lower levels of the bowl. While some people enjoy soggy cereal, others do not. The platform10can be used to elevate cereal above or near the milk line in the bowl, to the consumer's preference, by setting of the wings16. The consumer may then retract one of more of the wings16by using a spoon, for example, causing the platform10to descend in the bowl, exposing the remaining cereal to milk once again, maintaining its original characteristics. Wings16may articulate using one or more pivot points, hinges, or pins24. It should be understood that pins24are only an exemplary device to allow for the movement of wings16in platform10and that other devices to enable the movement of wings16(either as a group or separate from one another is contemplated). Wings16allow for platform10to engage varied surfaces of bowl26. For example, for an oval bowl, extending some of wings16allows for platform10to selectively engage the bowl26and prevent most of the ingredients stored within from falling beneath platform10. It should also be understood that while a small number of wings16are illustrated in the Figures, it is contemplated that fewer or more wings16may be incorporated in platform10in order to engage bowl26. A second frame18may be included in platform10. The pins24may, in certain embodiments, extend from first wing12through wings16to second frame18. First frame12and/or second frame18may engage a surface of bowl26. For example, in some situations, the shape of bowl26may engage with platform10at first level, leaving a first distance beneath platform10to the bottom of bowl26. This first distance may be sufficient for one salad with dressing for one individual. However, a second individual may like more dressing in their salad so they may extend one or more wings16to position platform10at a second distance (higher than the first distance) above the bottom of bowl26due to their experience in adding more (or too much dressing). This situation presumes that bowl26has a curved or tapered interior surface as many containers do not feature vertical sides. It should be understood that additional frames may be included in the platform10, and the first frame12and second frame18is only exemplary and not limiting. First frame12and second frame18may include a mesh screen14. Mesh screen14may be integrated or selectively attachable or removable from frames12and18. Mesh screen14is configured to separate liquids from solids, such as salad dressing from vegetables, or other examples as contemplated or discussed herein. Mesh screen14may be configured in a variety of profiles and may depend on the scale and usage of platform10. Platform10may include a portion for a logo22. As shown in the Figures, logo22may be positioned at the center of platform10, but other locations (or multiple locations) are contemplated. For example, logo22may include the name of the platform or its producer. Additionally, other logos may include that of a restaurant, sports team, or other logo. It is understood that logo22may include a design and/or text. Logo22may be customizable as well. In embodiments, logo22may be replaceable and/or interchangeable. FIG.3illustrates one embodiment of platform10used in bowl26. Bowl26includes at least one side28that extends around the perimeter of the bowl26and includes an exterior surface and an interior surface. In this illustration, wings16are shown engaging the interior surface of side28, positioning the platform10a distance D above the bottom of the interior of the bowl26. In other situations, one or both of first frame12and second frame18may also engage that surface, which case the wings16may remain stowed within platform10and provide a different distance D. In other situations, such as where it is desired that distance D be greater, some or all of wings16may be extended, effectively increasing the dimension of platform10. FIG.4illustrates one embodiment of platform10. Platform10is shown with wings16retracted within slot20of platform10. Wings16may be stowed for at least several reasons, such as for storage when not in use, or when the wings-stowed size of platform10is desired. Frame12and frame18of platform10may be configured to include a frictional surface, such as used in some embodiments on wings16, to selectively engage a side28of bowl26. The frictional surface, which may include a coating or a sub-component of platform10, selectively engages side28to maintain position, while supporting a load such as various food items. FIG.5illustrates one embodiment of platform10. Platform10is shown with some or all of wings16at least partially extended via slot20by pins24. Pins24may include elements and/or components to restrict or otherwise selectively control rotational movement. For example, pins24may rotate and lock in various rotational positions. Pins24may rotate and ratchet-lock in position at various stages from stowed to fully extended. In order for wings16to be stowed, in some embodiments, wings16may need to be fully extended first, upon which the ratchet mechanism of pins24may disengage and wings16may be fully stowed via slot20in platform20. In other embodiments, pins24may include other elements or devices, such as but not limited to, springs and frictional elements. FIG.6illustrates a partial cutaway or cross-sectional view of one embodiment of platform10. First frame12and second frame18are shown and may include mesh screen14. Wings16with edges30are shown stowed in slot20of platform10. Pins24extend through wings16and are secured to frames12and18. Logo22is disposed on at least a surface of frame12, though additional logos22on frames12and/or18are contemplated. Platform10and its components described herein may be constructed of a variety of materials. These materials may be those that can withstand a range of temperatures from extreme cold to extreme heat (such as those used to cook food). These materials may also be those that are considered (or will be considered) to be food-safe. Additionally, it is contemplated that platform10and its components are washable and “dishwasher-safe” to allow for ease in cleaning. Some of the materials contemplated for use in platform10and its components include but are not limited to, plastics, polymers, metal, and silicone. The preceding examples illustrate embodiments of the disclosure, but should not be viewed as limiting the scope of the disclosure. Other embodiments and uses of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. All references cited herein, including all publications, U.S. and foreign patents and patent applications, are specifically and entirely incorporated by reference. The term comprising, where ever used, is intended to include the terms consisting and consisting essentially of. Furthermore, the terms comprising, including, and containing are not intended to be limiting. It is intended that the specification and examples be considered exemplary only with the true scope and spirit of the disclosure indicated by the following claims.

11857101

DETAILED DESCRIPTION Referring now to the drawings, a coffee dispenser10for preparing coffee by mixing a liquid coffee extract and hot water is disclosed. The coffee dispenser10may dispense a single serving of coffee. The coffee dispenser10may have one or more ports for receiving a container having liquid coffee extract, flavoring and a creamer. These ports may be in fluid communication with a mixing chamber or blending chamber88(seeFIGS.4and5) which may receive a single serving of liquid coffee extract and hot water. The mixing chamber88may also optionally receive other flavors desired by the consumer. The mixing chamber88outputs the mixed ingredients to an outlet port valve92(seeFIG.5) into a cup12below. One benefit of such a design is the elimination of single serving cups used to store and deliver coffee grounds to consumers, and the plastic waste associated with their use. A container of liquid coffee extract may contain from 50 to 300 servings, depending on the selected serving size. Although the preferred embodiment utilizes a large container that can hold multiple servings, it is also contemplated that the container may store and deliver a single serving of coffee extract. In this regard, the container of liquid coffee extract may contain between 1 to 300 servings depending on the selected serving size. Further, by utilizing the liquid coffee extract, certain benefits may be achieved including but not limited to weight loss. Further, the chlorogenic acids in coffee extract can reduce blood pressure. by way of example and not limitation, 140 mg of green coffee bean extract per day may reduce blood pressure. Finally, antioxidants found in coffee, which reduce free radicals in the body may reduce general cell damage and stress. Antioxidants, using the same process, may also reduce the proliferation of four kinds of cancer cells. Green coffee may be useful in preventing some types of cancer. Other coffee extracts may provide similar or additional benefits. Referring now toFIG.1, a coffee dispenser10, for dispensing a single serving of coffee12is shown. The coffee dispenser10may include a housing14with an upper portion16and a lower portion18. The lower portion18may be supported by a base20and may be defined by an arcuate wall22which supports the upper portion16. The upper portion16may have a flat side24that rests on top of the arcuate wall22. Two controls, a serving size selector26and a froth level control28may be located on an exterior surface30of the upper portion16of the housing14. A water reservoir68may surround the lower portion18and rests on the base20. As shown, the cup size selector26may be defined by a rotatable knob32and two or more cup size icons34. InFIG.1, three cup size icons34are shown for small, medium and large. The knob includes an indicator36, which points to the cup size icon34that is currently selected by the serving size selector26. Instead of a rotatable knob32, the serving size selector26may be a three button system, with one button for each of the cup sizes. Alternatively, the serving size selector may be integrated in to a touch panel control. In a further alternative, the serving size selector may be a toggle control in combination with an indicator or display. By way of example and not limitation, there may be three LED lights, one for each of the possible size selections. Also, instead of LED lights, a display may be provided which shows the selected cup size, either via a number or an icon, as a user toggles through the possible cup sizes. The froth level control28may be control by a horizontal slider38. The horizontal slider38may move from a first end39of the slider's range of motion to a second end40of the slider's range of motion. The first end may correspond to a minimal amount of froth, and the second end may correspond to a maximum amount of froth or vice versa. The slider may be positioned at any number of positions between the two ends. The upper portion16may have three ports. A coffee concentrate port42may also be disposed on the upper portion16. The coffee concentrate port42may have a larger circumference than the other two ports in order to accommodate a correspondingly sized coffee concentrate container44. A flavor concentrate port46may be disposed on a left side of the coffee concentrate port42. The flavor concentrate port46may accept a correspondingly sized flavor concentrate container48. On a right side of the upper portion16, a cream concentrate port50may be disposed. The cream concentrate port50may accept a correspondingly sized cream concentrate container52. Although the port42have been described as having a different size compared to ports46,50, it is also contemplated that the ports42,46,50may be all the same size, or each of the ports42,46,50may be a different size from each other. Each of the containers may contain a liquid concentrate. The coffee concentrate may be an extract of a coffee bean. The cream concentrate may be a de-hydrated dairy product, and the flavor concentrate may be a liquid formulated to impart the flavor of a specified coffee beverage, such as cappuccino, mocha, espresso, or other flavors. As shown inFIG.2, the ports42,46,50may use a threaded connection. However, other attachment methods are also contemplated. By way of example and not limitation, the ports42,46,50may use a friction connection or a twist and lock connection, or a detent connection. The ports42,46,50may be located in other areas on the upper portion on elsewhere on the coffee dispenser10. The ports and the containers that hold the liquid flavors (i.e. coffee extract, flavor, creamer) may be disposed above the mixing chamber88so that the liquid may flow into the mixing chamber88by way of gravity. Other means of flowing the liquid flavors into the mixing chamber88are also contemplated including but not limited to providing a pump that actively forces the liquid flavor into the mixing chamber. In this case, the courts and the containers that holds the liquid flavors may be disposed below the mixing chamber88. As shown inFIG.2, the ports may further include a valve53,54,55. Each of the coffee port valve53, flavor port valve54, and cream port valve55may include a connection portion58, a spike60, and a valve portion62. The connection portion58may have a thread, corresponding with a thread94on the coffee concentrate container44, flavor concentrate container48, and cream concentrate container52. The valve portion62may include a spring-biased valve64, and a sealing element66. The spring-biased valve64may be biased closed by and may seal against the sealing element66. The sealing element66may be made of rubber or another elastomeric compound. The spring biased valve64may return to its original position once displaced. The valve64allows fluid to flow through the valve64when displaced. It is also contemplated that the valve may be, for example, a ball valve, or a butterfly valve, or a needle valve, or any other valve that offers the required control while allowing sufficient flow. The valve64may be displaced either through an actuator controlled by the computer or by manually pressing the container downward. By way of example and not limitation, the user may press any one of the containers44,48,52once for a single serving of liquid contained in the containers44,48,52. If additional servings of the liquid are desired, the user may depress any one of the containers44,48,52additional times. The water reservoir68may surround the lower portion18of the housing14. A bottom of the water reservoir may also rest on the base20. The water reservoir68may be generally U-shaped along its horizontal cross section. The water reservoir68may have an open top. The open top of the U-shape may be sufficiently wide to allow the water reservoir to surround the housing14on three sides. The water reservoir68may be fabricated from a transparent material in order to allow a user to observe the water level therein, and a lid70, which is shown as being opaque. Removal of the lid70allows a user to fill the water reservoir68with water. The water reservoir68interfaces with the base20at an intake72formed in the top of the base20, and located at a position on the base near the center-bottom of the water reservoir68. The lid70may fits under the flavor concentrate port46and the cream concentrate port50as the ports extend outward from the upper portion16of the housing14. This configuration gives additional stability to the water reservoir68by preventing vertical movement of the water reservoir68once the water reservoir68is installed in the coffee dispenser10. It is contemplated that the water reservoir68may be merely translucent, or may be opaque and have a transparent window to allow a user to gauge the water level in the container. The lid70may be translucent or transparent to allow a user to more easily gauge the water level. The lid70may have sides74which extend over the corresponding sides76of the water reservoir68at an open end78of the water reservoir68. The lid70may include a sealing strip (not shown), made from rubber or a similar elastomer, which is located on an interior surface of the sides74of the lid70, and extends inwardly to seal against the sides of the water reservoir68. It is also contemplated that the sides74of the lid70extend in to an interior of the water reservoir68and include the sealing strip for sealing on an exterior surface of the sides74of the lid70. In this configuration, the sealing strip extends outwardly, and seals against an interior surface of the sides76of the container69near the open end. The operating systems, including the operating internal components of the coffee dispenser10, are shown schematically inFIGS.4and5. The primary difference between the schematics provided inFIGS.4and5is that the dispenser10shown inFIG.4dispenses the concentrate manually, whereas the dispenser10ashown inFIG.5dispenses the concentrate via a computer controlled valve. The froth level control28and serving size selector26may be connected to the computer84via a wired96or wireless connection. The water reservoir68may be connected, through the intake72, to a pump82via tubing or piping56. The pump82may be electrically connected, either wired96or wirelessly, to the computer84, which allows the computer84to turn the pump82on and off. The pump82may be connected to a boil chamber86via piping or tubing56. The boil chamber is a heater for heating water. The boil chamber86may be connected to a mixing chamber88with piping or tubing56. The boil chamber may be in communication with a computer either with a wire96or wirelessly. The computer84may turn the boil chamber86on and off in coordination with the pump82. Based on the froth level control setting, the computer may set the temperature to which the boil chamber will heat the water therein. Thus, the water reservoir68, pump82and heater86are connected in line to the mixing chamber88, and the boil chamber86and pump82have individual electronic connections to the computer84. The boil chamber is computer controlled but may be controlled through other non computerized means including but not limited to an electronic circuit. The flavor concentrate ports42,46,50may be connected to the mixing chamber88with valves53,54,55placed in between to control the flow of concentrate. The flavor concentrate port46may be directly connected to the mixing chamber88or the flavor concentrate port may be connected to the mixing chamber via tubing or piping56. As discussed above, a valve54may be disposed between the flavor concentrate port46and the mixing chamber. The flavor port valve may be operated manually or electrically connected to the computer84for operation. The coffee concentrate port42may be directly connected to the mixing chamber or the flavor concentrate port may be connected to the mixing chamber via tubing or piping. A coffee port valve53may be disposed between the coffee concentrate port and the mixing chamber. The coffee port valve may be operated manually or electrically connected to the computer for operation. The cream concentrate port50may be directly connected to the mixing chamber or the flavor concentrate port may be connected to the mixing chamber via tubing or piping. A cream port valve55may be disposed between the cream concentrate port and the mixing chamber. The cream port valve may be operated manually or electrically connected to the computer for operation. In operation, a user may select the amount of froth desired in the serving of coffee12using the froth level control28, and set the desired serving size using the serving size selector26. In the embodiment shown inFIG.4, the user may also operate the valves53,54,55by pressing on the corresponding concentrate container in order to move the container toward the corresponding valve. As the user applies enough force, the bias in the valve is overcome, and the valve operates to allow concentrate through the valve. Each press of the concentrate container operates the valve to allow a predetermined quantity of flavor concentrate, coffee concentrate, and cream concentrate to enter the mixing or blend chamber88, where they come into contact, mixing to some degree. The concentrate containers44,48,52and corresponding valves are sized and shaped such that one press on the concentrate container corresponds with a small serving size set by the serving size selector. Two presses on either of the concentrate containers with introduce a predetermined quantity of concentrate to the mixing chamber corresponding to a medium serving of coffee. Three presses on either of the concentrate containers with introduce a predetermined quantity of concentrate to the mixing chamber corresponding to a large serving of coffee. However, each concentrate container may be pressed as many times as desired by a user to reach the user's desired flavor combination. In the embodiment shown inFIG.5, to begin the automated portion of the process of making a serving of coffee, the user presses the activation button or control90. The activation button may be a push button function built in to the serving size selector rotatable knob32. Alternatively, the activation button may be a separate button or non-latching switch. Once the activation control is operated by the user, the computer84may operate the pump82to draw water from the water reservoir68in to and through the boil chamber86, which heats the water to a temperature determined by the froth level control and communicated to the boil chamber by the computer. The boil chamber may heat water to a temperature of 100 to 210 degrees Fahrenheit. Preferably, the boiler chamber heats water to a boiling temperature of 190° F. to 210° F. The boil chamber may steam water and send it to the mixing chamber at a temperature of 210 degrees Fahrenheit or more. Thus, the water that is introduced into the mixing chamber88may be at a temperature of about 100 degrees Fahrenheit to 210 degrees Fahrenheit in order to bring out the flavor of the liquid coffee extract. At temperatures of 190 degrees or more water will boil, and at 210 degrees or more, will change states to steam. As the water boils or changes phase from water to steam, the boil water or steam creates increasing degrees of froth, according to the froth setting selecting by the user via the froth level control, as described above. After the boil chamber86heats the water, the pump82then moves the water to the mixing chamber88. The mixing chamber may be shaped as an inverted truncated pyramid in order to facilitate, via the force of gravity, the movement of the serving of coffee in the mixing chamber to an outlet port valve. The inverted truncated pyramid configuration is shown schematicallyFIG.4. However, the inverted truncated pyramid configuration may also be incorporated into the mixing chamber88shown inFIG.5. After mixing, the outlet port valve at a bottom of the mixing chamber opens to allow the coffee to flow out of the mixing chamber and in to a cup below. The outlet port valve, may be, for example, a spring loaded pressure valve, or any other type of pressure valve which would open the valve when the proper pressure inside the mixing chamber is reached. The outlet port valve may also include a cooling element100which operates to cool liquid passing through the outlet port valve if the liquid is above a certain temperature such as 190 degrees Fahrenheit. The cooling element ensures that the liquid passing out of the outlet port valve is at or below the predetermined temperature. For example, the cooling element may ensure that the liquid passing out of the open valve between 170° F. and 190° F. if the heater or boiling chamber raises the liquid to a temperature that is too high (e.g. above 190° F.). The embodiment shown inFIG.5operates in a very similar manner to the embodiment shown inFIG.4except for how the concentrate is added to the mixing chamber88. In particular, the computer84is connected to flavor port valve54, coffee port valve53, and cream port valve55. After operation of the froth level control28and serving size selector26, and subsequent operation of the activation button90by a user, the computer using the selected serving size, operates the valves53,54,55to add a corresponding pre-determined amount of each type of concentrate based on a size indicated by the serving size selector26. The remainder of the operation is the same as that described for the embodiment ofFIG.4, above. Although the embodiment shown in the figures illustrates a dispenser that can dispense more than one serving, it is contemplated that the dispenser can be configured to be a single serve dispenser with or without a container69. If no container is used, then the water for the coffee will be inserted into a container having an open top that is filled each time the user wants to make a single serving of coffee. Referring now toFIGS.6and7, schematic representations are shown of additional embodiments of coffee dispensers which may differ from the coffee dispensers discussed above. In particular, the coffee dispensers ofFIGS.6and7may be formed with a mixing chamber that is smaller than the mixing chambers associated with the previous embodiments. The mixing chamber may refer to an area of the coffee dispenser where a coffee concentrate fluid line and a water fluid line may intersect. Mixing of coffee concentrate and water may occur as the coffee concentrate and water flows from their respective reservoirs, through the junction of fluid lines in the coffee dispenser, and ultimately, into a user's cup. Accordingly, a coffee dispenser having a mixing chamber including intersecting fluid lines may be smaller in size and less expensive to manufacture, making it desirable in smaller kitchens or areas, where space may be limited. A coffee dispenser110shown inFIG.6allows for mixing of coffee concentrate and water through intersecting fluid lines112,114, which may intersect at a junction116, wherein the fluid lines112,114are combined. Upstream of the junction116, coffee concentrate and water may flow separately in respective fluid lines112,114. However, as the coffee concentrate and water flow through the junction116, mixing may occur resulting in the desired coffee beverage flowing downstream of the junction116. An outlet fluid line118may extend from the junction116for dispensing the mixed coffee beverage into a cup120. The coffee dispenser110may include a housing having a coffee concentrate port122formed thereon. The coffee concentrate port122is sized and structured to engage with a coffee concentrate container124. The engagement between the coffee concentrate container124and the coffee concentrate port122may be via threaded engagement, press-fit engagement, or other engagements which allow for fluid communication from the coffee concentrate container124and the coffee concentrate port122. When the coffee concentrate container124is engaged with the coffee concentrate port122, coffee concentrate is capable of flowing from the coffee concentrate container124to the coffee concentrate port122. The coffee dispenser110further includes the coffee concentrate fluid line112(e.g., the first fluid line) in liquid tight connection to the coffee concentrate port122. It is contemplated that the flow of coffee concentrate from the coffee concentrate container124to the coffee concentrate fluid line112may be either manually actuated or electronically actuated, with the flow of fluid in the coffee concentrate fluid line112being gravity feed, pressurized, or a combination of both. Optional manual control of coffee concentrate may include the use of a manually actuated pump, which dispenses a single serving of coffee concentrate from the coffee concentrate container124into the coffee concentrate fluid line112. The user may press the manually actuated pump to cause the dispensing of coffee concentrate into the coffee concentrate fluid line112. The coffee concentrate may flow along the coffee concentrate fluid line112through gravitational force. The optional electronic control of coffee concentrate flow may include the use of a coffee concentrate flow controller126(e.g., a first flow controller) in fluid communication with the coffee concentrate fluid line112. In one optional embodiment, the coffee concentrate flow controller126includes a valve128, coupled to the coffee concentrate fluid line112, wherein the valve128may be opened and closed to control the flow of coffee concentrate along the coffee concentrate fluid line112. When the valve128is opened, coffee concentrate is gravity fed and may flow from the coffee concentrate container124, through the coffee concentrate port122, and along the coffee concentrate fluid line112. Conversely, when the valve128is closed, coffee concentrate is restricted from flowing along the coffee concentrate fluid line112. Therefore, by selectively opening and closing the valve128, the flow of coffee concentrate along the coffee concentrate fluid line112may be controlled. In this regard, the coffee concentrate fluid line112may be arranged to include a vertical component, to allow the force of gravity to urge the coffee concentrate along the first fluid line112. The valve128may be opened for only so long as may be required to dispense a single serving of coffee concentrate from the coffee concentrate container124. In this regard, the valve128may assume a normally closed configuration, and only transition to an open configuration for allowing coffee concentrate to flow along the coffee concentrate fluid line112. A user may be able to control the strength of the coffee via a strength selector130, which may allow a user to select a particular coffee strength in a defined strength range. For instance, the user may be able to select a weak coffee strength, a medium coffee strength, or a strong coffee strength. A ratio of coffee concentrate-to-water increases as the strength increases, and conversely, the ratio of coffee concentrate-to-water decreases as the strength decreases. In other words, the amount of coffee concentrate associated with a single serving of coffee may be smallest for the weak coffee strength, greater for the medium coffee strength, and greatest for the strong coffee strength. The ratio of coffee-to-water may be controlled by varying the duration which the valve128is opened, which may be controlled by the strength selector130. Keeping the valve128open for longer periods of time may create stronger coffee, than when the valve128is open for shorter periods of time. The strength selector130, which may include an external slider on the housing, button(s), a dial, touch screen interface, or other user interfaces known in the art. As an alternative to controlling the coffee concentrate-to-water ratio by varying the duration which the valve128is opened, it is contemplated that the coffee concentrate-to-water ratio may be varied by allowing a user to control the degree to which the valve is opened. Partial opening of the valve may define a smaller flow passage through the valve, and thus, result in a lower to coffee concentrate-to-water ratio than when the valve is fully opened. For instance, the valve128may include a ball-valve, which may be incrementally rotated between a closed position, which completely restricts flow of coffee concentrate therethrough, and an open position, wherein coffee concentrate may flow freely therethrough. Partial opening between the closed and open positions may be associated with flow rates through the valve that are less than the flow rate associated with the open position, and thus, result in coffee concentrate-to-water ratios that are less than the coffee concentrate-to-water ratio associated with the fully open position. As another option, the coffee concentrate flow controller126may include a pump132for pumping coffee concentrate along the first fluid line112. When the optional pump132is actuated, the pump132may urge fluid along the first fluid line112. The pump132may operate only so long as may be required to dispense a single serving of coffee concentrate from the coffee concentrate container124. The user may select a particular coffee strength, as described in more detail above. Accordingly, the pump132may operate for a longer period of time for stronger coffee, and a shorter period of time for weaker coffee. The coffee dispenser110may additionally include a water reservoir134in liquid tight communication with the second fluid line114. The water reservoir134may be capable of retaining water and delivering water to the second fluid line114. A water flow controller136(i.e., a water flow controller) may be in fluid communication with the second fluid line114to control the flow of water along the second fluid line114. In one embodiment, the water flow controller136may be a pump138, which when actuated draws water from the water reservoir134and urges water to flow along the second fluid line114away from the water reservoir134. A heater140may be in communication with the second fluid line114to heat water flowing along the second fluid line114. In general, a single serving of coffee may be prepared by the coffee dispenser110by allowing coffee concentrate124to flow along the coffee concentrate fluid line112, and water to flow along the water fluid line114, such that the coffee concentrate and the water simultaneously pass through the junction116, thereby causing mixing of the coffee concentrate within the water to form the coffee beverage. The coffee concentrate and water may pass through the junction116under pressure to cause a turbulent mixing of the coffee concentrate within the water, such that the coffee concentrate is evenly distributed within the water to create the coffee beverage. The third fluid line118may extend from the junction116and terminate at a discharge opening, wherein the mixed coffee beverage may be dispensed into the cup120or other receptacle. In this regard, the mixing of the coffee concentrate and the water may occur during the normal flow through the coffee dispenser110. To allow for such simultaneous passage of the coffee concentrate and the water through the junction116, the coffee dispenser110may include a main controller142which controls operation of the first and second flow controllers126,136, and thus, controls the flow of coffee concentrate and water along the first and second fluid lines112,114, respectively. The main controller142may include a processor having preprogrammed operating instructions for operating the first and second flow controllers112,114. In this regard, the main controller142may generate command signals for actuating the first flow controller126to control the flow of coffee concentrate along the first fluid line112, as well as actuating the second flow controller136to control the flow of water along the second fluid line114. It is contemplated that the main controller142may control operation of the first and second flow controllers126,136in several different operational modes. In a first operational mode, it is contemplated that the first and second controllers126,136may be operated in a manner which causes the coffee concentrate and water to flow through the junction116at approximately the same time. In a single serving of coffee, there may be a greater volume of water than coffee concentrate. As such, the coffee concentrate flow controller126and the water flow controller136may be operated by the main controller142to allow for flow of coffee concentrate at a slower flow rate than the flow rate of the water. For instance, if a single serving of coffee is comprised of approximately 80% water and 20% coffee concentrate, the water flow controller136may allow water to flow at approximately five times the rate at which the coffee concentrate flows. This difference in flow rate may be implemented through the size of the valve128which controls flow of coffee concentrate along the first fluid line112. For instance, the valve128may include an orifice which defines a prescribed flow rate, and the water pump138may be operated to pump the water along the water fluid line114at a flow rate which is five times greater than the prescribed flow rate defined by the valve128controlling the flow of coffee concentrate. As such, coffee concentrate flows through the junction116for approximately the same amount of time as the water to allow for substantially uniform mixing of the coffee concentrate within the water. In a second operational mode, it is contemplated that at least a portion of the water may flow through the junction116after all of the coffee concentrate has flowed through the junction116. The benefit associated with the second operational mode is that the water flowing through the junction116subsequent to the coffee concentrate may having a cleansing effect on the junction116, as well as the third fluid line118. In the second operational mode, it is contemplated that, similar to the first operational mode, there may be simultaneous flow of the coffee concentrate and the water through the junction116. However, once the coffee concentrate stops flowing, some water may flow through the junction116, and through the third fluid line118and into the cup120within which the single serving of coffee is dispensed. The flow rate of the water along the second fluid line114, in any operational mode, may be effected by the presence of the heater140. More specifically, the heater140may slow down the overall flow rate of water. As such, the impact of the heater140on the flow of the water may be accounted for by the main controller142when controlling the first and second flow controllers126,128. Referring now toFIG.7, there is shown an alternate embodiment of a coffee dispenser210, wherein respective fluid lines for coffee concentrate and water do not intersect. Rather, each fluid line includes a dedicated outlet to dispense coffee concentrate and water separately into a cup212. As such, the mixing of the coffee concentrate and the water does not occur until the coffee concentrate and water have exited the coffee dispenser210. The coffee dispenser210includes a coffee concentrate port214engageable with a container of coffee concentrate216, and water reservoir218for storing water. The coffee concentrate port214is in liquid tight connection with a coffee concentrate flow line220, and the water reservoir218is in liquid tight connection with a water flow line222. A coffee concentrate flow controller224controls the flow of coffee concentrate along the coffee concentrate flow line220. The coffee concentrate flow controller224may include a valve or a pump, as described in more detail above. A water flow controller226controls the flow of water along the water flow line222, with the water flow controller226including a pump. A heater228may be in communication with the water flow line222to heat water as it flows along the water flow line222. A main controller230generates and transmits operational control instructions to the coffee flow controller224and the water flow controller226for operating the flow controllers224,226to make a single serving of coffee. In one exemplary embodiment, a single serving of coffee is made by actuating the coffee concentrate flow controller224, thereby causing coffee concentrate to flow along the coffee concentrate flow line220and exit the flow line220into the cup212. The water flow controller226is also actuated to allow water to flow along the water flow line222, through the heater228, and exit the flow line222into the cup212. It is contemplated that the coffee concentrate and water may enter the cup212at substantially the same time, or alternatively, the coffee concentrate or water may be dispensed into the cup in a staggered fashion. The coffee concentrate and/or the water may be dispensed from the coffee dispenser210under pressure to create turbulent mixing of the coffee concentrate and water within the cup212. To promote mixing, the outlet(s) of the coffee concentrate flow line220and/or the water flow line222may be angled toward a specific location, which may be associated with the center of the cup212, when the cup2125is placed under the dispenser210. In this regard, the dispenser210may include an indicator as to where the cup should be placed. The indicator may include an X, star, light, or other demarcation to notify the user as to where to place the cup. The above description is given by way of example, and not limitation. Given the above disclosure, one skilled in the art could devise variations that are within the scope and spirit of the invention disclosed herein, including various ways of configuring the stand. Further, the various features of the embodiments disclosed herein can be used alone, or in varying combinations with each other and are not intended to be limited to the specific combination described herein. Thus, the scope of the claims is not to be limited by the illustrated embodiments.

11857102

DETAILED DESCRIPTION As shown inFIG.1, a drip filter coffee machine90comprises a base100that removably supports a carafe101. In this example, the carafe101is an insulated carafe. Particularly when the carafe101is not insulated, the base100may incorporate a warming element102. The base100has affixed to it the upright body103of the coffee making appliance. The body103may have, on an outer surface, a user interface such as a touchscreen106. The user interface106includes, for example, components such as a one or more push buttons104, and one or more rotary encoders105. The user interface also preferably comprises a graphic display such as an LCD interface or touchscreen106. The buttons and encoders104,105allow the user to send information, commands or signals to the device's processor107. The processor107controls the operation of the device including driving the graphic interface106and in this way provides information regarding the operation of the device to the user. In this example, the body supports removable water reservoir108having a lid109. The body103further comprises an upper or neck area110that is located between the removable reservoir108and a removable filter basket111. As will be explained, the removable filter basket111comprises a hinge assembly112that connects the body113of the basket to a lid such as a soft opening or dampened lid114. The lid114has a peripheral or surrounding portion115and a central optionally transparent portion116. The contents of the basket can be viewed through the transparent portion116. The filter basket also has a handle118. The handle incorporates, near the lid, a mechanical push button actuator117that deactivates the lock or latch that retains the lid in the closed position but that allows the lid to open when the button117is depressed. The entirety of the filter basket including filter basket body, hinge assembly, lid and handle is entirely removable from the body103of the appliance. As shown inFIG.2, the filter basket113has a body having an interior compartment or chamber200adapted to receive a drip filter or inserted adapter (insert). In this example, the basket's hinge assembly112separately supports the pivoting lid114and its transparent central portion116together with a pivoting internal showerhead assembly201. The hinge assembly112has an integral valve assembly202that allows the filter basket to mechanically and fluidically engage a water connector located in the body's neck110. When the filter basket is connected to the neck110(as will be explained) water flows through the valve and hinge assembly202,112and into a pivoting conduit203that leads to the water distributing showerhead204. In this example, the showerhead204is located along the center line of the filter basket, below the transparent part of the lid116. The showerhead may be braced against or supported by the basket's body113by one or more struts205that extend from the showerhead204to the wall of the basket's body113. A latch mechanism206is contained with the upper part of the handle118and selectively engages or releases the lid114in accordance with the operation of the push button actuator117. The lower extent or floor207of the basket comprises an array of radially arranged ribs208that support the filter and promote efficient drainage. A drip-stop valve208occupies the center of the floor207and is located radially inward of the inner tips of the ribs208. The drip-stop valve221is biased into a normally closed position but can be opened for fluid flow by the action of, for example, a carafe beneath it or the activation lever209that pivots about a shaft210that is carried below the floor207. In this example, the lever209has a yoke211at one end. The yoke211has two terminal ends212that cooperate to pivotally retain the actuating head213of the drip-stop valve221. When a suitable carafe101is located below the basket, the carafe's lid urges the actuating head213upward and thus unseats the drip-stop valve221so that coffee can flow through the valve208and into the carafe101. The drip-stop valve221can also be opened by downward motion214of the distal end of the lever209. The distal end of the lever can be driven by an actuator215having a pin or rod216that passes through an opening217in a protective shroud218that extends from a lower part of the basket. In this example, the distal end of the lever209features a pair of opposing recesses219. The recesses219removably engage with a detent mechanism located in the neck110so that the user is provided with tactile feedback when installing the filter basket onto the neck110. As shown inFIG.2A, the exterior shell of the coffee maker90particularly the neck area110contains at least one and preferably a pair of opposing detent mechanisms250,251. In this example, each detent mechanism comprises a captive compression spring or other mechanical bias252and a blunt or ball head253. The spring urges the head253toward a recess or detent254formed in the projecting shroud218. The internal activation lever209is shaped to conform to the interior of the shroud218, having a neck area255. The lever terminates in an enlarged head256for facilitating engagement with the actuator215or its rod216. As shown inFIG.3, the lid114is free to open at any time, whether the basket is affixed to the neck area110of the appliance, or not. This allows a user to agitate the water and coffee slurry that is contained in the filter within the basket. This also allows a user to add ingredients while the unit is brewing. In this example, the hinge assembly112and its lid dampening mechanism bias the showerhead assembly201into the open or upright orientation depicted inFIG.3. Thus, the pivoting of the showerhead assembly201causes the lid114to open by lifting the lid114into the open position. As shown inFIG.4, once the lid and showerhead are both in the open position, the showerhead assembly201can be lowered into a conventional dispensing orientation at any time. The interior of the side wall of the basket113has a dispensing port301that disengages from the showerhead's conduit203and seals against or seals with the conduit203when the showerhead assembly201is in the dispensing orientation depicted inFIG.4. As shown inFIGS.5,6and7, the removable filter basket113is removably supported from, for example, the coffee appliance's neck area110. The hinge assembly112is received by a receptacle, fixture or pocket501that accommodates the hinge assembly, the neck area and in this example the pocket having within it a fluidic coupling half or water connector502that cooperates with a second coupling half preferably having a pin-like actuator and seal arrangement504that are located in the hinge assembly or otherwise on the filter basket. As shown inFIG.6, as the hinge assembly is lowered into the pocket501the projecting shroud218and its internal lever209, located at the bottom of the filter basket enter a slot601formed in the neck110that is beneath the pocket501and facing the filter basket113. A pivoting water connector lever602is located in registry with the slot601. When the distal end of the shroud enters the slot601and pushes against the lever602, the lever acts to advance or raise the water connector502toward the actuator503and into engagement with the sealing arrangement504as shown inFIG.7. As further shown inFIG.7, the actuator503depresses a check valve701in the water connector502. This permits water to flow through the water connector's supply tube702, then through the water connector502to the port in the hinge assembly301, and into the conduit201that supplies the showerhead204. The cooperation between the water connector502and the hinge assembly's actuator503and seal arrangement504are shown in more detail inFIGS.8and9. In the example ofFIG.8, the seal between the internal chamber801of the hinge assembly112and the water connector nozzle and its internal check valve502comprises an internal, peripheral, polymeric seal. In this example, the seal has two internal circumferential seal lips802and an integral one-way flow seal803having an inner peripheral edge804that seals around the outer diameter of the actuator503. The flow seal803acts as a check valve and prevents water contained in the chamber801from dripping out of the hinge assembly when it is disconnected from the water connector502. A seal805is also interposed between the dispensing port301and the conduit203. As shown inFIG.9, when the water connector502is in sealing engagement with the hinge assembly, the outer barrel or housing901may push the circumferential flow seal803out of engagement with the actuator503, improving the flow rate through the connection. Simultaneously, the actuator503depresses the reciprocating check valve element902so that water can be pumped through the water supply tube72and into the showerhead's supply conduit201. Withdrawal of the filter basket from the neck110closes the seal between the flow seal803and the actuator503as shown inFIG.8. As shown inFIGS.10and11, the action of the filter basket, particularly the projecting shroud218against the water connector lever1000, can be seen to cause the advancement of the water connector502into engagement with the sealed intake opening1001of the hinge assembly112. The water connector lever mechanism has a lever1000that is connected by an intermediate pivot1002to the chassis of the coffee making appliance and in this example, to that part of the chassis that is associated with or located within the neck area110. The pivoting lever1000has one or a pair of projecting side plates1003. Each side plate has an elongated opening1004that engages a lower pin carried by the water connector502. The water connector may also have an upper guide pin1006. The pins1005,1006reciprocate in a guide slot1007formed in the neck area or chassis component that retains the reciprocating water connector5002. Thus, advancement of the shroud218causes the lever1000to rotate around the pivot1002. This drives the plate or plates1003upward, thus urging the water connector5002upward. A tension spring1008may be connected between a point on the chassis1009and, for example, the pin1005so as to retract the water connector5002when the filter basket and its shroud218are removed from the coffee machine. As shown inFIGS.12and13, an example of a hinge assembly suitable for the filter basket shown inFIGS.1-11comprises a pair of arms1200that are affixed to and extend away from the rim of the lid114. In this example, the arms terminate in an enlargement or boss1201that retains a hinge pin1204. In this example, the hinge pin may extend from one arm to the other and passes through the central body1203of the hinge assembly112. The central body1203is attached to or integral with the filter basket111. The central body1203contains the interior chamber801of the hinge assembly and the port301that leads to the showerhead's conduit201. The central body1203is also fitted with a spring loaded dampening mechanism1205. As suggested byFIGS.12and13, the dampener or damping mechanism has a cylindrical and open ended rear housing1300that contains a coiled spring1301. A dampening cartridge such as a grease filled dampening cartridge1302is retained within the housing1300and is sealed with respect to the environment by a first O-ring seal1303against the arbor or spindle1304within the housing1300and by a second O-ring seal1305that fits in a circumferential groove1306at one end of the damping cartridge1302and a cooperating groove on an inner surface of the housing1300. The cartridge1302terminates in a rotator, coupling or blade1307. The rotator or blade1307fits within a cooperating slot1206formed at the end of one of the two arms1207that is carried by the showerhead assembly. The showerhead assembly has, in this example, two parallel arms1207,1208that are sandwiched between the outer arms1200that are affixed to the lid and the central body of the hinge assembly1203. In this way, the damping assembly depicted inFIG.13, while retained by the central body1203, exerts a resistive torque or rotating force on the arms of the showerhead so as to dampen any spring force that rotates the lid into an open position when the latch that retains the lid is disengaged. Because the lid of the filter basket depicted inFIGS.1-13can be fully opened while still mounted on the coffee making appliance, users can prepare “pour over” filter coffee as suggested byFIG.14. With the lid open, the filter basket body113can accept a variety of filter holders or filter adaptor inserts1400,1401. One type of removable filter adaptor is, for example, a European style filter holding insert that fits within the filter basket113. The European style insert is adapted to receive a disposable European style filter paper1402having the characteristic linear bottom seam1403. Another style insert fits within the body113of the filter basket and is adapted to receive a disposable conical filter1404such as those provided by Hario®. With an insert or adaptor1400,1401located in the filter basket113, the insert can be loaded with, for example, a textile filter1402,1404. Coffee is then added to the interior of the filter and hot water is manually or otherwise dispensed into the filter. The drip-stop valve221can be manually or automatically regulated in accordance with the user's preferences, coffee dose or style in this basket configuration. As shown inFIGS.15-20, the water dispensing showerhead1500need not have a fixed or constant spray pattern nor be immobile with respect to the hinge assembly112. It will be recalled that the hinge assembly dispenses into a pivoting showerhead assembly as previously explained. Another embodiments, the showerhead's conduit is permanently mounted to the hinge assembly, particularly when the hinge assembly112is not removable from the neck110of the coffee making appliance. Thus, the examples ofFIGS.15-20represent alternative arrangements of moveable showerheads1500that can be utilized regardless of how the showerhead's supply conduit1501,203is connected to the appliances water supply or its hinge assembly. In the example ofFIG.15, the conduit1501comprises two portions1502,1503that are interconnected by a ball joint or other flexible joint1504. Water flows through both segments1502,1503and the ball joint1504before entering the showerhead1500. In order to facilitate movement between the two conduit sections1502,1503, the showerhead1500is provided with a grip or handle1505. In this example, the handle1505is a ring that is centrally located on the upper surface of the showerhead. As shown inFIG.16, a showerhead1500with a handle1505may also be mounted at the end of a telescopic conduit1600. The telescopic conduit1600has nesting segments1601,1602that allow the showerhead1500to be rotated and moved towards or away from the hinge assembly112. In addition, the arrangement depicted inFIG.16can be provided with ball joint or rotating joint1603that allows the conduit, regardless of type, to pivot in a horizontal plane1604. In the example ofFIG.17, the showerhead1500and handle1505are mounted on a flexible conduit1700. The flexible conduit1700allows the showerhead to move with a wide range of motions relative to the filter basket. In the example ofFIG.18, the conduit1800that supplies hot water to the interior of the filter basket may be flexible hose that irremovably retained and supported by a brace1801. The brace1801may be affixed to the hinge assembly112or to an interior of the filter basket. The hose1800may be carried by a pivoting joint1803of the kind depicted inFIG.16. In this example, one end of the brace1801comprises a resilient clip having an opening1805that allows the conduit1800to pass through it in both directions as suggested byFIG.19. In this example, the flexible conduit1800terminates in a simple open end1806. However, the end of the conduit1806can removably retain a showerhead1807. As suggested byFIG.19, the flexible conduit1800can be removed from the brace1801and grasped by its handle1901so that its discharge can be distributed about the interior of the filter basket. In some embodiments, slack or additional conduit1902can be pulled through an opening1903so as to lengthen the distance between the terminal end of the conduit1800or the place through which it enters the filter basket113. When returning the conduit1800to the position depicted inFIG.18, a slack conduit is pushed through the opening1903. In the example ofFIG.19, the conduit1800terminates in a permanent spray head or showerhead1904although it will be appreciated that the conduit can have either no showerhead or a removable one as suggested byFIG.18. As shown inFIG.20, the showerhead2000can be fixed to the hinge assembly112or to the filter basket by a rigid (or other) conduit2001and still provide a dynamic or moving spray pattern2002through the plurality of openings2003formed through the underside of the showerhead2000. This can be achieved, for example, by the showerhead incorporating an internal flow powered mechanism for altering the flow pattern or intensity, such mechanisms being common in domestic bathroom “massage” style showerheads provided by products sold under the brand WATERPICK®. and DELTA®. Accordingly, the showerhead2000may incorporate an internal water driven planetary gear arrangement2005where epicyclic motion of the gears provides an epicyclic movement2015of the entire discharge pattern. Similarly the showerhead may have a moving discharge head2006having a follower2007that is retained in a track2008thus providing a water discharge pattern that follows a shape2009that corresponds to the shape of the track2008. In this example, the track has four lobes2010thus providing a moving spray pattern also having four lobes2011. In other examples, the track may be in the form of a spiral2012, the action of the follower2013in the track2012providing a moving spray pattern in the shape of a spiral2014. As shown inFIG.21, a preferred example of the invention utilizes a removable water reservoir2100in which is located components of a water level sensing mechanism2101. In this example, the level sensing mechanism comprises a disk like float2102within which is located a magnet2103. The float2102is trapped within a guide or case2104that restricts the motion of the float to a generally vertical reciprocation as the water level within the reservoir rises and falls. The magnet2103interacts with, for example, two or more magnetic sensors located in the neck area110(or otherwise), being (for example) a lower sensor2105and an upper sensor2106. Both sensors communicate with the device's processor107for the purpose of establishing how much water the user has added to the reservoir2100. The location of the lower sensor2105corresponds to a water volume or water level in the reservoir that represents a small serving of, say, 1-4 cups. The upper sensor2106represents a water level or water volume corresponding to, for example, 5-12 cups. When water is added to the reservoir and only the lower sensor2105is activated by the magnet2103, the instructions or signal provided by the lower sensor2105to the processor cause the processor to engage the “single serve” mechanism2107. In this example, the single serve mechanism comprises a small electronic motor such as a synchronous or other motor1208that rotates a lever or intermediate actuator1209. The lever2109is pivotally attached to a link2110that raises and lowers an actuator2111(215inFIG.2). The actuator2111has, for example, a pin2112that can be driven into engagement with the drip-stop valve's lever209for the purpose of lifting and thereby actuating the drip-stop valve208. The protective shroud218preferably has an opening217to allow the actuator's tip2112to act on the lever209and thereafter be withdrawn. If the water level in the reservoir is enough to lift the float2102so that its magnet2103activates the upper sensor2106, then the signal sent by the sensor2106to the processor107causes the processor to revert to a default brew mode whereby the drip-stop valve221is elevated or activated in the normal way, without delay. Delay in the action of the actuator2111allows the water to remain in contact with the coffee grounds in the filter basket longer and thereby improve the brew quality of small servings such as single servings e.g. that are less than the threshold volume required to trip the upper sensor2106. As shown inFIGS.1and22, the lid2200of the carafe101comprises a polymeric chassis having a generally circular upper rim2201. The upper surface of the lid2200features an upper raised surface2202having an outer surrounding portion2203and an inner portion2204. The upper surfaces of the inner and outer portions2203,2204maybe either flush or sharing a common curvature. Between the inner and outer portions, the upper web of the lid forms a channel that separates thinner and outer raised portions2203,2204. The channel receives a pivoting pouring or lid lever2206. In this example, the lid lever2206is roughly torroidal or in the shape of an “◯”, having an inner edge2207that conforms to the shape of the inner portion2204and an outer edge2208that conforms to the curvature of the outer portion2203. The lid lever2206has a central opening that receives the inner portion2204. The upper surface of the lid lever2206is flush with the edges of thinner and outer lid portions2203,2204when in the sealing or closed position shown inFIG.22. The lid lever2206is biased into the closed position by a compression spring or other means2214concealed below the lid lever2206, preferably below a thumb rest2209that extends radially outward from the generally circular outer edge2208of the lid lever. Because the lid pivots, the action of the spring2214acts to urge the primary lid seal2210into engagement with a vertical passageway2211that extends from an under-surface2212of the lid to the lid's spout2213. The seal2210is preferably a soft polymeric material that is affixed to an underside of the lid lever2206. When the thumb platform or thumb rest2209is depressed against the bias of the spring2214, the seal2210moves away from the passageway2211as suggested byFIG.23. As shown inFIG.23, the lid has a vertical breather port2300that is in this example located centrally of the compression spring2214and below the thumb lever2209so as to conceal it. The breather port2300has, at an upper extent, a one-way air flow valve or “umbrella” valve that admits air into the interior of the carafe101, as required. In preferred embodiments, the lid assembly2200incorporates a sealed air pocket or insulating sub-assembly2302. The insulating air pocket sub-assembly2302has a central opening2303that fits around the carafe's brew through valve2304. In this example, the sub assembly2302has lower compartment2305that is sealed by a cover2306that is ultrasonically welded to it. The sealed sub-assembly2302is inserted into a circular pocket2307formed on the underside of the lid. The sub-assembly2302is thereafter (for example) ultrasonically welded into the pocket2307. This creates two separate air chambers2308,2309that are separated by the cover2306. The cover2306may be omitted if only a single air chamber is required. The one or both air chambers2308,2309help thermally insulate the contents of the carafe from the environment outside the carafe. The brew through valve2304comprises a vertical tube2310through which brewed coffee flows from the appliance's drip-stop valve or dispenser through to the interior of the carafe when the valve is depressed or disengaged. The upper part of the vertical tube2310forms a funnel shaped actuator2311that is adapted to interact with the drip-stop valve and lift it into a dispensing position when the carafe is inserted below the filter basket. The outer rim2312of the actuator2311fits within the inner rim of the inner portion2204of the lid. A compression spring2313biases the valve2304upwardly so as to seal the valve. The valve is sealed against an underside of the lid with a polymeric seal2314that is attached to a lower part of the valve2304. When the actuator is depressed by the head of the drip-stop valve, the seal2314is moved away from the underside of the lid so that coffee can flow into the interior of the carafe. In this example, the lid has a pouring spout2320, the upper surface of which features an array of optional parallel upright fins2321. These fins interdigitate with downwardly directed fins2322formed on an underside of the spout covering portion2323that projects from the lid lever. As shown inFIG.24, the upper surface of the lid's chassis features a gap2400in the raised outer portion2203. The gap is adapted to receive the thumb rest2209. The breather2301is shown as being located in radial alignment with the gap2400. The upper surface of the lid chassis also has, in the channel that separates the inner and outer raised portions2203,2204, a pair of pivot components such as pivot ears2401,2042. Each ear comprises a tab that is elevated from the floor of the channel and includes a rounded, outward facing protrusion2403. As shown inFIGS.25and26, the underside2501of the pivoting lever2206has a pair of pivot ears2502,2503. The lever's ears each have inward facing depressions or concavities that cooperate with the protrusions on the pivot ears on the lid's chassis2401,2402. This removable engagement between the lid's lever2206and the lid chassis is shown inFIG.26. This arrangement allows the thumb rest2209to open and close the spout seal2210and yet be easily removable and replaceable for cleaning. As shown inFIG.27, the technology of the previous embodiments can be applied to a coffee making appliance2700where the filter basket's lid2701and pivoting or otherwise adjustable showerhead2702are supported by the neck110of the device rather than being pivotally supported by the filter basket2703. As shown inFIGS.27and28, this allows the appliance to brew coffee grounds in the filter basket2703either by utilizing the showerhead2702or by any of the aforementioned pour over methods, these being compatible with an unobstructed filter basket opening2801as shown inFIG.28. As shown inFIG.29, the showerhead2702is affixed to a hollow hinge block2901by a supply conduit2902. The conduit may be constructed in accordance with any of the aforementioned examples. The hinge block2901receives a hollow hinge shaft2903. One end2904of this shaft2903is encircled by a coil spring or other biasing means2905that acts to pivot the showerhead and the lid into the upright orientation. The other end of the hinge shaft2903comprises a tube or hollow fitting2906that protrudes through an opening2907in the hinge block2901and receives the end of the tube2908that supplies water to the showerhead2702. Water entering the shaft2903from the fitting2906is diverted through to a slot or opening that is a dispensing port2909and that aligns with an opening in the conduit2902when the showerhead is in a dispensing orientation. When the showerhead2702is pivoted upward, the dispensing port2909is blocked. In this example, the hinge block2901carries a toothed, arcuate gear segment2910that cooperates with a pinion gear2911on a rotary damper2912, the rotary damper2912regulates the spring loaded opening of the showerhead and lid thereby reducing both the acceleration and velocity of the showerhead2702. This minimizes unnecessary splashing of water from the showerhead as it is being opened. As suggested byFIGS.29and30, the hollow hinge shaft2903also has a discharge port2913, preferably located diametrically opposite the dispensing port2909. As shown more clearly inFIG.30, the discharge port2913is blocked by the body of the hinge block2901when the showerhead2702is in a water dispensing orientation. In this configuration, the dispensing port2909discharges into the conduit2902and passes into the showerhead2702. This is shown inFIG.31. However, when the showerhead and its conduit are raised to clear the opening of the filter basket, the dispensing port2909is blocked by the hinge block2901and the discharge port2913discharges into a drain3201and not into the showerhead. The position of the hinge block2901, the conduit2902or the showerhead2702may be monitored by a sensor or switch3202. The sensor or switch3202can provide a switching state or signal to the device's microprocessor which would prevent the appliance's pump from supplying water into the supply tube2908when the showerhead is in an upright orientation. As shown inFIGS.33,34and35, by having the filter basket's lid2701and the showerhead2702pivotally cantilevered from the body of the appliance, particularly the neck area, the appliance is capable of discharging heated brew water into a variety of different receptacles. As shown inFIG.33, the showerhead2702is adapted to discharge directly into the filter basket2703. The appliance may also be provided with a movable elevator or platform3401that is raised and lowered manually or by a processor controlled electric motor3402. The motor3402can drive, for example, a screw or belt driven conveyer3403that cooperates with the platform3401. Slots, guides or tracks3304may be used to control the position of a manually operated platform3401. One or more micro-switches which are in proximity with the platform's path can convey information about the location of the platform3401to the processor. In the example ofFIG.33, the platform is either fully lowered (lying beneath the carafe) or fully raised and located directly below the filter basket2703. A first sensor or micro-switch3302or3303communicates with the processor107to communicate the location of the platform3401to the processor. As shown inFIG.34, the platform3401may have second position for receiving, for example, a Chemex® carafe3404adapted to contain its own style filter3405. A second micro-switch or sensor3406mounted on the body of the machine detects the second position of the platform3401. As shown inFIG.35, the platform3401can have a third position that is more elevated than either the first or the second position. The third position is detected by a third micro-switch or sensor3501that communicates with a processor in the manner previously described. In the third position, the platform can support a filter container such as a Hario® type filter container3502. An opening in the center of the platform3401allows the container3502to discharge3503through the platform3401into a container3504located below the platform3401. In preferred embodiments, the processor uses the location information received by the switches or sensors3302,3303,3406,3501to alter parameters, processes and process limits associated with coffee brewing. Selected parameters include, for example, flow rate, brew water temperature, maximum discharge volume or the discharge pattern of the showerhead2702. As shown inFIGS.34and35, a brewing vessel or accessory3404,3502can incorporate a data tag, barcode or transponder3410that can wirelessly communicate identification data to an adjacent receiver, detector or reader3411. In some embodiments, the receiver3411is located in the neck area or otherwise adjacent to the upper rim3412of the container. The identification information that is specific to the container is transmitted to the device's processor107and can be used by the processor to determine process parameters associated with the individual vessel. FIG.36illustrates some of the internal components associated with a coffee making appliance of the type suggested byFIGS.27-35. In this embodiment, the showerhead3600and its hinge block3601are mounted directly to the body or chassis of the appliance3602overhanging the base. The rotating motion of the showerhead3600is governed by a rotating damper3601athat cooperates with the hinge block3601. A mechanical push button3603operates a latch mechanism3604that retains and selectively opens the lid3605and the showerhead3600. The showerhead3600receives brew water from a supply tube3606that extends from the appliance's thermoblock heater3607. The flow into the heater is provided by a solenoid pump3608that draws from the water reservoir. The base3609incorporates a carafe interlock switch3610that provides carafe location information to the device's processor. The base also incorporates a heating element such as a PTC element3611that is also controlled by the device's processor. An array of vertically displayed switches or sensors3612,3613,3614provide location information to the processor regarding the vertical elevation of the platform3401. The filter basket's drip-stop valve3615is operated by an actuator3616that is located within the body of the appliance. The actuator3616is, in this example, activated by a reciprocating link3617that is driven by a crank3618that is rotated by an electric motor3619located within the body. The drip-stop valve3615can also be actuated by the carafe's brewthrough valve3620. An example of a drip filter coffee making appliance3700having a removable filter basket with a built-in or integral showerhead assembly3702is depicted inFIG.37. As illustrated, the filter basket3701has a hinge assembly3703that permits the filter basket3701together with the hinge assembly3703and showerhead3702to be disengaged from the main body3704of the appliance. The neck area3705, being that portion of the body3704that extends between the body and the filter basket3701is shown as containing the basket interlock mechanism including the basket interlock lever3706, the reciprocating coupling3707, the actuator3708and the detents3709that removably engage the actuation lever3710of the filter basket. The removable water reservoir3711and its internal floating transponder3712are located above a solenoid pump3713that draws water from the reservoir3711and supplies it to a thermoblock heater3714. The solenoid (or other style) pump3713and the thermos blockheater3714are independently controlled by the device's processor3715. The processor3715is able to adjust the delivery rate or flow rate of the solenoid pump3713for a variety of different purposes. For example, a user may wish to adjust the delivery rate of the pump3713from the user interface106for the purpose of adjusting the characteristics of the brewing process. The processor can independently govern the flow rate of the pump3713, upon, for example, detecting a particular style of carafe or receiving container3716. The carafe, vessel or container3716may have integrated into it a transponder or RFID tag or barcode3717that can be detected or read by a sensor or receiver3718located within the appliance's body3704. The identification information received by the processor3715from the sensor, reader or detector3718can be used by the processor to limit the delivery volume, alter the flow rate from the pump3713or regulate the operation of the thermoblock heater3714. For example, in a cold drip brewing operation, the processor3715can turn the thermoblock heater3714off so that only cold water is delivered to the showerhead3702. Prior art coffee machines are unable to brew cold drip coffee because water is delivered to the filter basket by, for example, the thermoblock type water heater. The thermoblock uses thermal expansion to propel water to the showerhead. Because cold drip style coffee requires cold water, the use of the thermoblock heater is unsuitable. The present device, in preferred embodiments, uses a solenoid pump which can be driven intermittently to produce low enough average flow rates to brew even small servings of coffee over a period of hours. By using menus or pre-set functions available through the user interface106, the user can disable the device's heater and specify a brew time consistent with cold drip techniques. The processor107determines the cycling action of the solenoid pump to provide a resultant flow rate to satisfy the user specified brew time. In preferred embodiments, the user either specifies the brew volume or the volume is determined by the level sensor in the reservoir. The processor may then use brew volume in conjunction with the brew time to determine the flow rate characteristics of the pump. The presence of an insulated carafe3716may cause the processor3715to deactivate the warming element3718alocated in the base3719. In the alternative, a switch such as a micro-switch3720located in or adjacent to the base3719can mechanically detect the presence of a carafe3716and transmit switching information or relevant data signal to the processor3715so that processing parameters can be determined by the processor in view of the received information. FIG.37also illustrates the mechanical push button3721located at the upper extent of the filter basket's handle3722and how it can be thumb activated to disable a latch3723that retains the filter basket's lid3724and showerhead3702. It will be appreciated that the hinge assembly3703depicted inFIG.37is removable from the body of the appliance utilizing, for example, the hinge assembly depicted inFIGS.2-13. As shown in the example ofFIG.38, the device's microprocessor control unit or processor107receives inputs from the accessible user interface106and various switches or sensors that are located throughout the device. In this example, a user places an uninsulated carafe3801on the appliance's base3802. The carafe3801is shaped or configured to cooperate with a sensor or micro-switch3803. The carafe3801is shaped or configured so that it interacts with the sensor or switch3803whereas an insulated carafe would not interact with the sensor or switch3803. The interaction between the carafe and the switch3803is detected by the microprocessor107. This causes the microprocessor107to defeat, turnoff or not activate the PTC warming element3804. After the user adds a predetermined dose volume of water to the reservoir3805, the level sensors detect the rise of the float and its magnet or transponder3806. Where the level in the reservoir is inadequate for even a single serve, first sensor3807may communicate with the processor107. The processor responds by not allowing the pump3808or thermoblock heater3809to be activated. A “low level” warning may also be displayed on the interface's graphic display3810. A second sensor3811detects a rise in the transducer3806corresponding to a small serving or a single serving (1-4 cups). The interaction between the transducer3806and the second sensor3811is detected by the processor107. This causes the processor107to control the motor or servo3812that controls the filter basket's drip-stop valve3813to delay the opening of the drip-stop valve until the grounds in the filter basket are pre-infused or bloomed for a sufficient duration. Thereafter the processor causes the motor or servo3812to open the drip-stop valve3813so that coffee is dispensed into the carafe3801. In some embodiments, irrespective of coffee dose, the processor may cause the pump and thermoblock heater3808,3809to discharge a volume of water that is not sufficient to submerge the coffee and is discharged at a rate that ensures maximum wetting of the coffee grounds in the filter basket while not allowing the grounds to rise to the surface of water that accumulates at the bottom of the filter. This initial, gradual wetting causes the coffee grounds to swell or bloom. The pre-infusion or bloom discharge, prior to the main or remaining discharge of water into the filter basket, is determined by the processor based on the actual or assumed volume of coffee in the filter basket, the volume of water that the user has placed in the reservoir and other parameters including user preferences, the coarseness of the grounds and the temperature of the water discharged into the filter basket. In the example ofFIG.38, the user interface106includes a graphic alphanumeric display or touch screen3810, a rotary encoder3820, by which the user can make menu based selections from the graphic based interface3810and a combined start/pause/off push button3821. When the appliance is running, pressing the pause button3821causes the processor to cease the operation of (at least) the pump3808and the thermoblock heater3809. The processor may also cause an alert such as “pause” to be displayed on the graphic display3810. Pressing the pause button again causes a resumption of the process that was paused. This may require a preheating of the thermoblock heater3809prior to the inception of the remainder of the selected program. When the start/pause/hold button is depressed and held for a pre-established duration, the processor switches the appliance off. The user interface106may also include individual controllers, switches or buttons for communicating specific functions to the processor107. For example, one dedicated switch3822causes the processor to turn the heater3809off. Another button3823causes the processor to turn the pump3809off. Another button3824causes the processor to toggle the operation of the drip-stop valve3813between open and closed. Another dedicated button3825may cause the processor to run a pre-infusion program whereby a small amount of water is added to the filter basket and the drip-stop valve is maintained in the closed position for the duration of the pre-infusion. Another dedicated button3826causes the processor107to initiate a “cold drip” program comprising use of the pump3808without the heater3809to discharge small volumes of water over a period of time extending over hours. Another button3827communicates with the processor107and is interpreted as an instruction to commence two-way communication with a remote data stream originating from, for example, a wireless communication protocol commonly referred to by the trademark WIFI enabled device3828, a personal area networking protocol commonly referred to by the trademark Bluetooth enabled device3829or an interface that allows computers to communicate with peripherals commonly referred to by the trademark USB enabled device3830. The device's pump, for example the processor controlled solenoid pump3808,3608or heater3916, or warming element3918or drip-stop valve actuator3917can be automatically controlled or adjusted by the device's processor107in a number of ways as suggested byFIG.39. A user can for example use controls on the device's interface106to enter a pump adjustment menu provided by the processor. From that menu, the user can adjust the pump's operational parameters such as rate for one specific program or for all relevant programs that the device performs. Some programs may by necessity ignore the user adjustment of the pump's rate where user adjustment is appropriate or where the user entered value is incompatible with a selected program or process. The user selected pump parameter or parameters may be saved by the processor and used in subsequent programs. Embodiments of the invention that utilize a moveable platform3401as shown inFIGS.33-35can use data from the platform location sensors (3612,3613,3614inFIG.36) exemplified by item3902, to communicate with the processor107and thereby alter the pump's delivery rate and other parameters as required to take into account the type of vessel supported by the moving moveable platform3401. An identifier such as a barcode, or RFID tag or other transponder3410that is carried by a basket insert or adaptor3903(seeFIG.14) communicates with a sensor or reader located within the body of the appliance3911can cause the processor107to change the pump's delivery rate or other parameters to suit the particular insert3903, its volume and dispensing characteristics. In other examples, a remote device3912can transmit information to the processor107by any conventional means including an interface that allows computers to communicate with peripherals commonly referred to by the trademark USB3913, a personal area networking protocol commonly referred to by the trademark Bluetooth3914or a wireless communication protocol commonly referred to by the trademark WIFI3915interface to allow user adjustment of e.g. pump rate for one or all programs for which these kinds of alterations are permissible. User initiated alterations to the pump's delivery rate may be saved by the processor and used in subsequent operations. It will be appreciated that in the aforementioned examples ofFIG.39that the various input devices106,3902,3410,3912that interact with the processor to cause changes in the delivery rate of the pump3901may also be used to instruct the processor107to alter the characteristics of the device's heater3916, such as its target temperature or on/off state. Similarly, these same methodologies and hardware configurations may be used so that the processor107can control the appliance's drip-stop valve actuator assembly3917. The components of the drip-stop valve actuator assembly2108,2109,2110,2111,209as shown inFIG.21). It will be understood that other forms of actuating the drip-stop valve and other mechanical arrangements of drip-stop valve are within the scope of the present invention. The devices warming element3918may be controlled in this same way, as outlined above. As shown inFIG.40, the activity of a coffee making appliance of the type previously disclosed can be expressed as a brewing profile4000. A brewing profile can be expressed as a data file that can be stored, shared or edited. A part of the brewing profile is represented graphically and illustrates the processor control over the pump and heater that result in changes in the delivery pump's flow rate4001as a function of time. In this example, the flow rate component of the profile is illustrated as starting at the beginning of the coffee making cycle or program4010and illustrates by way of example a pump rate of 5 ml/s4003until the detected volume of dispensed liquid is, for example, 50 ml4004. The volume dispensed may be measured in many known ways. The pump is then stopped. The water dispensed up until this point has been heated to 91 C by the devices heater. In this example, the drip-stop valve has been held closed for a lapsed time of sixty seconds4005since the beginning of the cycle. After the drip-stop valve is opened4005, the pump discharges at 3 ml/s4006until a volume of 200 ml has been dispensed at e.g. a showerhead temperature 94 C. After the end of this segment of the program4007the pump's flow rate is increased by the processor to 5 ml/s4008until all the water of the reservoir has been discharged4009. This final profile segment delivers water at a showerhead temperature of e.g. 94 C. Thus the aforementioned brewing profile example comprises sub-segments having individualized flow, temperature and volume parameters that operate in sequence from the beginning to the end of a brew cycle and result in a brew delivered to the user in accordance with preprogrammed or user modified instructions. As shown inFIG.41, a brewing profile or a portion of the profile or a modified profile can be transmitted to the device's processor107. The processor107will thereafter control the device's pump4100, heater4101, drip-stop valve actuator assembly4102and other communication between the coffee machine4400(shown inFIG.43) and any controllable components within the device. The remote device4108may be accomplished by any known wired or wireless communication and other devices in the network4406. These methods include but are not limited to an interface that allows computers to communicate with peripherals commonly referred to by the trademark USB4103, a personal area networking protocol commonly referred to by the trademark Bluetooth4104, a wireless communication protocol commonly referred to by the trademark WIFI4105or via TCP/IP protocols, using, for example, the internet4106. As show inFIG.42, the same forms or methodologies of communication discussed with reference toFIG.41may be accomplished through the device's user interface103. As suggested byFIG.43, a drip filter coffee appliance4400in accordance with the previous teachings may communicate or form a network4406over hard wired or wireless communication channels4401with remote computers4402, information servers4403and other appliances such as weighing scales4404and coffee grinders4405. For example, the device's processor107can receive information from a digital weighing scale4404expressing the weight of coffee that will be placed in the device's filter basket. This information can be used to determine or alter a brewing profile or its parameters. Similarly, a coffee grinder with wireless data transfer capabilities can transmit information to the device's processor107, such as the grind setting. The processor107can use information about the grinder's grind setting to alter parameters or brew profiles so that they are compatible with the coarseness or fineness of the grind as indicated by the transmitted grind setting. As shown inFIG.44, a pump such as the solenoid pump depicted, for example, inFIGS.36and37can be periodically re-calibrated to account for the expected and normal loss of pump efficiency or effectiveness overtime. This loss of effectiveness is generally due to scale build-up and ordinary wear. The reduction in pump effectiveness may cause problems. For example, as the pump's flow rate diminishes over time, the heater may become overly effective, creating undesirable steam in the system. In the aforementioned embodiments, the level sensing assembly4500in the appliance's water reservoir4501may be used in conjunction with a timer to determine the extent of degradation of the pump's performance as it ages. In one example, the device's processor4502measures a time interval, as the pump is discharging into the showerhead. The interval is the time it takes for the float's magnet or transducer4503to traverse the distance between an upper sensor4504and a lower sensor4505. If there were no degradation, the time interval of this traverse would always be constant. The lengthening of the traverse time interval is indicative of the pump's loss of performance. Accordingly, the device's processor107can, from the re-calibration onward and thereafter either increase the pump's delivery rate or the duration of a discharge interval to account for the loss of performance. As shown inFIGS.45and46, a water dispenser or showerhead4600is carried on an underside of a hinged lid4601. The lid includes a bifurcated cantilever4603that extends into the neck area4602of coffee machine as suggested byFIG.1. In this example, the neck area4602has an upper portion that is generally “U” shaped, having a recess, pocket or mounting place4604for receiving the lid's cantilever4603. The cantilever4603in this example, terminates in a pair of ears4605, each having a through opening for receiving and binding onto the hinge spindle4607so as to rotate with it. The hinge spindle4607is supported by the neck area (as shown inFIG.46) and passes through the cantilever4603. The distal end of the hinge spindle4608mechanically couples to a mechanism4609that dampens the rotation of the hinge spindle4607. The damping mechanism4609is restrained from rotation within the neck area by, for example, an anti-rotation fin4610. In the examples ofFIGS.45and46, a laterally symmetrical torsional spring4611surrounds the hinge spindle4607in the area between the ears4605of the lid or lid cantilever. Free ends of the spring4611(not shown) engage with the neck area4602so the central or projecting part4612of the spring4611biases the lid into an open orientation (suggested byFIGS.3and4). The lid is opened by a clasp mechanism that is activated by a mechanical thumb switch (see117FIG.1). When the activator117is operated, the lid is released for upward motion under the influence of the spring4611. The upward motion is dampened by the damping mechanism4609. In the examplesFIGS.45and46, the hinge spindle4607has an extension4613that enters an opening and is retained by the damping mechanism4609. The hinge spindle4607is also hollow or partially tubular, having a through opening4614in a sidewall. As shown inFIG.7, the transverse opening in the sidewall4614is located, preferably, between the two coils of the torsion spring4611and in line with the midline axis4701of the showerhead4600. In this way a flexible water carrying tube4702can run into an opening4703in the proximal end of the hinge spindle4607, through the interior of the hollow hinge spindle4607and out the through opening4614. The tube4702can then be connected to the showerhead4600, for example, using a friction nipple or other conventional means4620. This allows water to flow through to the showerhead or dispenser4600regardless of the lid's orientation. As shown inFIG.47, and as previously suggested byFIG.14, a filter basket body4800can contain a filter adapter or filter insert4801. In this example, the insert4801is positively located with respect to the filter basket4800by a resilient tab or finger4802that extends from an external surface of the insert4803to an interior side wall4804of the filter basket4800. The finger4802may be provided with a locating bead4805at its free end, the bead engaging a groove or other recess4806formed into the interior of the filter basket side wall4804. One or more finger pockets4807are located in the interior side wall4808of the insert4801. In this example, two adjacent pockets or openings4807allow the insert to be lifted vertically from the filter basket4800. In this example, the upper rim4810of the insert4801has formed in it, a notch or recess4811that forms an overflow channel for fluid contained within the insert4810. In this example, a lower extent of the insert4812has an exit or discharge opening4813that is surrounded by a guide channel4814that fits into a receiving opening4815located at the bottom of the filter basket4800. An alternative to the drip stop mechanism depicted inFIG.2is shown inFIG.48. In this example, an opening at the bottom of the filter basket4901is sealed by an internal sealing member4902. The sealing member4902is carried by a vertical post4903that is attached to an actuating head4904. The actuating head4904is carried by a lever4905that pivots about an intermediate fulcrum4906. The free end of the lever4907is acted upon by a vertically oriented pin4910. The pin is biased away from the lever by a compression spring4911and driven toward the lever so as to actuate it by the rotation of a cam4912. In this example, the cam4912is driven by a reversing synchronous motor4913. The vertical limits of motion of the pin4910are detected by electronic switches or sensors such as micro switches4914that are contacted or at least actuated indirectly by the cam4912. As suggested byFIG.49, the vertically reciprocating pin4910is affixed to a vertically reciprocating carriage5001that is driven by the cam4912. The vertical movement of the carriage5001is determined by the position of the rotating cam4912. In it fully extended orientation, the carriage5001has an arm5002that makes contact with a first switch actuator5003. Signals from the switch5004provided to the device's processor and are used as an indication that the drip stop valve has been actuated by the fully down orientation of the pin4910. In the fully up position, the carriage5001contacts a second switch5005. A signal provided from this switch5005to the device's processor indicates that the carriage is in the upmost orientation and that the pin4910has disengaged from the lever4905. As shown inFIG.50, a filter basket5100has a lower rim or extremity5101upon which it can be rested on a flat surface5102. In preferred embodiments, the drip stop actuating head5103is entirely or fully recessed vertically above the lower rim5101so that it does not protrude from the lower rim or interfere with the flat resting position of the filter basket5100. Thus, it is important that a carafe's drip stop valve activator5104be the highest vertical structure of the carafe5105. In this way, the carafe can slide, horizontally, under the lower rim5101and still make contact with the drip stop valve's actuation head5103. In order to do this, the carafe's activator5104must reciprocate vertically and be biased upward by a compression spring5105a. The dome-like activator5104has sloping or curved exterior surfaces5106that make contact with the lower rim of the basket5101and are pushed downwardly by it. Thus the carafe's activator5104comprises an arched or domed shaped shell having a centrally located vertical channel5107. The vertical channel5107extends from an opening5108at the top of the activator5104to a seal5109located at a terminal end of the vertical passage5107. As suggested byFIGS.22,23and50(c), when the activator5104is depressed by the lower rim5101or actuating head of the drip stop valve, it displaces the seal5109, exposing flow channels or flow openings5110to dispense fluid delivered from the drip stop valve5103into the interior of the carafe5105. As shown inFIG.50(d), when the carafe is correctly located under the filter basket5100, the carafe's activator5104is depressed against the bias of the spring5105and the actuator head5103of the drip stop valve is also displaced vertically allowing fluid to flow from the interior of the filter basket5100, through the vertical channel5107into the interior of the carafe5105. When the carafe is removed from below the filter basket, the drip stop valve's actuation head5103returns to its original and sealed or rest orientation by moving downward. Likewise, the carafe's activator5104is restored to its vertically upwardly extended position, thus sealing the flow openings5101and thus preventing inadvertent release of heat from the interior of the carafe. In this example, the lid of the carafe5120has upper and lower walls that create an insulating airspace5121within the lid structure. In this example, an airflow check valve5122is located on an underside of the lid and allows air within the cavity5121to flow into the interior of the carafe when liquids are removed from the carafe by pouring. Replenishing air is able to enter the interior cavity5121from a small vent opening5123formed, for example, on an upper surface of the lid. As suggested byFIG.51, the air inlet check valve5122comprises an elastomeric membrane or disk5200that is retained by a vertical structure5201of the lid5120. The vertical structure5201essentially divides the interior of the carafe5203from the atmosphere5204. As illustrated, air5205drawn into the interior5203flexes the valve element5200entering into the interior5203by through openings5206located above the flexible element5200. In this example, the air entry openings5206are surrounded by an upright wall5207that prevents liquids from inadvertently entering the openings5206. A second or lower circumferential wall5208may be located around the valve element5200to protect it from excessive contact with liquids. Similar structure is depicted inFIGS.22and23. Although the invention has been described with reference to specific examples, it will be appreciated by those skilled in the art that the invention may be embodied in many other forms. As used herein, unless otherwise specified the use of the ordinal adjectives “first”, “second”, “third”, etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner. Reference throughout this specification to “one embodiment” or “an embodiment” or “example” means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases “in one embodiment” or “in an example” in various places throughout this specification are not necessarily all referring to the same embodiment or example, but may. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner, as would be apparent to one of ordinary skill in the art from this disclosure, in one or more embodiments. Similarly it should be appreciated that in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Any claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention. Unless specifically stated otherwise, as apparent from the following discussions, it is appreciated that throughout the specification discussions utilizing terms such as “processing,” “computing,” “calculating,” “determining” or the like, refer to the action and/or processes of a microprocessor, controller or computing system, or similar electronic computing or signal processing device, that manipulates and/or transforms data. Furthermore, while some embodiments described herein include some but not other features included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention, and form different embodiments, as would be understood by those in the art. For example, in the following claims, any of the claimed embodiments can be used in any combination. Thus, while there has been described what are believed to be the preferred embodiments of the invention, those skilled in the art will recognize that other and further modifications may be made thereto without departing from the spirit of the invention, and it is intended to claim all such changes and modifications as fall within the scope of the invention. While the present invention has been disclosed with reference to particular details of construction, these should be understood as having been provided by way of example and not as limitations to the scope or spirit of the invention.

11857103

To facilitate comprehension, the same reference numbers have been used, where possible, to identify identical common elements in the drawings. It is understood that elements and characteristics of one embodiment can conveniently be incorporated into other embodiments without further clarifications. DETAILED DESCRIPTION OF SOME EMBODIMENTS Embodiments described here with reference toFIG.1concern a machine10for preparing a hot or cold beverage according to a selection made by a user. According to some embodiments, the machine10according to the invention allows a user to select a type of beverage to be prepared and the respective organoleptic and quantity characteristics of the beverage. According to some embodiments, the machine10comprises a user interface35provided with suitable commands51-56, for example, push buttons, selection knobs, and/or a touch screen, by means of which the user can select the characteristics of the beverage to be prepared. According to some embodiments, the selection of a beverage comprises the selection of the type of beverage and one or more characteristics including quantity, concentration, temperature. According to some embodiments, the user interface35can comprise commands to select the quantity51of beverage to be dispensed, and/or the size of a receptacle15to be used, for example a jug, a half jug, a cup, a mug, a glass, or suchlike. Furthermore, the user interface35can comprise commands to select the concentration53of the brewed beverage, for example light, normal, or strong, or other values, or the concentration of total dissolved solids. According to a variant, the user interface35also comprises commands to select the temperature52, said commands, according to another variant, can also affect the delivery of the water itself. According to other embodiments, the user interface35can comprise other commands for the functions of dispensing particular types of infusion54-56. According to some embodiments, the machine10comprises a selector device40drivable by a user to select a type of beverage selected between a brewed beverage or hot water. According to a variant, the selector device40is integrated in the user interface35. The machine10comprises a tank12for the water, fluidly connected to a filtering container13suitable to contain an aromatic mixture11to be infused to obtain the brewed beverage. For example, the aromatic mixture11can be a powdered mixture and/or with a desired grain size, in leaves, or portions thereof, of coffee, tea, or other vegetable substance, or other. According to some embodiments, the machine10comprises a first outlet14cooperating with the filtering container13through which the brewed beverage can be delivered into the receptacle15. According to some embodiments, the machine10comprises a second outlet16for hot water, through which the hot water can be dispensed into the receptacle15without passing through the filtering container13. According to possible solutions, the first outlet14and the second outlet16are advantageously disposed adjacent to each other, so as to allow to dispense the brewed beverage, or hot water, in the same zone, facilitating positioning of the receptacle15by the user. For example, the first14and the second outlet16can be made in a flange50that closes the housing20, located below the filtering container13. According to some embodiments, the first outlet14and the second outlet16are associated with respective selective dispensing means41,42, configured to open and/or close the outlets14,16or possibly also to regulate the flow through them. According to some embodiments, the selective dispensing means41,42can comprise one or more valves48,49. According to a variant, both the first outlet14and the second outlet16are fluidly connected to the tank12by at least one circuit22,23. According to some embodiments, the first outlet14and the second outlet16partly share at least one segment of the same circuit22. According to other embodiments, the second outlet16is put in fluid communication with the circuit22by means of a diversion channel23, separated from the filtering container13. According to some embodiments, the diversion channel23can be made in a peripheral portion of the filtering container13, separated from the compartment where the aromatic mixture11is positioned. According to other embodiments, the diversion channel23can be an independent channel. The tank12can generally be a container configured to contain a certain quantity of water to prepare a beverage. For example, the volume of the tank12can be equal to at least the volume of water needed to fill a jug. The tank12can be provided with an introduction aperture12a,associated with a lid60, through which water can be introduced into it, and an outlet aperture17from which the desired quantity of water can be taken on each occasion. According to some embodiments, the tank12can be positioned inside a housing20of the machine10, or attached thereto, possibly removably, to be subjected to cleaning and/or for filling. According to some embodiments, the filtering container13for the mixture can have a funnel shape, and a filtering element18can be inserted therein, suitable to retain the solids of the aromatic mixture11, preventing them from being dispensed together with the brewed beverage. According to a variant, means are provided to control the presence of the filtering element18. According to another variant, if the filtering element18is absent, said means block the functioning of the machine10, possibly emitting a specific signal. According to some embodiments, access means61and/or movement means can be provided, configured to allow access to the filtering container13in order to introduce on each occasion a desired quantity of aromatic mixture11and/or remove it together with the possible filtering element18at the end of dispensing of the beverage prepared. According to some embodiments, the machine10comprises a diffusion head19, disposed above the filtering container13and configured to dispense the water arriving from the tank12above the aromatic mixture11so as to distribute the water on the aromatic mixture11. According to some embodiments, the diffusion head19can be configured to dispense the water in a shower, jets, mist, or also possibly in a continuous flow. The machine10also comprises a heating device21, disposed between the tank12and the filtering container13, and configured to heat the water in transit to the desired temperature. According to some embodiments, the heating device21is disposed along the hydraulic circuit22that connects the tank12to the diffusion head19. According to some embodiments, the heating device21comprises a boiler24having at least a conduit25defining at least a transit channel25afor the water to be heated, and at least one heating element26associated with the boiler24and configured to heat the water inside. According to some embodiments, the transit channel25adefines a segment of the circuit22. According to possible solutions, the internal walls of the transit channel25ahave a suitable shape to extend the useful heat exchange surface. According to some embodiments, the transit channel25ais internally lined with a material which does not allow the sedimentation of limescale. According to other embodiments, the boiler24comprises at least one first smaller branch24aand a second larger branch24b. The larger branch24bis disposed in a vertical direction, so as to reduce thermal losses to a minimum. The inlet of the boiler24in particular is advantageously positioned at a lower height than its output. According to some embodiments, the boiler24can be L-shaped, providing the smaller branch24adisposed at least partly horizontally. According to possible embodiments, the boiler24comprises an accumulation zone24c,in which possible water residues present in the boiler24can be collected. The accumulation zone24cis preferably disposed upstream of the larger vertical branch24balong the path of the water. According to some embodiments, the boiler24can comprise two vertical branches, located on one side and the other of the accumulation zone24c. According to possible variant embodiments, the boiler24can be U-shaped or J-shaped. The U or J shape is particularly advantageous since the water possibly present inside tends to accumulate in the accumulation zone24c,allowing it to be dried by activating the heating element26. When water flows in a vertical segment, in fact, it is in direct contact with all the internal walls of the transit channel25a,so that the heat exchange surface is maximized. According to some embodiments, the heating device21comprises two or more heating elements26,27. According to other embodiments, the heating elements26,27can be electrical resistances disposed along the longitudinal development of the boiler24, in a linear manner or in a spiral. According to a variant, the heating elements26,27can be activated so that they reach the target temperature, or to modulate their temperature. According to some embodiments, the heating elements26,27are autonomous and independent of one another. In particular, the heating elements26,27can be selectively fed according to the temperature to which the water in transit is to be heated and/or depending on the state of progress of the beverage preparation operation. According to some embodiments, the heating elements26,27have the same power, that is, each one corresponds to 50% of the overall power of the heating device21. According to possible variants, the heating elements26,27have different powers from each other, thus allowing a further modulation of the heating temperature. For example, according to possible implementations, the heating elements26,27can have proportional powers, for example 60%-40%, 70%-30%, 75%-25%, 80%-20%, or intermediate values. According to some embodiments, the machine10also comprises temperature sensor means28disposed along the circuit22and configured to detect the temperature of the water in transit. According to some embodiments, the temperature sensor means28are disposed downstream of the boiler24so as to detect the temperature of the water in transit near the area in which it comes into contact with the aromatic mixture11. According to possible variants, the temperature sensor means28can be positioned inside the boiler24, possibly in correspondence with the exit end of the transit channel25a. According to other variants, temperature sensor means28can be provided both integrated in the boiler or in the heating device21, and also disposed downstream thereof and possibly upstream as well, so as to be able to regulate the supply of the one or more heating elements26,27also depending on the difference in water temperature detected upstream and downstream of the heating device21. According to possible solutions, the temperature sensor means28can comprise a Negative Temperature Coefficient (NTC) resistance, located inside a pipe defining a segment of the circuit22. According to some embodiments, the machine10comprises a pump30disposed along the circuit22and configured to draw the water from the tank12and feed it through the boiler24toward the filtering container13or the second outlet16. According to some embodiments, the pump30can be selectively activated to take on each occasion the quantity of water suitable for preparing the quantity of beverage selected by the user. According to some embodiments, the pump30is of the adjustable flow type, so that it is possible to regulate the speed of the water that passes through the boiler24and possibly through the aromatic mixture11. According to some embodiments, the machine10comprises flow detection means disposed in the tank12and/or along the circuit22to measure the quantity of water in transit through it. According to some embodiments, the flow detection means comprise a flowmeter32. According to some embodiments, the flowmeter32is located upstream of the pump30, allowing a faster and more efficient detection of the flow rate and therefore a dynamic and real-time regulation of the pump30. According to some embodiments, the machine10comprises a diversion element44disposed along the circuit22and configured to selectively divert the flow of water toward the filtering container13or toward the diversion channel23. The diversion element44in particular separates the circuit22into two portions22a,22b,of which a first portion22ais disposed upstream of the diversion element44, defining the shared segment of the circuit22, and a second portion22bis disposed downstream thereof. According to variant embodiments, the diversion element44is disposed downstream of the heating device21and the temperature sensor means28. In this way, if the user selects the preparation of a brewed beverage, the water is made to pass in the filtering container13through the aromatic mixture11, while if the user selects the preparation of hot water only, the heated water is diverted in such a way that it does not pass through the filtering container13, preventing the risk of possible contamination. According to other embodiments, the diversion element44can assume at least a first state in which it closes the diversion channel23and allows the water to transit to the filtering container13, and a second state in which it closes the circuit22toward the filtering container13and allows the water to transit through the diversion channel23. According to possible solutions, the diversion element44can comprise a three-way valve, of which two paths are associated with the circuit22respectively as inlet and as first outlet, and one path is associated as second outlet to the diversion channel23. According to other embodiments, the diversion element44assumes the first or second operating state, depending on the position of the selector device40. For example, it can be provided that the first position of the selector device40corresponds to the selection of an brewed beverage and determines the first state of the diversion element44, while the second position corresponds to the selection of hot water only and determines the second state of the diversion element44. According to other embodiments, the selector device40can be connected to the selective dispensing means41,42associated with the first14and the second outlet16and can directly or indirectly condition the functioning thereof, in relation to the opening or closing of the first and second outlets14,16. According to some embodiments, it can be provided that, depending on the position of the selector device40, one of the selective dispensing means41,42closes/opens its outlet14,16, while the other of the selective dispensing means41,40opens/closes its outlet16,14. For example, when the selector device40is in the first position, the selective dispensing means41,42can be disposed so as to open the first outlet14and close the second outlet16; when the selector device40is in the second position, on the contrary, they can close the first outlet14and open the second outlet16. According to possible variants, the selector device40can assume three different positions, with a third position in which the selective dispensing means40,41close both outlets14,16with the respective valves48,49. Closing the valves48,49allows, in particular, to remove the receptacle15during the dispensing of the beverage without risk of drips. This is particularly useful when dispensing a brewed beverage. In fact, when dispensing water only, switching off the pump30implies stopping the dispensing, while when dispensing an brewed beverage, the dispensing continues for a certain period of time after the pump30has been switched off, because of the delay due to the transit of the water through the aromatic mixture11. According to possible solutions, the machine10can be provided with presence detection means, not shown, configured to detect the presence of a receptacle15in correspondence with one or the other outlet14,16. The presence detection means can be connected to the selective dispensing means41,42, so as to regulate their functioning. According to some embodiments, the selector device40can be a mechanical device, such as a lever, a sliding bar, or similar element, which can be manually moved by the user. According to these embodiments, the selector device40can directly drive the selective dispensing means41,42. According to variant embodiments, the selector device40can be an electrical or electronic command, which can be activated by the user or according to a functioning program. According to some embodiments, the selector device40is subjected to a functioning program executed by a control and command unit34. In this case, the selector device40can indirectly drive the selective dispensing means41,42. According to other embodiments, position sensor means45,46can be provided, configured to detect the position of the selector device40. According to some embodiments, the position sensor means45,46can comprise one or more of either optical sensors, proximity sensors, or other similar or comparable elements, possibly cooperating with mating elements associated with the selector device40. According to some embodiments, the machine10comprises a control and command unit34, configured to regulate the operation of the machine10according to the user's selection, to prepare on each occasion the selected beverage. According to some embodiments, the control and command unit34can comprise, or be connected to, a memory unit33, in which information can be memorized relating to the operating parameters for the preparation of each selectable beverage. According to some embodiments, the percentage of total dissolved solids (TDS) and optimal extraction percentages can be memorized in the memory unit33for each selectable brewed beverage, for example, defined on the basis of a graph of the type shown inFIG.5. The graph shows the optimal percentages fot different concentrations of coffee according to the standard parameters defined by Special Coffee Association (SCA). The term “percentages of TDS” means the quantity of substances present in the brewed beverage with respect to the quantity of water that makes up the beverage itself. The term “extraction percentages” means the quantity of substances that have been extracted from the aromatic mixture11used, in the present example from the coffee powder, with respect to the quantity of aromatic mixture11used. For example, for a coffee-based brewed beverage with a “normal” or “ideal” concentration, the extraction percentage can be comprised between 18% and 22%, while the percentage of TDS can be comprised between 1.15% and 1.45%. Fora “light”, or “weak” concentration, the percentage of TDS can be comprised between 0.8% and 1.30%, preferably between 1% and 1.20%, while for a “strong” concentration the percentage of TDS can be comprised between 1.30% and 1.50%, preferably between 1.40% and 1.50%. An additional “ultra-strong” concentration can also be provided, where the percentage of TDS can be greater than 1.50%. Moreover, given the same quantity of brewed beverage to be prepared, specific information regarding optimal water temperature for each light, normal, strong, or possibly ultra-strong concentration, or other, can be memorized. According to variant embodiments, the information can comprise the optimum values of water temperature and/or speed for each beverage selectable by the user, that is, for each combination defined by type of beverage, quantity, concentration, temperature, etc. According to variant embodiments, the memorized information comprises, for each selectable beverage, a range of duty-cycle values for activating the heating device21and/or a range of values of the flow rates of the water, suitable to guarantee both that the water is heated to the optimal temperature, and also the specific TDS percentages for each beverage. The regulation of the temperature makes it possible to prepare, in addition to coffee, beverages based on tea or other vegetable substances, which generally require lower infusion temperatures than those required for coffee. By way of example, while for a coffee beverage a water temperature preferably comprised between about 92° C. and about 96° C. is required, to prepare tea a water temperature comprised between about 70° C. and about 90° C. is preferable, depending on the quality of the tea used, or other substance to be infused. According to some embodiments, the control and command unit34can be connected to the position sensors45,46to receive an indication of the position of the selector device40. According to some embodiments, the control and command unit34is connected to the diversion element44and is configured to modify the state of the latter according to the indication received from the position sensors45,46. According to possible variant embodiments, it can be provided that the control and command unit34can modify the state of the diversion element44even during the preparation of the beverage, so as to dilute the brewed beverage and, for example, prepare an “ultra-light” beverage, for example having TDS <1%. In this case, during the delivery of the brewed beverage, the control and command unit34can keep both outlets14,16open, acting on the respective selective dispensing means41,42, and alternately modify the status of the diversion element44so as to deliver a portion of the water in the filtering container13, and to dispense a portion of the water directly into the receptacle15without making it transit through the aromatic mixture11, possibly exploiting the time needed for the water in the filter container13to pass through the aromatic mixture11. According to other embodiments, the control and command unit34can act on the selective dispensing means41,42to close and open the respective outlets14,16. According to variant embodiments, the control and command unit34can act on the selector device40on the basis of a functioning program provided for the specific selected beverage to command the operation of the selective dispensing means41,42. Providing an automated activation/deactivation of the selective dispensing means41,42also allows to fill the filtering container13with the desired quantity of water and to keep the first outlet14closed for a certain time before dispensing the beverage into the receptacle15This allows to prepare a beverage with the desired degree of infusion, for example, to prepare even a cold-brewed beverage, commonly referred to as cold-brew, which requires high cold infusion times of the aromatic mixture11, even hours, or to prepare a tea, or a herbal tea, by hot infusion of the aromatic mixture11generally for some minutes. According to a variant, means are provided which determine, depending on the organoleptic characteristics required for the type of beverage, the closing time of the valve48associated with the infusion. According to other embodiments, depending on the position of the selector device40, the control and command unit34can also enable and/or disenable one or more commands of the user interface35. In this way, depending on the selection of brewed beverage or hot water, the user can select additional characteristics of the beverage to be prepared. According to some embodiments, if the brewed beverage is selected, the control and command unit34can enable commands of the user interface35suitable to select quantity51, concentration52, and/or temperature53. According to some embodiments, if the brewed beverage is selected, the control and command unit34can also enable a command for the function of dispensing the brewed beverage on ice54. According to some embodiments, if the function of dispensing the beverage on the ice54is selected, the control and command unit34enables, or maintains enabled, the concentration selection commands52so that the user can select the desired concentration of the beverage to be dispensed on ice. According to other embodiments, if the brewed beverage is selected, the control and command unit34can also enable a command for the function of preparing the cold brewed beverage, or cold-brew55. In this case, when the command for the “cold-brew” function55is selected, the control and command unit34can activate the pump30to fill the filtering container13with the desired quantity of water, and then leave the aromatic mixture11in infusion for the necessary time, for example according to a functioning program memorized in the memory unit33, before activating the first selective dispensing means41and opening the outlet for the brewed beverage14to dispense the beverage into the receptacle15. According to other embodiments, if the brewed beverage is selected, the control and command unit34can also enable a command for the function of preparing a brewed beverage with intermittent delivery, generally referred to as a “pour-over”56. According to possible variants, if hot water is selected, the control and command unit34can enable commands of the user interface35to select quantity51and/or temperature53, and disenable those for the selection of the concentration52, or for the possible special infusion functions54,55,56. According to other variations, it can be provided that the commands to select quantity51are active for each type of beverage. According to other variations, it can be provided that the commands to select temperature52are active for each type of beverage. According to some embodiments, the control and command unit34is also connected to the temperature sensor means28and to the flowmeter32to receive the data detected by them. The control and command unit34is also configured to compare the data received with the values memorized in the memory unit33. Depending on the selection made by the user on the type of beverage to be prepared and/or characteristics selected, and on the basis of the data received from the temperature sensor means28and the flowmeter32, the control and command unit34can regulate the flow rate of the pump30and/or the switching on/off of the heating device21to obtain the beverage selected. According to some embodiments, the control and command unit34receives in real time the data relating to the flow rate and temperature of the water and dynamically regulates, with a feedback control, the pump30and the heating device21in such a way that the water is heated at the optimum temperature defined for the selected beverage. According to a variant, the control and command unit can regulate the flow rate of the pump and activate the heating device21by means of a PID type regulation system, or by other suitable means. According to these embodiments, for example, the PID regulation system can receive as inlets the flow rate of the water detected by the flowmeter32and the temperature of the water detected by the temperature sensor means38and supply as outlets the flow rate of the pump30and the power supply of the heating element26,27of the heating device21. According to some embodiments, the control and command unit34regulate the operation of the pump30and the heating device21in order to consequently modify the temperature and the flow rate of the water passing through the aromatic mixture so as to modify the taste and the intensity of the beverage according to the selection made by the user. In particular, given the same temperature of the heated water, the control and command unit34can decrease or increase the flow rate of the pump30, and hence the water speed, respectively, to extract more or fewer substances from the aromatic mixture11, and thus regulate the intensity of the beverage. For example, it can be provided that the control and command unit34, to modify the flow rate, acts on the feed power of the pump30, in such a way as to increase or decrease the number of revs of the motor of the pump. According to other embodiments, the pump30can be selectively activated/deactivated to deliver the water in pulses, so as to perform a “pour-over” infusion, that is, to obtain a particularly slow extraction of the substances from the aromatic mixture11. According to other embodiments, the control and command unit34can selectively switch on and off the at least one heating element26,27according to a certain duty-cycle, so as to keep it at the suitable temperature. For example, in order to prepare a jug of coffee beverage with a “light” concentration, the control and command unit34can regulate the pump30to maintain a flow rate comprised between 0.28 and 0.32 dm3/min and switch on/off the one or more heating elements26,27with a duty cycle comprised between 55% and 65%. In another example, to prepare a jug of coffee beverage with a “normal” concentration, the control and command unit34can regulate the pump30to maintain a flow rate comprised between 0.23 and 0.28 dm3/min and switch on/off the one or more heating elements26,27with a duty cycle comprised between 65% and 75%. According to another example, in order to prepare a jug of coffee beverage with a “strong” concentration, the control and command unit34can regulate the pump30to maintain a flow rate comprised between 0.19 and 0.23 dm3/min and switch on/off the one or more heating elements26,27with a duty cycle comprised between 75% and 85%. In yet another example, in order to prepare a jug of coffee beverage with an “ultra-strong” concentration, the control and command unit34can regulate the pump30to maintain a flow rate comprised between 0.17 and 0.19 dm3/min and switch on/off the one or more heating elements26,27with a duty cycle comprised between 85% and 95%. It is understood that the optimal values of flow rate and duty-cycle can be suitably modified depending on the characteristics of the pump30and heating device21utilized. According to other embodiments, the control and command unit34autonomously and independently switches on and off each heating element26,27, so as to suitably modulate the temperature of the heating device21according to the operations to be performed. For example, the temperature of the heating device21can be modulated on the basis of slow preheating operations, temperature maintenance, high temperature delivery, or other. The possibility of dynamically modifying both the flow rate of the pump30and also the temperature of the heating device21, and hence of the water, allows to optimize the extraction of the substances of the aromatic mixture11to obtain the desired intensity of the beverage as selected by the user, without needing a pre-infusion step, thus meeting the requirements for high quality. According to possible variants, however, it can be provided to perform a pre-infusion step of the aromatic mixture11before dispensing the brewed beverage. In this case, it can be provided to keep the first outlet14closed with the first selective dispensing means41for a suitable time for performing pre-infusion. According to other embodiments, the housing20is provided with a support base37for the receptacle15. According to possible variants, the support base37can be provided with additional heating means38selectively activated by the control and command unit34to keep the beverage dispensed in the receptacle15hot. For example, the additional heating means38can comprise a Positive Coefficient Temperature (PCT) resistance. According to possible embodiments, not shown, other support bases can be provided, possibly folding or mobile, configured to bring a smaller receptacle15closer to the outlet of the beverage14so as to prevent any splashes of beverage, for example if the receptacle15used is a cup, or a glass. Embodiments described here concern a method for preparing a beverage as a function of a selection made by a user. According to embodiments described by way of example with reference to the block diagram inFIG.4, the method according to the invention provides:to start the machine (block100);to verify if a command has been received regarding the type of beverage to be prepared (block101) and possible stand-by;to insert in a user interface35associated with a control and command unit34the selection of a type of beverage to be prepared by infusion, or hot water (block102);based on the type of beverage selected by the user, to enable or disenable a plurality of commands of the user interface35(blocks103,104,107,108), in order to respectively allow or prevent the selection of other characteristics by the user of the beverage to be prepared;to receive other characteristics selected by the user as a function of the type of beverage selected (blocks105-108) and/or the quantity of beverage, and/or the size of thee receptacle15;to condition the various functioning factors in relation to the specific characteristics of the specific beverage selected and the operating parameters provided for said beverage selected (block109);to deliver the water according to the operating parameters provided for the specific beverage with the specific organoleptic characteristics selected (block110). The characteristics of the beverage can comprise, for example, organoleptic characteristics such as the concentration of dissolved solid substances, temperature, time or type of infusion, quantity of beverage, taste and/or intensity of the beverage, or other. According to some embodiments, the verification of the command of the beverage type selected comprises detecting the position of the selector element40by means of the position sensors45,46. According to some embodiments, depending on the type of beverage selected, the method provides to determine the state of the diversion element44to selectively and fluidly connect the tank12to the first outlet14for the brewed beverage, or to the second outlet16. According to other embodiments, the control and command unit34, depending on the type of beverage selected, disenables the commands of the user interface35that are not correlated to that selection, or enables the commands correlated with the type of beverage selected, so as to simplify the use of the machine10for the user. According to some embodiments, if the user has selected the preparation of a brewed beverage in block102, the method provides to maintain enabled at least the commands for selecting the concentration of the brewed beverage53(block103). According to other embodiments, if the user has selected the preparation of an brewed beverage in block102, the method provides to maintain enabled at least the commands for selecting special infusion functions54-56(block104) and/or for selecting the concentration53. According to other embodiments, if the user has selected a brewed beverage, the verification of the characteristics selected by the user provides to verify whether the user has selected a concentration for the brewed beverage (block105), or has selected a function of dispensing on ice, depending on the commands53,54driven. According to these embodiments, if the function of dispensing on ice has been selected, the method provides to enable and/or to keep active the commands to select the concentration52and to wait for another selection of the concentration by the user before proceeding with the preparation of the beverage. According to other embodiments, if hot water is selected in block102, the verification of the characteristics selected by the user provides to verify whether the water heating temperature is that desired by the user (block107). If so, the method provides to prepare the beverage, while if not the method provides to maintain the temperature selection commands52enabled to allow the user to select the desired value (block108). According to some embodiments, the method comprises a verification of the quantity of beverage selected by the user (block109), which can be carried out at any time between the start of the machine10and the dispensing of the beverage (block110). According to variant embodiments, the conditioning step of the various functioning factors comprises determining the specific temperature parameters for the selected beverage. For example, determining the specific parameters can be obtained by comparing the received commands relating to the type and characteristics of the selected beverage with the data memorized in the memory unit33. According to other embodiments, the conditioning step of the various functioning factors comprises determining the values of the flow rate of the pump30and the activation cycle of the heating device21suitable to obtain the specific temperature parameters. According to some embodiments, the functioning factors can be managed so as to guarantee to prepare and dispense the brewed beverage within 4-8 minutes, so as to meet the requirements of high quality independently from quantity and concentration of the selected brewed beverage. According to some embodiments, determining the values of the flow rate and the activation cycle can be obtained by comparing the received commands relating to the type and characteristics of the selected beverage with the data memorized in the memory unit33and/or the data received from the flowmeter32and the temperature sensor means28. According to other embodiments, at the start of the preparation, the method provides to initially activate the pump30until the boiler24is filled with the water to be heated, reaching the temperature sensor means28and subsequently to activate the element heating26,27until the water inside the boiler24reaches a temperature coherent with the beverage selected. According to some embodiments, when the temperature sensor means28detect a temperature of the heated water corresponding to the specific temperature, the control and command unit34again starts the pump30to dispense the amount of water corresponding to the selection made. According to other embodiments, at the end of the dispensing of the beverage, the method provides to restore the initial conditions of the machine, so as to guarantee, on each occasion, for each beverage selected, both to heat the water to the correct and specific temperature, and also to provide the defined quantity thereof. According to other embodiments, at the end of the dispensing of the beverage, the method provides to deactivate the pump30, leaving the heating device21active for a certain time so as to empty the circuit22by means of a convective motion, and possibly to dry the water remaining inside it. In this way, possible residual water is prevented from remaining in the circuit and distorting the measurement of the quantity of water dispensed in a subsequent beverage dispensing operation. According to possible variant embodiments, if a user selects the function of dispensing on ice54, the control and command unit34regulates the pump30and the heating device21so that, once dispensed in a receptacle filled with ice, its concentration and volume correspond to the selection made by the user. In particular, the control and command unit34can regulate the operating parameters of the pump30and the heating device21in order to prepare a brewed beverage with a concentration higher than the concentration selected so as to compensate the dilution due to the ice in the receptacle15. For example, if a jug of beverage on ice with a “normal” concentration is selected, the control and command unit34commands the components to prepare a lower quantity of brewed beverage, for example half a jug, with a higher concentration, for example “strong”, so as to compensate for the dilution of the beverage due to the ice and, at the same time, not to dispense volumes greater than the capacity of the receptacle15selected. According to possible variants, if hot water is selected, the method according to the invention provides to enable the commands to select the temperature52for each type of beverage selected. According to other embodiments, the method according to the invention provides to enable the commands to select the temperature52for each type of beverage selected. According to other embodiments, it can be provided that the user can enter the desired temperature value independently, or can choose from a plurality of pre-set values. It is clear that modifications and/or additions of parts can be made to the machine10and the method for preparing a beverage as described heretofore, without departing from the field and scope of the present invention. It is also clear that, although the present invention has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of machine10and method for preparing a beverage, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.

11857104

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention relates to a portioned dispenser system1as illustrated inFIGS.1to4comprising a portion dispenser2and an exchangeable cartridge3according to the invention. The portion dispenser2generally comprises a frame4having a receiving portion5for receiving the exchangeable cartridge. A discharge opening6may be provided in the receiving portion. A first embodiment of the cartridge of the invention is illustrated inFIGS.2and22. The exchangeable cartridge3comprises an elongated hollowed storage member in the form of a tubular storage member7for storing beverage items8such as compacted balls of beverage ingredients. The beverage ingredients can comprise or be roast and ground coffee. The tubular storage member is preferably arranged to accommodate a pile of beverage items that when the exchangeable cartridge is received in the receiving portion5is arranged vertically thereby allowing the beverage item to be discharged individually and by gravity in the portion dispenser. The tubular storage member is preferably elongated and extends along a longitudinal axis (Y). In particular, the storage tubular member comprises a closed end9and an open end10comprising an exit opening11having a cross-section configured for allowing the dispensing of a single beverage item at a time. The tubular storage member7comprises an attachment portion12at or next to the exit opening11and connectable to at least one tubular surface13of the receiving portion5of the frame. Furthermore, a closure cap14is adapted to connect in a removable and sealable manner to the tubular storage member7at its open end10. For this, a removable complementary connection15of the storage member and closure cap is provided. As will be discussed in more detail later, this removable connection can advantageously comprise a threading for enabling the closure cap to be removed by unscrewing it and be connected by screwing. Preferably, the interior of the exchangeable cartridge has low oxygen content. More preferably, it is under vacuum or is saturated with inert oxygen-free gas such as carbon dioxide and/or nitrogen. The tubular storage member and the closure cap are preferably made of polymer and/or metal materials which are barrier to oxygen at least during several days or weeks. A gas sealing arrangement is also arranged between the protective cap14and the tubular storage member7such as by a gas sealing connection and/or by additional at least one seal member, e.g. a sealing lip or O-ring. According to an aspect of the invention, the portion dispenser comprises a piston assembly16arranged for receiving a beverage item and transporting it to a dispensing area17of the frame that comprises a dispensing opening18. The piston assembly essentially comprises a piston19reciprocally arranged in a piston housing20. The piston is axially arranged with the discharge opening6and aligned with the longitudinal axis (Y) of the exchangeable cartridge when fitting in the receiving portion of the portion dispenser. The tubular surface13of the dispenser is arranged for coupling with the tubular member7of the exchangeable cartridge such that the cartridge is held in a substantial vertical arrangement thereby allowing the discharge of the beverage items by gravity in the dispenser. The receiving portion5may further comprise at least one elastic connection member21arranged for removably engaging a removable connection member of the tubular storage member of the exchangeable cartridge. As illustrated inFIG.4, the removable connection member may be a hook-type connection member positioned inside the tubular surface13and resiliently arranged for engaging at least one recess or protrusion such as an annular complementary-shaped groove22of the tubular storage member. The hook-type latch member21may comprise at least one tooth with a substantially transversal surface engaged with the groove22to prevent upward axial movement of the cartridge. This connection enables to secure the exchangeable cartridge in place and further contributes to the sealing of the exchangeable cartridge with the receiving portion and to the stable alignment with the piston assembly. Of course, these connection means may take many other forms such as a spring-biased ring or a series of circumferentially distributed spring-biased beads. For example, the male part (e.g. hook-type member) may also be part of the cartridge and the female part (e.g. groove) may be provided inside the tubular surface13. The piston19is arranged in the piston housing20of the piston assembly16to move between an extended position in which the piston comes next to the discharge opening6(visible inFIGS.3and4) and a retracted position in which a discharge chamber23is defined (visible inFIGS.6and9). The volume of the discharge chamber23is defined as a function of the retraction distance of the piston relative to the discharge opening6. Such distance may be adjusted to the number and/or volume of beverage items to be discharged such that a minimal empty volume is formed in the discharge chamber23when the beverage item(s) is (are) present. In particular, such volume may be dimensioned to the size of a single beverage item to enable the individual capture of the beverage item by the piston assembly. The piston assembly16further comprises means for opening and re-closing the exchangeable cartridge to control the individual discharge of the beverage item while maintaining a low oxygen content in the interior of the cartridge. For this, the piston comprises a terminal portion24arranged for connecting to the closure cap14of the exchangeable cartridge. The piston assembly16is arranged for moving the piston in such a manner to detach the removable complementary connection15and re-connect it after dispensing of the beverage item. The support surface of the closure cap (i.e. the surface supporting the beverage item for dispensing it through the housing as shown inFIG.11) is also designed to match the surface of the shutter so that the amount of air that can enter in the cartridge is kept as low as possible. Preferably, the support surface of the closure cap is planar when the shutter is planar. In particular, the terminal portion24of the piston forms part of a keying member25arranged for complementary fitting with a locking member26of the closure cap. This keying and locking arrangement will be further described in relation to the example ofFIGS.15-21. As a matter of principle, the keying and locking members25,26are configured to provide a connection enabling the closure cap to remain fixed to the piston when the latter moves between the extended position and the retracted position. As a result, the closure cap forms a support for the first beverage item of the pile when the piston is retracted thereby causing the first beverage item to be discharged gently in the discharge chamber accompanied by the piston when the latter is retracted instead of falling in the chamber by gravity. This support during discharge provides the advantage to maintain the integrity of the beverage item such that a proper individual dosing is made possible by the piston assembly. The opening and re-closing means further comprise a piston actuator27arranged for driving the piston in a reciprocal and axial path in the piston housing. Furthermore, the piston actuator27is arranged for providing a combined axial and rotation motion along its longitudinal axis (I) to the piston enabling the closure cap attached to the piston to be removed (e.g. unscrewed) from the storage tubular member of the cartridge. For this, the combined axial and rotational motion is arranged to match the threaded path of the complementary connection15of the closure cap in the cartridge. The piston actuator27may comprise a spindle nut member28fixed to the piston housing which engages with a threaded spindle29of the piston so as to move the piston reciprocally along an axial and rotational path of axis (I) between the extended and retracted positions. The spindle29is driven by a gear mechanism30, that may be formed of two (or more) pinions, driven by an electrical motor31. Advantageously, the gear mechanism is arranged such that the electrical motor is positioned parallel to the piston in order to save space in the frame of the dispenser. It should be noted that the gear mechanism can be omitted and the motor can be aligned with the spindle29with a direct link to it. As represented onFIG.9, the portion dispenser comprises sealing members arranged for providing an effective gas-tight seal arrangement with the exchangeable cartridge when such is engaged in the receiving portion5. In particular, a sealing member32is provided between the receiving portion5and the tubular storage member7of the cartridge. The sealing member32can be part of or added to the tubular surface13, for example, to an inner lower part of it. The sealing member32may alternatively or additionally be part of the tubular storage member7. Another sealing member33is provided between the receiving portion5of the frame or other close part of it and the piston housing20. Again the sealing member33can be part of the receiving portion as illustrated or additionally or alternatively part of the piston housing. At least one other sealing member34(actually two sealing members represented in the preferred example) is part of the piston19and positioned to engage with the piston housing20. The sealing members32,33and34participate to the sealing connection of the exchangeable cartridge with the piston assembly such that substantially no air coming from outside can possibly enter in the discharge chamber23and in the interior of the exchangeable cartridge. The results is that when the closure cap is removed by the piston being retracted, the pressure balance and gas transfer resulting therefrom is only possible between the exchangeable cartridge and the discharge chamber23. There is substantially no air drawn by the piston retraction coming from outside. According to another aspect of the portion dispenser, the piston assembly16is mounted in the frame4to be moveable between the discharge position and a dispensing position. In the illustrated mode, the piston assembly is mounted in a pivotable manner about an axis of rotation Z which is parallel to the axis I of motion of the piston. In the dispensing position, the piston becomes positioned in axial relationship with the dispensing opening18(along axis O). The discharge opening6and the dispensing opening18may both be arranged in parallel axial relationship (essentially vertically) so as to provide a simple movement of the piston assembly, e.g. a pivotal movement, relative to the frame between the two positions. The motion of the piston assembly is driven by a piston assembly actuator35. The piston assembly actuator may comprise a circumferential pinion89fixed to the piston housing, a driving pinion60geared to the circumferential pinion and an electrical motor38. The piston assembly further comprises a shutter36for sealingly closing the discharge opening6as the piston is moved to the dispensing area. The shutter is preferably a portion of wall transversally arranged relative to the discharge opening6and to the dispensing opening18. The shutter is arranged for moving together with the piston housing20between the discharge opening and the dispensing opening for selectively shutting off the discharge opening or the dispensing opening as soon as the piston housing is displaced out of the discharge opening or the dispensing opening. In the preferred mode, the shutter36forms an extension wall of the piston housing that extends transversally to the axis I and O of the openings. Additional sealing members are provided to further secure the gas tightness of the piston housing. In particular, at least one sealing member37can be positioned between the piston housing20and the frame4. The sealing member37ensures the tightness of the piston chamber during the rotation of the piston housing20. Also, at least one sealing member38can be positioned between the dispensing opening18and the piston assembly. In this case, the sealing member can bear on the wall of the shutter36when the dispensing opening is closed, i.e. when the piston housing is not yet aligned with the dispensing opening (FIGS.9,11). It also presses on the edge39of the piston housing when the piston is aligned with the opening axis O (FIG.10). The piston actuator27and piston assembly actuator35can be automatically controlled by a control unit40housed in the frame or in a different part of the dispenser. The control unit is configured to command the actuators in a synchronous manner to provide a correct operation including respectively: the discharge of a beverage item, its dispensing to the dispensing area and the return of the piston assembly to its initial position for a next cycle. The operation of the portion dispenser can be described in relation toFIGS.5to8. To start the dispensation cycle of a beverage item, an exchangeable cartridge3is connected to the portion dispenser in the receiving portion with its closure cap14connected in closure to the tubular storage portion7. The exchangeable cartridge is locked in the receiving portion5by the elastic connection member. The connection can be simply secured by manually pushing the cartridge down towards the dispenser. The elastic connection member is biased until it fits in the annular groove22by elastic return. Thus, the cartridge is secured during dispensing and cannot be easily removed. In this configuration, the interior of the cartridge remains under vacuum or under protected atmosphere. The beverage items are stacked in the cartridge with the lowermost beverage item pressing on the closure cap. The piston assembly lies in an initial position with the piston being in extended position to receive the exchangeable cartridge. In this case, a position sensor may be provided that detects the presence of the exchangeable cartridge and actuate the extension of the piston by the piston actuator accordingly. In the position ofFIG.5, the keying member25of the piston is engaged in the locking member the closure cap. The engagement may start with a simply axial insertion of the keying member in the locking member, e.g., when the user inserts the cartridge in the receiving portion of the dispenser, as will be further discussed in relation toFIGS.17and18. In the next step illustrated inFIG.6, the piston is actuated in the retraction position. The control unit40commands the piston actuator27accordingly and the piston is moved downwards in a combined axial and rotational motion. At the start of such motion, the keying member25of the terminal portion of the piston locks up automatically in the locking member of the closure cap thereby ensuring the axial connection of the two. This locking is obtained by the combined movement of the keying member25while the locking member remains stationary as will be explained further in detail in relation toFIGS.14to21. As the piston is retracted along the spindle, the keying member applies a combined rotational and axial force in the locking member to remove, e.g. unscrew, the closure cap14from the tubular storage member of the cartridge. As the piston retracts, the closure cap is entrained and lowers down with a beverage item supported thereon. The beverage items is received in the discharge chamber23formed by the retracted piston and piston housing. In the next step illustrated inFIG.7, the piston assembly16is actuated in rotation thereby transporting the selected beverage item8in the discharge chamber23accordingly. The control unit commands the piston assembly actuator35accordingly while the piston remains in the retracted position during this stage. The discharge opening6is shut off by the shutter36sliding transversally as soon as the piston moves away from the discharge opening. As the shutter moves to the shutting-off arrangement of the discharge opening, a sealing arrangement is obtained between the shutter and the receiving portion by seal33(as illustrated inFIG.13). As a result, the exposure of the interior of the cartridge to the ambient is essentially prevented. In the next step illustrated inFIG.8, the piston is actuated in the extended position. The control unit commands the piston actuator accordingly and the piston is moved upwards along the spindle up to a point where the beverage item lies in the dispensing area, e.g., extends beyond or through the dispensing opening. It should be noted that the dispensing area may be a beverage brewing area or a handling area. In the next step, the piston assembly is returned to the initial position for a new cycle. FIGS.14to21provides a first embodiment of a keying and locking arrangement according to the invention. In this example, the closure cap14comprises a thread portion41as part of the removable complementary connection. A complementary thread portion is provided in the tubular storage member. It should be noted that the connection could be any other equivalent connection means such as a bayonet-type connection or equivalent. The locking member26of the closure cap comprises a receiving cavity42for the terminal portion24of the keying member25. The locking member further comprises an entry passage43communicating with the receiving cavity. The entry passage has a smaller cross-section than the receiving cavity. The entry passage is arranged with a shape similar but slightly larger than the shape of the terminal portion in such a manner that the terminal portion can be inserted through the entry passage in a privilege rotational orientation illustrated inFIGS.17and18. For instance, the entry passage has substantially two opposed arc-shaped portions44,45interrupted by a pair of opposed protrusion surfaces46,47extending towards the center of the passage. The receiving cavity42has essentially two opposed arc-shaped annular portions62,63interrupted by a pair of stepped protrusions48,49. Each stepped protrusion is formed by an innermost protrusion portion50and an outermost protrusion portion51of substantially similar shape but which are slightly radially offset one another. In a plane view, the contour of the stepped protrusions is essentially covered by the opposed protrusion surfaces46,47of the entry passage. Each protrusion is arranged in the cavity to form respectively first and second radial abutment surfaces52,53for the terminal portion of the closure cap by the piston. On the keying member25of the piston, the terminal portion24forms an enlarged surface substantially matching the shape of the entry passage. The terminal portion connects outwardly by a reduced surface54narrower than the entry passage so as to not hinder with it during rotation of the keying member. The terminal portion of the keying member comprises a pair of opposed recesses55,56configured for allowing passage of the terminal portion through the entry passage. Each recess comprises a first radial abutment surface57adapted to be engaged by the first abutment surface52of the locking member and a second radial abutment surface58adapted to be engaged by the second abutment surface53of the locking member. As shown inFIG.19, the first abutment surfaces52,57of the members abut with each other when the keying member unscrews the locking member (in rotational direction A) to remove the closure cap from the exchangeable cartridge. As shown inFIG.20, the second abutment surfaces53,58abut with each other when the keying member screws the locking member (in rotational direction B) to re-close the closure cap to the exchangeable cartridge. InFIG.21, it is possible to view the abutment surfaces52of the keying member when forcing against the abutment surfaces57of the locking member during the unscrewing operation of the closure cap. It should be further noticed that the depth “d” of the receiving cavity42is much larger than the thickness “do” of the terminal portion with a sufficient gap59to prevent blocking of the keying member with the locking member during operation. In this embodiment, a mechanical inversion is possible in that the locking member is part of the beverage item dispenser and the keying member is part of the closure cap. FIGS.23to32illustrate a second embodiment of the locking system of the dispenser system. The locking member26comprises a receiving cavity42with a shape which is elongated preferably oblong. The receiving cavity is arranged for receiving an expandable terminal portion24of the keying member25as illustrated inFIGS.25and29-30. The locking member26comprises an entry passage43of circular opening which is smaller than the larger dimension L of the receiving cavity thereby providing an inner shoulder64e.g. a pair of opposite shoulder surfaces90,91, enabling an axial engagement of the terminal portion24of the keying member when the closure cap14is removed, e.g. unscrewed, from the tubular member of the cartridge. As illustrated inFIGS.31to33, the terminal portion of the keying member of the dispenser device is arranged to be expandable after insertion in the locking member. As preferred example illustrated inFIGS.25to28, the terminal portion of the keying member comprises an expandable engaging member95e.g. comprising a pair of disc halves92,93capable of being inserted through the entry passage43of the locking member and of being moved apart transversally inside the receiving cavity42to secure the keying member to the locking member of the closure cap. The keying member comprises an actuating system94arranged for actuating the engaging member95between its locking position (FIG.31) and its releasing position (FIG.29). The pair of disc halves can be linked by return elastic means such as a pair of traction springs61for forcing the return of the disc halves in releasing position (FIG.29). FIGS.26to28show in more detail a preferred actuating system94for the keying member. The actuating system may comprise an actuator67mounted in movable manner and elastically in a cylindrical jacket68. The actuator comprises an actuating head69comprising engaging surfaces70,71arranged for engaging against the engaging member95, more particularly against the two disc halves92,93. The disc halves are preferably guided by a pair of radial dovetail ridges88fitting in complementary radial dovetail grooves of the jacket68. The head of the actuator further comprises a top end72for engaging with the bottom surface66of the receiving cavity of the closure cap (FIG.30). The actuator67comprises a cam follower73which is arranged for being guided in a cam74of the jacket68. The cam follower and cam are designed to guide the actuator axially in the jacket between an extended position (FIG.30) and a retracted position (FIG.32). The actuator is further axially pressed against the force of an elastic member65positioned in the jacket. The elastic member65can press against a bottom portion75of the actuator and be housed in housing86provided in an enlarged base87of the jacket. The enlarged base87can comprise a peripheral sealing member34to sealingly move in the piston housing of the dispenser as described earlier. The cam follower can be formed of a pair of arms76,77comprising free ends78,79which are received in opposite cam paths80. The arms further comprise flexible portions81,82enabling the arms to follow the cam paths. The cam paths are designed with a descending portion83, a stopping portion84and an ascending portion85providing a guiding reciprocal movement to the actuator between the extended and retracted positions while the stable retracted position being obtained by the stopping portion84. In the configuration ofFIGS.29and30, the keying member of the piston can be inserted in the locking member of the closure cap as the engaging member95is in retracted position with the disc halves92,93form a smaller section than the section of the entry passage43. The user can position an exchangeable cartridge in the dispenser while the keying member of the piston positions itself freely in the locking member of the closure cap during such positioning or during a subsequent operation. As illustrated inFIGS.31and32, when the actuating system94forces the engaging member95in expanding configuration in the locking member, the engaging surfaces70,71force the disc halves92,93to move apart from each other and to take substantially the volume of the receiving cavity42thereby blocking the keying member in the locking member. In such position, the actuator is also locked in its axial extended position. The system being thereby well secured, when the piston is moved in the combined axial and rotational movement, torque can be transmitted by the keying member to the closure cap to be unscrewed. When the piston is moved axially, the disc halves of the engaging member95abut on the shoulder64(FIG.33) thereby contributing to remove the closure cap from the tubular storage member. The releasing position of the engaging member95is obtained when the axial force exerted by the piston is stopped causing the actuator to return to its rest position (FIG.30) and the disc halves to be forced in their releasing position by the return elastic means, i.e. the pair of traction springs61. FIGS.34to37illustrate a third embodiment of the locking system of the dispenser system. The locking member26comprises a hollow receiving cavity42of deformable character and an entry passage43of smaller transversal cross-section than the transversal cross section of the terminal portion24of the keying member. For example, the receiving cavity comprises expandable portions of walls96separated by longitudinally extending channels97for expanding the receiving cavity upon insertion of the terminal portion. The terminal portion24may have a rounded or ball-like shape to reduce friction during insertion in the cavity. The receiving cavity comprises radially arranged first and second engagement surfaces forming longitudinally extending grooves99, or respectively ribs100, at its inner surface arranged for fitting with complementarily shaped with ribs101, respectively longitudinally extending grooves102, at the outer surface of the terminal portion of the keying member26(FIG.36). The connection of the closure cap comprises a thread as for the previous embodiment or any equivalent connection means and may further comprises on its outer tubular surface outwardly oriented and retractable tongues103arranged for engaging complementarily shaped through-openings104of the open end of the tubular member. An elastic actuation member105may be arranged across the receiving cavity42for being engaged by the terminal portion24of the keying member to force the tongues103to retract upon engagement of the terminal portion in the receiving cavity (FIG.36). The actuation member105can be an elastically deformable wall which is deformed inwardly by the terminal portion of the keying member. As illustrated inFIG.37, the keying member is moved by the piston19to unscrew or re-screw the closure cap14from the tubular storage member7of the exchangeable cartridge. The keying portion25may further comprise a locking ring106which engages an annular end107of the keying member26to prevent the expandable portions of walls96from expanding and the keying member from opening when torque is applied to the closure cap by the piston. As for the two other embodiment, this locking system can be applied to the portion dispenser system described in the present application.

11857105

DETAILED DESCRIPTION Hereinafter, a drip coffee machine according to an embodiment of the present disclosure and a liquid discharge device used therefor are described in detail with reference to the accompanying drawings. Throughout the present disclosure, components that are the same as or similar to each other are denoted by reference numerals that are the same as or similar to each other and a description therefor is replaced by the first description, in different embodiments. FIG.1is a perspective view of a drip coffee machine100according to an embodiment of the present disclosure; andFIG.2is a block diagram for controlling the drip coffee machine100ofFIG.1. Referring to the drawings, the drip coffee machine100may include a frame110, a liquid discharge device130, a support150, a controller170and a boiler190. The frame110may be an overall framework, and the liquid discharge device130and the like may be installed therein. The frame110may be configured of a mounting portion111and a support portion115. The support portion115may be configured to allow the mounting portion111to be spaced apart from a bottom, and may be a post disposed along the height direction. A pair of support portion115is shown in the embodiment, but only one support portion115may be provided. The mounting portion111and the support portion115may be made of a metal material, a plastic material, etc. The liquid discharge device130may be built in the frame110and configured to discharge liquid to ground coffee beans. Here, the liquid may be water, and more specifically, hot water adjusted to have a temperature suitable for coffee extraction. A plurality of liquid discharge devices130may be provided to correspond to the numbers of filters F containing the ground coffee beans and containers C containing coffee extracted through each of the filters F, respectively. The plurality of liquid discharge devices130may be operated independently from each other. The support150may be configured to support the filter F or the container C. A first support151which is one of the supports150may be provided for supporting the filter F. The container C may be supported by a second support155. The second support155may be disposed below the first support151. The first support151may have a through hole through which the coffee passes through the filter F. In addition, the filter F may be disposed to be inserted into the through hole. None or only one of the first support151and the second support155may be provided. If the support150is not provided, the drip coffee machine may be used in such a manner that the container C is disposed on the bottom and the filter F is disposed on the container C. The controller170may be configured to control the liquid discharge device130, etc. In order to operate the controller170, a user input181, a communication module183, a memory185and the like may be additionally provided. The user input181may be installed in the frame110or the like, and may be a keypad, a touch screen, a voice recognition module or the like to receive a user's command. Unlike the user input181, the communication module183may be configured to communicate with an electronic device such as the user's smartphone M or tablet, thereby receiving the user's command through the electronic device. The memory185may be configured to store a program for a mode in which the liquid discharge device130discharges the liquid based on the type or condition of the coffee beans. The boiler190may be configured to make hot water which is supplied to the liquid discharge device130. The boiler190may be built in the frame110, but may be separated from the frame110and provided externally. If the frame110is disposed on a cafe table, the boiler190may be disposed under the table. In this case, a liquid tube connecting the boiler190and the liquid discharge device130to each other may be extended to the mounting portion111through the support portion115. In an environment where the drip coffee machine100is used, the boiler190may be excluded from the configuration of the drip coffee machine100if there is a separate facility for supplying hot water, or cold water rather than hot water is dripped. Based on this configuration, the user may input the type or condition of the coffee beans through the user input181or the smartphone M, or input an operation mode corresponding thereto. In response to this input, the controller170may refer to the program stored in the memory185, thereby operating the boiler190and the liquid discharge device130. In detail, when hot water adjusted to have a predetermined temperature is provided by the boiler190, the controller170may operate the liquid discharge device130to discharge the hot water to the filter F. In this case, the liquid discharge device130may discharge the hot water to the coffee beans contained in the filter F while being moved along a substantially spiral discharge trajectory. The hot water that wets the ground coffee beans may pass through the filter F and then be dripped to the container C. Accordingly, drip coffee may be collected in the container C. Hereinafter, the description focuses on the liquid discharge device130above. In the following description, the reference numeral of the liquid discharge device is changed to200for convenience. FIG.3is a perspective view of a liquid discharge device200according to an embodiment of the present disclosure when viewed in one direction;FIG.4is a perspective view of the liquid discharge device200ofFIG.3when viewed in another direction;FIG.5is a cut perspective view of the liquid discharge device200ofFIG.3when viewed in one direction; andFIG.6is a cut perspective view of the liquid discharge device200ofFIG.3when viewed in another direction. Referring to the drawings, the liquid discharge device200may include a liquid providing module210, a rotation module240, a translation module270and a detection module290. The liquid providing module210may be configured to receive a liquid, specifically (hot) water from the boiler190(seeFIG.2) and provide the water to the coffee beans contained in the filter F (seeFIG.1). In detail, the liquid providing module210may have a discharge pipe211, an inlet pipe213, a connection pipe215, a supply valve217and a flow meter219. The discharge pipe211may be disposed at the end of the liquid providing module210and may be a portion that faces the filter F and discharges hot water thereto. The inlet pipe213may be disposed at the opposite end of the discharge pipe211and receive hot water provided by the boiler190. The connection pipe215may connect the inlet pipe213and the discharge pipe211to each other to allow hot water to flow. The supply valve217and the flow meter219may each be installed to be connected to the connection pipe215, and configured to regulate hot water or measure the flow rate of hot water. The supply valve217and the flow meter219may each be connected to the controller170(seeFIG.2), and operated under the control of the controller170. The rotation module240may be configured to move the discharge pipe211along a rotation trajectory R. The rotation module240may include an actuator241, a driven gear245, a base plate251, a support bearing261, etc. The actuator241may be configured to generate rotational force by receiving external input. In detail, the actuator241may have an electric motor242. The electric motor242may be operated by electrical input, and a drive gear243may be mounted on its output shaft. Further, the electric motor242may be installed on a bracket244, and the bracket244may be installed in the mounting portion111of the frame110(seeFIG.1above). Accordingly, the electric motor242may be fixedly installed in the frame110. The driven gear245may be configured to receive the rotational force of the electric motor242, and may specifically be a gear engaged with the drive gear243. The driven gear245may include a ring-shaped rotating body246and an outer circumferential thread247formed on an outer circumferential surface of the rotating body246. This outer circumferential thread247may be engaged with a thread of the drive gear243. The base plate251may be configured to be rotated by being interlocked with the rotation of the driven gear245to move the discharge pipe211along the rotation trajectory R. The base plate251may be formed in a substantially circular shape and disposed to be surrounded by the driven gear245. The base plate251may also be disposed at the same level as the driven gear245to form the same plane as the driven gear245. Further, unlike the embodiment shown in the drawings, the driven gear245and the base plate251may be integrally formed as a single member. Further, in addition to the base plate251, a first auxiliary plate253and a second auxiliary plate255may be additionally provided. The first and second auxiliary plates253and255may each be disposed on a level different from that of the base plate251. In detail, the first auxiliary plate253may be disposed below the base plate251, and the second auxiliary plate255may be disposed above the base plate251. The first and second auxiliary plates253and255may respectively support an adjustment cam275and an interlocking gear281, which are to be described below, to be rotatable, together with the base plate251. A through slot257may be formed in each of these plates251,253and255. Through slots257a,257band257cof the through slot257may respectively be formed in the plates251,253and255, and formed at positions to correspond to those of the plates. The through slot257may have the form of a long hole made along a translation trajectory D. The discharge pipe211may be inserted into this through slot257and disposed to pass through the base plate251, the first auxiliary plate253and the second auxiliary plate255. As such, the discharge pipe211may be inserted into the through slot257, and moved along the rotation trajectory R by being pushed by rotation of the base plate251when the base plate251is rotated. However, even if not inserted into the through slot257, the discharge pipe211may still be pushed and moved by the rotation of the base plate251. The support bearing261may be configured to support the driven gear245, the base plate251and the like to be rotatable with respect to the frame110(seeFIG.1). The support bearing261may include an inner ring262and an outer ring263that are rotatably connected with each other. The inner ring262may be connected to the driven gear245on its upper surface and to the first auxiliary plate253on its lower surface. The inner ring262may be rotated together with the driven gear245and the first auxiliary plate253. On the contrary, the outer ring263may remain coupled and fixed to the frame110. Here, the inner ring262may be disposed at a higher level than the outer ring263, and the driven gear245may thus be prevented from causing friction with the outer ring263while being rotated. When the driven gear245and the first auxiliary plate253are connected to each other by the support bearing261, the first auxiliary plate253, the base plate251and the second auxiliary plate255may be connected to one another by connecting rods267and268. The connecting rods267and268may each have a shape of a rod disposed along the height direction, and the connecting rod267may connect the first auxiliary plate253to the base plate251and the connecting rod268may connect the base plate251to the second auxiliary plate255. The translation module270may include a translation drive unit271, an adjustment unit275and an intermediate unit. The translation drive unit271may be configured to move the discharge pipe211along the translation trajectory D without separate external input, specifically the electrical input. The translation drive unit271may include an elastic pull member272elastically deflecting the discharge pipe211in one direction along the translation trajectory D, for example. The elastic pull member272may be a coil spring having one end connected to the base plate251and the other end connected to a bracket221installed on the discharge pipe211. The discharge pipe211may be moved by the elastic pull member272within the through slot257, and also be guided by a guide273. The guide273may be a linear motion (LM) guide for example, and disposed along the translation trajectory D at the side of the through slot257a. The adjustment unit275may be configured to adjust the position of the discharge pipe211deflected within the translation trajectory D in the one direction. In detail, the adjustment unit275may be a cam having a rotating shaft rotatably supported by the base plate251and the first auxiliary plate253, respectively. The adjustment cam275may be disposed in such a manner that its outer circumferential surface is in contact with the discharge pipe211, specifically a bearing223installed thereon. To this end, the discharge pipe211may be disposed in a direction crossing a plane formed by the adjustment cam275, specifically in a direction perpendicular to the base plate251. The adjustment cam275on its own is not operated by the external input, and may be operated by the rotational force generated by the electric motor242for example. This operation may be made possible by the intermediate unit which transmits the rotational force to the adjustment cam275. The intermediate unit may have a fixed gear277and the interlocking gear281. The fixed gear277may be disposed to be spaced apart from the top of the driven gear245and may be fixed regardless of the rotations of the driven gear245and the base plate251. The fixed gear277may be configured of a fixed body278formed in a ring shape, and an inner circumferential thread279formed on its inner circumferential surface. The fixed body278may be supported by a mount265, and the mount265may be installed in the frame110(seeFIG.1). The interlocking gear281is a gear engaged with the fixed gear277. In detail, the opposite ends of the rotating shaft of the interlocking gear281may be rotatably supported by the base plate251and the second auxiliary plate255, respectively. A thread of the interlocking gear281may be engaged with the inner circumferential thread279of the fixed gear277, and the interlocking gear281may thus be rotated by being engaged with the fixed gear277when the base plate251is rotated. This interlocking gear281may also be interlocked with the adjustment cam275. To this end, a pulley282installed on the rotating shaft of the interlocking gear281and a pulley276installed on the rotating shaft of the adjustment cam275may be connected to each other by a belt283. Here, the interlocking gear281may include a plurality of gears instead of one gear to decelerate the rotational speed of the adjustment cam275. In this case, the interlocking gear281which is a deceleration gear, may include the plurality of gears sequentially interlocked with each other and having different gear ratios. The detection module290may be configured to detect whether the discharge pipe211is disposed at a predetermined position. To this end, the detection module290may have a sensor291disposed at the predetermined position and a mount295on which the sensor291is installed. The sensor291may be a distance sensor that detects a distance therefrom to the discharge pipe211. The mount295may be installed on the fixed gear277. When it is detected by the sensor291that the discharge pipe211is disposed at the predetermined position, the controller170(seeFIG.2) may control the rotation module240and the translation module270by using a result of this detection. Based on this configuration, the controller170may open the supply valve217to discharge a required amount of hot water. In addition, the controller170may operate the electric motor242to generate the rotational force, and the rotational force may rotate the base plate251, the first auxiliary plate253and the second auxiliary plate255through the drive gear243and the driven gear245. As the base plate251is rotated, the discharge pipe211inserted into the through slot257may be moved along the rotation trajectory R by being pushed by the rotation of the base plate251. In addition, the elastic pull member272may deflect the discharge pipe211within the through slot257in the one direction by its own elastic force, regardless of the operation of the electric motor242. In this state, the adjustment cam275may be rotated by the rotational force generated by the electric motor242, thereby adjusting the discharge pipe211in contact with the outer circumferential surface of the adjustment cam275to be disposed within the translation trajectory D in the one direction or the other direction opposite to the one direction. The adjustment cam275may be rotated in the following manner: as the base plate251is rotated, the interlocking gear281installed thereto may be rotated by being engaged with the fixed gear277, and the interlocking gear281may be interlocked with the adjustment cam275. Accordingly, the discharge pipe211may discharge hot water to the coffee beans while being moved along a discharge trajectory in which the rotation trajectory R and the translation trajectory D are combined with each other. The discharge trajectory may have a spiral shape, and may be started at the predetermined position, rotated outward, and then rotated inward again to return to the predetermined position. It may be input to the controller170through the sensor291whether the discharge pipe211is disposed at the predetermined position. The controller170may close the supply valve217after the discharge pipe211discharges predetermined hot water through a predetermined motion. It may be detected by the flow meter219whether hot water at a predetermined flow rate is discharged. A liquid discharge device of a different type from the above is described with reference toFIGS.7to10. FIG.7is a perspective view of a liquid discharge device300according to another embodiment of the present disclosure when viewed in one direction;FIG.8is a perspective view of the liquid discharge device300ofFIG.7when viewed in another direction;FIG.9is a cut perspective view of the liquid discharge device300ofFIG.7when viewed in one direction; andFIG.10is a cut perspective view of the liquid discharge device300ofFIG.7when viewed in another direction. Referring to the drawings, the liquid discharge device300may include a liquid providing module310, a rotation module340, a translation module370and a detection module390. The liquid providing module310may be configured to receive hot water from the boiler190(seeFIG.2) and discharge the water to coffee beans contained in the filter F (seeFIG.1). In detail, the liquid providing module310may have a discharge pipe311, an inlet pipe313, a connection pipe315, a supply valve317and a flow meter319. The discharge pipe311may be disposed at the end of the liquid providing module310and may be a portion that faces the filter F and discharges hot water thereto. The inlet pipe313may be disposed at the opposite end of the discharge pipe311and receive hot water provided by the boiler190. The connection pipe315may connect the inlet pipe313and the discharge pipe311to each other to allow the hot water to flow. The supply valve317and the flow meter319may each be installed to be connected to the connection pipe315, and configured to regulate hot water or measure the flow rate of hot water. The supply valve317and the flow meter319may each be connected to the controller170(seeFIG.2), and operated under the control of the controller170. The rotation module340may be configured to move the discharge pipe311along a rotation trajectory R. The rotation module340may include an actuator341, a main shaft345, a base plate351, a mount357, etc. The actuator341may be configured to generate rotational force by receiving external input. In detail, the actuator341may have an electric motor342. The electric motor342may be operated by electrical input, and a first drive member343may be mounted on its output shaft. The main shaft345may be disposed substantially parallel to the output shaft of the electric motor342and configured to be rotated by receiving the rotational force of the electric motor342. To this end, a first driven member346may be installed on the main shaft345. The first driven member346may be formed as a pulley like the first drive member343. In this case, the two members may be interlocked with each other by a first belt347. Alternatively, the first drive member343and the first driven member346may be configured to transmit the rotational force to each other. In this case, these two members may be engaged with each other by a component other than the belt, and may be gears directly or indirectly engaged with each other for example. The base plate351may be configured to be connected to and rotated together with the main shaft345to move the discharge pipe311along the rotation trajectory R. The base plate351may be formed as a substantially circular plate and disposed to be substantially parallel to the first driven member346. Further, the base plate351may be connected to a lower portion of the main shaft345. A through slot353may be formed in the base plate351. The through slot353may have the form of a long hole made along a translation trajectory D. The discharge pipe311may be inserted into this through slot353and disposed to pass through the base plate351. As such, the discharge pipe311may be inserted into the through slot353, and thus when the base plate351is rotated, the discharge pipe311may be moved along the rotation trajectory R by being pushed by the rotation of the base plate351. However, even if not inserted into the through slot353, the discharge pipe311may still be pushed and moved by the rotation of the base plate351. The mount357may be installed to allow the main shaft345to be rotatable. To this end, a shaft bearing359may be installed on the mount357to support the main shaft345to be rotatable. The shaft bearing359may be disposed to surround an upper portion of the main shaft345. The connection pipe315may be extended to the inside of the main shaft345. In this case, the connection pipe315may be divided into a fixed portion315adisposed outside the main shaft345and a rotating portion315bdisposed inside the main shaft345. A connection cap361may be installed on the mount357for the rotating portion315bto be rotatably connected to the fixed portion315a.The connection cap361may accommodate the two portions in such a manner that the ends of the fixed portion315aand the rotating portion315bare in contact with each other. Further, the end of the rotating portion315bmay be surrounded by a sealing member315c,thereby preventing liquid from leaking between the fixed portion315aand the rotating portion315b. The mount357may be fixedly installed in the frame110(seeFIG.1). For example, a post (not shown) may be installed in the frame110, and the mount357may be fixedly supported on the post. The electric motor342of the actuator341may also be fixedly installed on this mount357. The translation module370may include a translation drive unit371, an adjustment unit375and an intermediate unit. The translation drive unit371may be configured to move the discharge pipe311along the translation trajectory D without separate external input, specifically the electrical input. The translation drive unit371may have an elastic pull member372that elastically deflects the discharge pipe311along the translation trajectory D in one direction, for example. The elastic pull member372may be a coil spring having one end connected to the base plate351and the other end connected to a bracket321to which the discharge pipe311is installed. The discharge pipe311may be moved by the elastic pull member372within the through slot353, and may also be guided by a guide373. The guide373may be a linear motion (LM) guide for example, and disposed along the translation trajectory D at the side of the through slot353. The adjustment unit375may be configured to adjust the position of the discharge pipe311deflected within the translation trajectory D in the one direction. In detail, the adjustment unit275may be an adjustment cam disposed between the base plate351and the mount357. The adjustment cam375may be installed to be rotatable with respect to the main shaft345. In detail, a rotating cover383may be disposed to surround the main shaft345. The rotating cover383may be supported by a cover bearing385to be rotatable with respect to the main shaft345. This rotating cover383may be disposed to pass through the center of the adjustment cam375, and the rotating cover383and the adjustment cam375may thus be coupled with each other. The adjustment cam375may be disposed in such a manner that its outer circumferential surface is in contact with the discharge pipe311, specifically a contact member323installed on the bracket321to which the discharge pipe311is connected. To this end, the contact member323may be disposed in a direction crossing a plane formed by the adjustment cam375, specifically in a direction perpendicular to the base plate351. The adjustment cam375on its own is not operated by the external input, and may be operated by the rotational force generated by the electric motor342for example. This operation may be made possible by the intermediate unit which transmits the rotational force to the adjustment cam375. The intermediate unit may have a second drive member377and a second driven member381in addition to the rotating cover383and the cover bearing385, which are described above. The second drive member377may be installed on the output shaft of the electric motor342and may receive the same rotational force as the first drive member343. The second driven member381may be interlocked with the second drive member377and installed on the rotating cover383. The second driven member381may be formed as a pulley like the second drive member377. In this case, the two members may be interlocked with each other by a second belt379. Further, the second drive member377may have a smaller diameter than the first drive member343. Accordingly, the second belt379may have insufficient tension compared to the first belt347, which may be adjusted by a tension adjustment unit380. The tension adjustment unit380may have an adjustment roller380ain contact with the second belt379. The adjustment roller380amay be rotatably mounted on the bracket380binstalled on the mount357. The detection module390may be configured to detect whether the discharge pipe311, specifically, the contact member323connected thereto through the bracket321, is disposed at a predetermined position. To this end, the detection module390may have a sensor391disposed at the predetermined position and a bracket (not shown) on which the sensor391is installed. The sensor391may be a distance sensor that detects a distance therefrom to the contact member323. The bracket (not shown) may be installed in the frame110(seeFIG.1). When it is detected by the sensor391that the discharge pipe311is disposed at the predetermined position, the controller170(seeFIG.2) may control the rotation module340and the translation module370by using a result of this detection. Based on this configuration, the controller170may open the supply valve317to discharge a required amount of hot water. In addition, the controller170may operate the electric motor342to generate the rotational force, and the rotational force may rotate the base plate351through the first drive member343and the first driven member346and also through the main shaft345. As the base plate351is rotated, the discharge pipe311inserted into the through slot353may be moved along the rotation trajectory R by being pushed by the rotation of the base plate351. In addition, the elastic pull member372may deflect the discharge pipe311to be disposed at the predetermined position within the through slot353by its own elastic force, regardless of the operation of the electric motor342. In this state, the adjustment cam375may be rotated by the rotational force generated by the electric motor342, thereby adjusting the discharge pipe311to be disposed within the translation trajectory D. The adjustment cam375may be rotated in the following manner: as the electric motor342is rotated, the second drive member377coupled to its output shaft may rotate the second driven member381, and the second driven member381may then be interlocked with the adjustment cam375through the rotating cover383. Accordingly, the discharge pipe311may discharge hot water to the coffee beans while being moved along a discharge trajectory in which the rotation trajectory R and the translation trajectory D are combined with each other. The discharge trajectory may have a spiral shape, and may be started at the predetermined position, rotated outward, and then rotated inward again to return to the predetermined position. It may be input to the controller170(seeFIG.2) through the sensor391whether the discharge pipe311is disposed at the predetermined position. The controller170may close the supply valve317after the discharge pipe311discharges predetermined hot water through a predetermined motion. It may be detected by the flow meter319whether hot water at a predetermined flow rate is discharged. In the drip coffee machine according to the present disclosure configured as above and the liquid discharge device used therefor, the discharge pipe of the liquid providing module may be moved along the rotation trajectory by the rotation module, moved along the translation trajectory by the translation module, and finally moved along the discharge trajectory in which the rotation trajectory and the translation trajectory are combined with each other to discharge the liquid. Here, the actuator that generates the rotational force in the rotation module may rotate the base plate through the driven gear, and the translation module may have the adjustment cam and the intermediate unit that allow the position of the discharge pipe within the translation trajectory to be adjusted by the rotational force above in addition to the translation drive unit that elastically deflects the discharge pipe, thereby making the actuator to be a sole drive source that requires the external input. In addition, in another embodiment, the discharge pipe of the liquid providing module may be moved along the rotation trajectory by the rotation module, moved along the translation trajectory by the translation module, and finally moved along the discharge trajectory in which the rotation trajectory and the translation trajectory are combined with each other to discharge the liquid. Here, the actuator that generates the rotational force in the rotation module may rotate the main shaft and the base plate connected thereto, and the translation module may have the adjustment cam and the intermediate unit that allow the position of the discharge pipe within the translation trajectory to be adjusted by the rotational force above in addition to the translation drive unit that elastically deflects the discharge pipe, thereby making the actuator to be a sole drive source that requires the external input. Further, the pulley and the belt may be used as components for transmitting the rotational force of the actuator to the main shaft or the adjustment cam. In this case, noise generated by their operations may be minimized. The drip coffee machine as described above and the liquid discharge device used therefor may not be limited to the configuration and operation of the embodiments described above. The above described embodiments may be configured so that various modifications may be made by selective combinations of all or some of the respective embodiments.

11857106

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS The present invention is directed to an inline fluid foaming device10providing fluid foam directly into cup. Typically, the fluid used with the device of the invention is milk. The fluid foaming device10comprises a pumping and foaming element11and an air entry12, the air entry12being controlled by an air valve13. Typically, according to the invention, the pumping and foaming element11is configured comprising a rotating element; the rotation of this element provides a centrifugal effect delivering the following: the pumping of the fluid and the air, and the further foaming of this mixture by passing it through a small gap where it is subjected to high shear stress forces, making this mixture to foam by Couette Flow effect. The quantity of air pumped and mixed with the fluid is controlled by the rotational speed of the element, by the opening of the air valve13and/or by the geometry of the air path following the air entry12. The fluid foaming device10of the invention further comprises a heating unit14: the mixture of fluid and air, when passing through this unit14, can optionally be heated in order to provide a hot foamed fluid. When the heating unit14is not activated, the foamed fluid flowing through it will be delivered cold or ambient (not hot). A schematic view of the elements configuring the fluid foaming device10and the way they work is shown inFIG.1. Different embodiments are possible according to the invention: the air entry12can go directly into the air path120without any air valve13: therefore, the air inlet towards the device10will always be open and the control of the foaming will be done by acting on the rotation speed of the pumping and foaming element11and also on the geometry of the air path120. Another possibility is to have an air valve13after the air entry12and before the air path120into the device10, as described in the paragraph above. In this case, the air valve13can be controlled either manually or either automatically (when automatically controlled, there are two options: that the valve is magnetically driven or that it is directly driven). FIGS.2aand2bshow a first embodiment of the inline fluid foaming device10of the invention. In particular,FIG.2ashows an air path120and a fluid or milk path130, both going into the inlet111towards the pumping and foaming element11. The rotation of the pumping and foaming element11pumps by suction the fluid (typically milk) from a fluid container16and also pumps air through the air entry12(in fact, the air is controlled by an air valve13). Both air and fluid are driven by centrifugal forces into the inlet111towards the pumping and foaming element11, having been first mixed. Looking atFIG.2b, the mixture of fluid and air is then conveyed into a heating unit14, passing through a heating path140, typically configured with a labyrinth shape, being optionally heated. The foamed fluid exits through150towards the device outlet15, directly into cup. FIGS.3aand3bshow in further detail the configuration of the first embodiment of the inline fluid foaming device10of the invention, as represented inFIGS.2aand2b. The pumping and foaming element11is configured as a single disc, with different designs of the faces, typically with a substantially flat and smooth surface11a(FIG.3a) used for obtaining the foaming of the fluid and a patterned surface with a certain embossment11b(FIG.3b) used for pumping the fluid from a fluid container16and mixing it with air. Looking atFIG.3b, the rotation of the disc11(patterned or embossed surface11b) pumps fluid (typically milk) from the container16(milk path130) and mixes it with air coming from the air entry12and controlled by the air valve13(air path120). Once the mixture of fluid and air is done, it passes to the other side of the disc (flat or smooth face11a), as represented inFIG.3a, where it will be foamed again by the rotation of the disc11with respect to a stationary surface (the mixture is conveyed into a gap between the disc11and the surface and, when the disc11rotates, the mixture is foamed by Couette Flow effect (high shear stresses on the mixture). Once foamed, the mixture goes into the heating path140where it can be heated or not, before being delivered through the device outlet15. A possible configuration of the heating unit14is a heating plate, as represented inFIG.3b. Preferably, the pumping and foaming element11is rotated by a magnetic drive, highly simplifying the number of elements needed and the further cleaning of intermediate mechanical driving means and/or elements. Even when it has been described that the disc comprises two parts, an embossed or patterned one and a smooth one, preferably contributing to pumping and foaming, respectively, this is just one embodiment possible: the disc11can also comprise two smooth parts or two embossed or patterned parts, for example, and will still perform the same functions. As shown inFIGS.2a-band3a-b, the configuration of the inline fluid foaming device10is made very compact and relatively flat, which allows a compact and easy integration into the final device. Looking atFIGS.4aand4b, a second possible embodiment of the inline fluid foaming device10is represented, integrated inside a vertical, cylindrically shaped container. The device10is integrated inside a fluid container16with an upper device outlet15to cup. The pumping and foaming element (inside the fluid container16ofFIGS.4a-b) is rotated by a magnetic drive22(FIG.4b) connected to a base20with electric connections21. A more detailed view of the configuration of the inline fluid foaming device10of the invention is shown inFIGS.5ato5d. The fluid container16accommodates inside the inline fluid foaming device10: the air path120and the milk (fluid) path130are shown inFIGS.5cand5d, the air and the milk being respectively pumped and directed towards the pumping and foaming element11(shown inFIGS.6a-c) for mixing and foaming. An upper outlet15is provided, from where the foamed fluid is directed into a cup. Further, a handle28is typically provided on the upper part of the inline fluid foaming device10to remove the device10from the container16in order to clean it. An air valve13is represented inFIG.5c: typically, this valve is magnetically actuated and is therefore magnetically driven as it is represented by arrows A and B inFIG.5c. The air valve13sits on an upper seat17and thus controls accurately the amount of air into the air path120to be mixed with the fluid, by its magnetic driving provided as shown by arrow B inFIG.5c. The rest of the details of the fluid foaming device10are shown inFIGS.6a-b-c: the pumping and foaming element11is typically configured as a disc, with a patterned or embossed surface11bfor the pumping and mixing of the fluid with air, and a flat or smooth surface11afor foaming the said mixture. The heating path140through where the foamed mixture flows after leaving the pumping and foaming element11to be optionally heated is represented inFIGS.6band6c. The final fluid is delivered through the device outlet15. This second configuration of the inline fluid foaming device10in vertical is also compact and easy to insert into and extract from the fluid container16, particularly for a convenient cleaning. Yet a third possible embodiment of the inline fluid foaming device10of the invention is shown inFIGS.7a-b-cand further detail of its internal configuration follows inFIG.8,FIGS.9a-b-candFIGS.10a-b-c.FIG.7ashows the fluid container16, with an upper outlet15and accommodating inside the fluid foaming device10. Furthermore, a HMI30is allocated in the lower part of the fluid container16, so that the consumer can choose different recipes and/or types of foaming etc. as it will be further explained in more detail. The fluid container16with the foaming device10is connected to a docking base50, switched on or off by an operating button40. Contrarily to the second embodiment, the magnetic drive for operating the magnetic disc drive (operating in rotation the pumping and foaming element11) and the magnetic air actuator (operating an air valve actuator19) are embedded in the container16, and the docking base50is only responsible for transmitting power and information (typically, also to the HMI30). The air actuator or the disc drive (pumping and foaming element) can also be operated by a motor, in which case it will be similarly embedded in the container16. The air path120and milk path130are closed tightly by means of a tightness cover18, as represented inFIGS.7band7c. The air is controlled into the air path120by means of an air valve actuator19, sealing in a higher or lower degree the air income into the air path120. Preferably, this air valve actuator19is also magnetically driven by a magnetic air actuator (not shown, typically inside the fluid tank16). Looking atFIG.8, the configuration of the inline fluid foaming device10is shown in more detail, also showing a handle28to remove and/or place the said device10in the container16.FIG.9ashows a possible configuration of the patterned or embossed surface11bof the pumping and foaming element11: different patterns and configurations are possible, depending on the various textures to provide to the mixture of fluid and air.FIG.9cshows in detail the tightness cover18and the air valve actuator19. The mixture of fluid and air is driven into high shear stress (Couette Flow) into a pumping and foaming chamber29as shown inFIG.10b. The heating path140typically faces a heating plate (not shown) so that, when the mixture flows through this path140, it can be, if desired, heated. The inline fluid foaming device10of the invention, typically fully integrated with the fluid container16is preferably made connectable to a beverage dispensing machine, typically a coffee machine or the like. Such a system will therefore be able to provide different beverages and different recipes. For example, when looking atFIG.12, standalone recipes will be available, chosen from the HMI30menu: for these recipes, the device10will work on its own, i.e. no beverage (for example, coffee) will be delivered by the beverage dispensing machine associated, and only fluid will be delivered by the device10. Different possibilities will still be offered, for example providing only fluid (such as milk), hot or not, or a light foamed fluid or a dense foamed fluid, depending on the consumer wishes. These are only some possibilities presented, though many others will also be able to be configured with the device of the invention. Some coffee recipes are also possible when the device10works together with a beverage dispensing machine, of the coffee type. Three exemplary options are represented for example inFIG.13, such as Latte, Cappuccino or Latte Macchiato: the instructions sent to the coffee machine for the type of coffee to provide after foamed milk (for Latte and Cappuccino recipes) and after foamed milk and milk (for Latte Macchiato recipe) are marked with an asterisk (*). Typically, a recipe is composed of one or several sequences for the types of foam, milk or coffee, each of these sequences including at least one or a combination of the following parameters:Motor speedMotor timeTemperatureAir valve duty cycleCoffee type This has been exemplified inFIG.11a:FIG.11bshows a recipe made with a 1, 2 and (n) of these sequences, each sequence being controlled by one or a combination of the above parameters. As a summary, the technology of the inline fluid foaming device of the invention consists of a controlled air valve, a centrifugal pumping and foaming element and a gentle heating unit. The construction is made very simple and all technical elements are embedded in a single unit (the inline fluid foaming device10as defined previously in the several embodiments representing the invention). The different solutions of the device of the invention allow to efficiently deliver superior quality foam with very few parts and yet allowing a very simplified cleaning. Furthermore, a magnetic drive of the centrifugal pumping and foaming element is provided so as to simplify the cleaning and decrease the number of parts. Preferably, this pumping and foaming element is very simply configured as a single disc, having two sides differently patterned, this disc being responsible for both pumping and foaming features. In addition, an air valve accurately controls the quantity of air into the mixture, typically for the preparation of complex recipes including milk and foam. The actuation of this valve is preferably done magnetically, though it can also be electronically actuated. In summary, some of the main advantages of the device of the invention are the following:Superior micro foam being deliveredAdjustable foam density, by acting on the air entry through the adjustable air valveSimple architectureIn-line system, direct to cupEmbodiments allowing a very easy cleaningPossibility to deliver hot, cold or ambient preparationsMachine module or accessory architectures are possibleMagnetic drive allowing a simplified cleaning and reduced parts wear, and also allowing the electronic control of recipes (one-touch recipes, milk or foam)Single disc construction for the pumping and foaming element with very few parts to handle and no tubes for an easy cleaningControl of entire recipes (for example Cappuccino or Latte Macchiato) at the touch of a button Although the present invention has been described with reference to preferred embodiments thereof, many modifications and alterations may be made by a person having ordinary skill in the art without departing from the scope of this invention which is defined by the appended claims.

11857107

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT OF THE INVENTION The preferred forms of the invention will now be described with reference toFIGS.1-7and the corresponding descriptions. The appended claims are not limited to the preferred forms and no term and/or phrase used herein is to be given a meaning other than its ordinary meaning unless it is expressly stated otherwise. The present invention is only to be limited by the prior art, i.e., no portion of this description is to be read as limiting the present invention in a manner narrower than required by the prior art. FIGS.1THROUGH7 Preferred forms of the present invention are directed to a liquid dispensing system, a liquid flow control assembly or member and/or a liquid dispenser for dispensing liquids at different temperatures. In a most preferred form, water at an optimal elevated temperature for dispensing a flavored beverage (e.g., coffee, tea, etc.) is provided and water at a lower but still elevated temperature is provided for dispensing hot water from a single hot water storage device (e.g., hot water tank, hot water reservoir, hot water container/vessel, etc.). The dispensing system may also dispense a chilled or cold liquid. The dispensing system may be connected to a replaceable five (5) gallon liquid storage bottle housed in and/or connected to the liquid dispenser (e.g., top-loaded liquid dispenser or a bottom-loaded liquid dispenser). The liquid dispensing system may be connected to other liquid sources including but not limited to one or more smaller liquid storage bottles, containers, reservoirs or vessels that are used in counter-top liquid dispensers. The liquid dispensing system alternatively may be directly connected to existing plumbing of a house, apartment, office, store or other commercial or residential structure. While the preferred forms the present invention are directed to a liquid dispensing system, a liquid flow control assembly or member and/or a liquid dispenser for dispensing a heated flavored beverage at an optimal elevated temperature and hot water at a lower but still elevated temperature than the flavored beverage, the present invention is not limited to one or more components (e.g., a liquid dispensing system, a liquid flow control assembly or member and/or a liquid dispenser for dispensing liquids) for dispensing a flavored beverage at an optimal elevated temperature and hot water at a lower but still elevated temperature than the flavored beverage wherein the water is provided for both liquids from a single hot water storage device or structure. For example, both liquids provided by the single water (e.g., hot water, ambient temperature water, cool water or cold water) storage device or structure could be unflavored water at two or more different temperatures or two flavored beverages at two or more different temperatures. Referring toFIG.1, a schematic view of a preferred liquid dispensing system A employing a preferred form of the invention is illustrated in one of many possible configurations. In the most preferred form, liquid dispensing system A is configured to direct hot water at a first temperature to a hot water dispensing nozzle, outlet, conduit or other dispensing structure of a liquid dispenser and hot water at a second temperature to a flavored beverage brewing assembly, unit or outlet of a liquid dispenser wherein the first temperature is different from the second temperature. Preferably, the temperature of hot water directed or provided to the hot water dispensing nozzle or other dispensing structure is no higher than 185° F. and the temperature of hot water directed or provided to the flavored beverage brewing assembly, unit or outlet is in a range of 195° F. to 205° F. However, each of the temperatures or temperature ranges may be varied as desired. Preferably, the liquid dispenser is configured such that the dispensing flow rate of hot water from the hot water dispensing nozzle is higher than the dispensing flow rate of the flavored beverage dispensed from the liquid dispenser. The liquid dispensing system A includes a single hot water tank, reservoir, container, vessel or other liquid storage, holding or containing structure B having a heating element C (e.g., heating coil or coils) wherein a portion of heating element C is shown as being disposed in chamber2of container B. However, liquid in container B may be heated using any suitable heating device or member including but not limited to a heating element located partially or completely external to member B. As shown inFIG.1, water is supplied by liquid conduit, tube or member4to the bottom portion or inlet5of reservoir B such that water enters reservoir B at preferably a lowermost portion of chamber2of reservoir B from a water source D. The water entering inlet5and the water housed in the bottom portion of reservoir B will be at approximately the same temperature as the water in the water supply source (e.g., a cold or cool water storage device or a storage device storing water at ambient temperature). Arrow D inFIG.1schematically represents cooled or cold water being supplied to member4from a cooled or cold water supply source not shown inFIG.1. Preferably, the cooled or cold water supply source is a cold water reservoir, tank, vessel or container housed in or operably connected to the liquid dispenser (e.g., coffee cooler). However, the source of water supplied to hot water tank B can be from a source having ambient temperature water or any other suitable water source. Preferably, a baffle6is provided in the lower portion of chamber2of member B to limit turbulence caused by incoming water and to keep water in the upper portion of chamber2at a higher temperature from that of the water in the lower portion of chamber2. Preferably, the temperature of water in the upper portion of chamber2is in the range of 195° F. to 205° F. However, this temperature range may be varied as desired. A temperature control sensor8is operably connected to chamber2and heating element C to maintain water in the upper portion of chamber2at the desired temperature or within the desired temperature range. Sensor8can take any known or subsequently developed form. Referring toFIGS.1and4to6, a liquid flow control assembly E is operably connected to container, tank, vessel or reservoir B. The liquid flow control assembly E preferably includes a liquid flow control F operably connected to liquid manifold G. Liquid flow control F can take the form of one or more conduits, tubes or other structures for conveying liquid. The lower open end10of liquid flow control F is located/positioned/operationally disposed in the lower portion of chamber2, preferably above baffle6. Upper open end12of liquid flow control F is preferably positioned in or operably connected to liquid passageway14configured to direct hot water to a hot water dispensing outlet, nozzle or other dispensing structure represented by arrow H inFIGS.1and2. Liquid passageway14has an internal diameter or width that is sized to be larger than the external diameter or width of the portion of liquid flow control F disposed in liquid passageway14so that liquid can flow into passageway14around the portion of liquid flow control F positioned in or operably connected to passageway14. This configuration allows liquid to be supplied to liquid passageway14from the lower portion of chamber2through liquid flow control F and from the upper portion of chamber2through annular collar16of manifold G and corresponding port18(shown in, for example,FIGS.2and4to6) of manifold G. As seen inFIGS.1,2and4to6, port18preferably has an internal diameter or width which is larger than the external diameter or width of horizontally extending section20of the liquid flow control F. The relative sizing of section20and port18allows liquid to flow into port18around section20from tank B. Referring toFIG.1, manifold G includes a steam valve housing22in fluid communication with annular collar16and hot water tank B. Housing22includes a float chamber24, a float valve25pivotally mounted in float chamber24and steam release port26. Arrows28inFIG.1illustrate how valve25pivots upwardly and downwardly in float chamber24to engage and disengage from port26. Float valve25includes a sealing member30which seals port26when a sufficient amount of water or other liquid is in float chamber24to cause valve25to pivot upwardly to cause member30to engage and seal a lower portion of port26to prevent the discharge of a fluid (e.g., steam) from chamber24through port26.FIG.1depicts sealing member30in a position sealing port26. As steam builds up in float chamber24during operation of the liquid dispensing system, water or other liquid in float chamber24is forced out of chamber24causing valve26to pivot downwardly so that sealing member30is moved downwardly and away from port26to allow steam to be discharged or exhausted from float chamber24through port26. Referring toFIGS.1and4, float valve24includes a horizontally extending upper surface32and an outer peripheral and vertically extending skirt34connected to and extending downwardly from upper surface32. Upper surface32and skirt34form a cavity36for receiving fluid (e.g. steam or liquid). Sealing member30is connected to and extends upwardly from upper surface32of float25. Referring toFIG.1, arrow I represents a lever or other known device that may be activated to cause the liquid dispenser to dispense hot water from hot water dispensing member or outlet H. Referring toFIGS.1and4to6, manifold G includes a port40connected to liquid passageway17. Liquid passageway17(shown in, for example,FIG.1) directs hot water from only the upper portion of chamber2to a flavored beverage brewing unit or outlet represented schematically by arrow J inFIG.1. Port40, like port18, is in fluid communication with annular collar16and float chamber24so that liquid flows into the annular collar16and subsequently flows from the float chamber24into the corresponding port. However, port18and/or port40can be connected to annular collar16so that liquid passes directly from annular collar16into the corresponding port without first passing into float chamber24. Annular collar16of manifold G can be sized so that a throat of hot water tank B extends into the internal cavity defined by annular collar16. One or more sealing members may be formed in the annular collar16and/or the throat of the member B or be formed as a separate piece from members16and B to provide a sealed connection between member16and member B. Alternatively, the throat of hot water tank B can be sized to receive the annular collar16in the internal cavity or space defined by the throat of the hot water tank B. It should be noted that manifold G can be connected to hot water tank B in a sealed manner in any other suitable manner. Referring toFIGS.4to6, liquid flow control F includes a vertically extending conduit50which has an open lowermost end (not shown inFIGS.4to6but shown inFIG.1by reference numeral10) and an open uppermost end52. Preferably, conduit50is made of metal (e.g., stainless steel or any other suitable metal). The upper portion of conduit50extends into vertically extending section or conduit54which is in fluid communication with section20which in turn is in fluid communication with port18as clearly shown in, for exampleFIG.4. Preferably, member54and port18are made from a non-metallic material (e.g., plastic or any other suitable non-metallic material). Member54, port18, section20and/or housing22can be formed as a single piece of non-metallic material. This construction or interconnection of conduit50, conduit54, section20and port18allows water from the lower portion of chamber2to pass upwardly into conduit50, then into conduit54, then into section20and then into port18and then subsequently into conduit14. Vertically extending conduits50and54are spaced inwardly from inner, annular surface56of annular collar16as seen in, for example,FIG.4. Housing22, annular collar16, port18, conduit or section20, port40and conduit54can be formed from a single piece of transparent material. Preferably, manifold G is detachably connected to hot water tank B so that manifold G can be readily separated from hot water tank B and readily removed from the liquid dispenser. Also, liquid flow control assembly E is preferably configured so that all components of manifold G and all components of liquid flow control F can be removed from the liquid dispenser as a single unit. Referring toFIG.2, the flow of liquid from hot water reservoir, tank, vessel, container or other liquid retaining/hold structure B through the liquid flow control assembly E during various cycles, phases or stages of operation of the liquid dispenser (e.g., coffee cooler) will now be discussed. During a hot water dispense cycle, phase or stage, heated liquid from the upper portion of chamber2of hot water reservoir B passes upwardly along vertically extending conduit50(the flow path being represented by arrow L) and then into port18to pass horizontally along an exterior surface of section or conduit20of liquid flow control assembly E (represented by arrow M) so that hot water from the upper portion of chamber2of member B is directed into port18and conduit14. This movement or flow of liquid from member B and vertically along conduit50and horizontally along section or conduit20causes liquid in the lower portion of chamber2of member B (which is preferably at a reduced temperature from the liquid drawn from the upper portion of chamber2of member B) to be drawn into conduit50(represented by arrow N) and upwardly through conduits50and54and into section or conduit20and then into port18and conduit14(represented by arrow0) by the venturi effect. While the venturi effect is the preferred form of conveying liquid from the lower portion of member B into port18and/or conduit14, a pump or other structure could be used to direct water or other liquid from the lower portion of chamber2of member B to mix with water from the upper portion of chamber2prior to hot water being dispensed from the liquid dispenser during a hot water dispense cycle, stage or phase to reduce the temperature of the water dispensed during a hot water dispense cycle, stage or phase. Arrow N, inFIG.2, illustrates/represents water drawn into conduit50from the lower portion of chamber2of member B by the venturi effect. Arrow O, inFIG.2, illustrates/represents water passing into section20and into port18by the venturi effect. The mixing of liquid from the lower portion of chamber2and the upper portion of chamber2in port18and/or conduit14significantly reduces the temperature of hot water dispensed during the hot water dispensing cycle, phase or stage of the liquid dispenser. As previously explained, the temperature of water in the upper portion of chamber2is preferably in the range of range of 195° F. to 205° F. The temperature of water dispensed during the hot water dispensing cycle, phase or stage is preferably no higher than 185° F. so that the preferred embodiment of the present invention causes a reduction of at least 10° F. in the water actually dispensed during a hot water dispensing cycle, phase or stage from the temperature of water in the upper portion of chamber2, i.e., the water in the lower portion of chamber is at a temperature such that when mixed with the water in the upper portion of chamber2will cause a reduction of preferably at least 10° F. Arrow P, inFIG.2, represents water flowing from only the upper portion of chamber2into port40during a brewing cycle, stage or phase of the liquid dispenser. Arrow Q, inFIG.2, represents elevated temperature hot water (e.g., 195° F. to 205° F.) being directed to the brewing unit or member so that coffee or other flavored beverage is at a temperature in the range of preferably 195° F. to 205° F. Arrow R, inFIG.2, represents steam being released from port26of manifold G. FIG.3depicts one of many possible liquid dispensing assemblies/units/systems T in which the preferred forms of the present invention can be utilized. The liquid dispensing assembly T preferably includes a cold or cooled water reservoir70operably connected to liquid manifold72. Liquid manifold72at member74(e.g., inlet port) receives a supply of water which manifold72directs into reservoir70. Manifold72can take the form of the well-known SMARTFLO® removable water cartridge disclosed in U.S. Pat. Nos. 8,887,955 and/or 9,527,714. The supply of water connected to member74can be an ambient temperature liquid storage container (e.g., a five gallon water bottle) stored in or operably connected to the liquid dispenser (e.g., a bottom loaded dispenser or a top loaded dispenser). However, the liquid supply can be any of the previously described structures or any other suitable liquid supply. Referring toFIG.7, liquid dispenser U is a bottom loaded dispenser with ambient temperature liquid container V (e.g., a five gallon water bottle) stored in a lower portion of liquid dispenser U and connected to member74of manifold72using any suitable connecting member or members. However, the present invention can be used with any suitable liquid dispenser including but not limited to a top-loaded liquid dispenser and a liquid dispenser configured to be mounted on a countertop, table or other elevated structure. Alternatively, the supply of water can be a direct connection to the water source of the structure in which the liquid dispensing system is operationally positioned. Liquid dispenser U includes a cover W operably movably/pivotally connected to the dispenser housing of the liquid dispenser U so that components of the liquid dispenser system can be removed including but not limited to the removal of liquid flow control assembly E as a single unit. The liquid dispenser housing can take the form of the housing of the STORM® water cooler or any other type of housing. Alternatively, the housing, cover and/or beverage brewing unit of the liquid dispenser U can take the form disclosed in U.S. Patent Publication No. 2020/0024122. Referring toFIG.3, removable liquid manifold72directs cooled or cold water from reservoir70to the lowermost portion of hot water retaining structure76via member, port78and conduit80. Preferably, member76is the same or similar to member B. Liquid flow control assembly82is the same or similar to liquid flow control assembly E. Member84is the activation member (e.g., lever) to dispense hot water represented by arrow Y from liquid dispenser U. Brewing element86is operably connected to hot water member76via conduit88. In a preferred form, brewing element86is configured to receive a pod for dispensing a single serving of a flavored beverage (e.g., coffee, tea, etc.). Member89is a flavored dispensing nozzle, outlet or other dispensing structure for dispensing a flavored beverage (e.g., coffee, tea, etc.) from liquid dispenser U. Air pump90is activated for a predetermined period (e.g., preferably a short period) to flush any residual water out of the single-serving pod and the flavored beverage dispensing assembly86to allow the user to remove the single-serving pod and/or the flavored beverage dispensing assembly86with minimal dripping upon removal of the single-serving pod and/or the flavored beverage dispensing assembly86. A one-way valve92prevents water from flowing back to air pump90. A flow measuring unit/device94is connected to conduit88to measure the flow of water through conduit88, for example, to make sure that the flow rate of the flavored beverage is lower than the flow rate of the hot water dispensed by member84. A solenoid valve96is connected to conduit88to control the flow of hot water to inlet port98of the flavored beverage dispensing assembly86. A switch100detects when the cover of the liquid dispenser is in a closed position. Manifold72during a cold or cooled water dispensing stage, cycle or phase commenced by activation of lever102, supplies cold or cooled water from reservoir70to dispensing outlet/nozzle/conduit or other dispensing structure104so that liquid dispenser U can dispense cold or cooled water represented by arrow X inFIG.3. The components of liquid dispensing system T can function or operate as described in U.S. Patent Publication No. 2020/0024122 with the notable exceptions of member76and assembly82which operate/function as described herein. Referring toFIG.7, the liquid dispenser U may include three or more dispensing conduits or other structures for dispensing three or more different beverages, (e.g., coffee or other flavored beverage, hot water and cold or cooled water). Member110supporting cup112below and adjacent dispensing structures/nozzles/conduits may be adjustable so that the height of cup112relative to the dispensing members/nozzles/conduits of liquid dispenser U can be readily varied or member110can be moved (i.e., pivoted) between a storage position and an operating position. While this invention has been described as having a preferred design, it is understood that the preferred design can be further modified or adapted following in general the principles of the invention and including but not limited to such departures from the present invention as come within the known or customary practice in the art to which the invention pertains. The claims are not limited to the preferred embodiment and have been written to preclude such a narrow construction using the principles of claim differentiation.

11857108

1, a flange assembly;11, a first flange;111, a clamping pin;112, a first through hole;113, a mounting hole;12, a second flange;121, a bayonet;122, a first accommodating groove;1221, a fifth through hole;123, a positioning pin;124, a connecting hole;13, an resilient piece;14, a pressing spring inner cover;141, a first annular flange;142, a second accommodating groove;143, a seventh through hole;15, a pressing spring outer cover;151, a base;1511, a sixth through hole;152, a first boss;153, a second through hole;154, a second annular flange;16, a guide piece;161, a third accommodating groove;1611, an eighth through hole;2, a wok;21, a stud;22, a flanging structure;3, a heating device;31, an inner container;311, a top portion of the inner container;32, a outer shell;4, a bracket;41, a bracket body;42, a connecting arm;421, a first inserting part;422, a second inserting part;43, a supporting seat;431, a fourth through hole;432, a mounting support;5, a driving device;6, a resilient supporting device;61, an annular base;611, an mounting portion;62, an resilient supporting structure;621, a mounting seat;6211, a third through hole;622, a pressing piece;623, top shaft;6231, a second boss;624, top bead;625, a second resilient piece;7, a protective shell;71, an upper protective shell;711, a first inserting opening;72, a lower protective shell;722, a second inserting opening;8, a first rotating shaft;9, a second rotating shaft. DETAILED DESCRIPTION OF ILLUSTRATED EMBODIMENTS Specific embodiments of the present invention are described in further detail below in connection with the accompanying drawings and examples. The following examples serve to illustrate the invention but are not intended to limit the scope of the present invention. Referring toFIGS.1and2, a wok assembly device in a preferred embodiment of the present invention includes a flange assembly1, a wok2, a heating device3, a bracket4and a driving device5, the heating device3includes an inner container31and an outer shell32, and the flange assembly1includes a first flange11and a second flange12; the outer shell32is fixedly connected to the bracket4, the inner container31is contained in the outer shell32, and the wok2is arranged on the inner container31; the first flange11is connected to a bottom portion of the wok2, sequentially penetrates through a bottom portion of the inner container31and a bottom portion of the outer shell32and is detachably connected to the second flange12; the second flange12is rotatably connected to the driving device5; and the driving device5is fixedly connected to the bracket4. In the embodiment of the present invention, when the wok2is to be replaced with a new one, the first flange11and the second flange12can be quickly detached from each other to separate the wok2from the driving device5, so that the wok2can be quickly detached from the driving device5; and then the first flange11and the second flange12can be quickly connected to each other to install a new wok2on the driving device5, so that quick replacement of the wok2is achieved. As shown inFIGS.2-5, in order to rationalize the structure and enable the first flange11to be detachably connected to the second flange12, at least one clamping pin111(or bayonet121) is arranged on a side face of the first flange11in the embodiment, at least one bayonet121(or clamping pin111) is arranged on a side face of the second flange12, and the at least one clamping pin111is connected with the at least one bayonet121in a clamped manner Through clamping connection of the clamping pin111and the bayonet121, the first flange (11) and the second flange (12) can be quickly detached from each other to separate wok (2) from the driving device (5) or can be quickly connected to install a new wok, so that quick replacement of the wok is achieved. As shown inFIGS.2-5, in order to improve the firmness and convenience of the clamping connection between the clamping pin111and the bayonet121, the bayonet121in the embodiment is U-shaped; one end of the bayonet121is a sealing port, the other end of the bayonet121is an open port, and a certain vertical distance is kept between the sealing port and the open port of the bayonet121; the clamping pin111enters the bayonet121from the open port of the bayonet121and is clamped on the sealing port of the bayonet121, so that the clamping pin111is firmly clamped on the bayonet121, and meanwhile, the convenience of clamping connection of the clamping pin111and the bayonet121is improved, and thereby the replacement speed of the wok2is improved. In the embodiment of the present invention, the shape of the clamping pin111can be set according to actual use requirements, such as a cuboid, a cylinder, or any other shape or the like. In order to enable the clamping pin111to be in sufficient contact with the sealing port of the bayonet121and improve the firmness of the clamping connection of the clamping pin111and the bayonet121, preferably, the clamping pin111in the embodiment is in a cuboid shape. In an embodiment of the present invention, the number of the clamping pins111can be set according to actual use requirements, such as 3, 4 or 5, etc. In order to ensure that the first flange11can be firmly clamped on the second flange12and simplify the structure to reduce the cost, preferably, the number of the clamping pins111in the embodiment is four, correspondingly, the number of the bayonets121is four, and the clamping pins111and the bayonets121are in one-to-one correspondence. Furthermore, in an embodiment of the present invention, it should be noted that when the first flange11is clamped with the second flange12, in order to uniformly stress the side face of the first flange11and ensure that each position of the side face of the first flange11is firmly clamped with the second flange12, the four clamping pins111(or bayonets121) in the embodiment are arranged circumferentially on the side face of the first flange11, and correspondingly, the four bayonets121(or clamping pins111) are arranged circumferentially on the side face of the second flange12. As shown inFIGS.2-5, the flange assembly1in the embodiment further includes at least one resilient piece13for providing upward supporting force for the wok2when the clamping pin111is clamped with the bayonet121, the first flange11is provided with a first through hole112penetrating through an upper surface and a lower surface of the first flange11, the second flange12is provided with a first accommodating groove122at a bottom portion of which at least one positioning pin123is arranged, and the resilient piece13is arranged on the positioning pin123in a sleeving manner; when the clamping pin111is connected with the bayonet121in a clamped manner, one end of the resilient piece13penetrates through the first through hole112and abuts against the bottom portion of the wok2, and the other end of the resilient piece13abuts against a bottom of the first accommodating groove122. When the clamping pin111is connected with the bayonet121in a clamped manner, the resilient piece13is tightly pressed by the bottom of the wok2, so that after the clamping connection of the clamping pin111and the bayonet121is completed, the resilient piece13generates an upward supporting force on the wok2due to a reaction force, and therefore the clamping pin111is firmly connected to the bayonet121in a clamped manner. In addition, in the embodiment of the present invention, it should be noted that at this case the clamping pin111(or the bayonet121) in the embodiment is arranged on the outer side wall of the first through hole112, and the bayonet121(or the clamping pin111) is arranged on the side wall of the first accommodating groove122. In an embodiment of the present invention, the number of the resilient pieces13can be set according to actual use requirements, such as 2, 3, 4, etc. In order to improve the upward supporting force of the resilient pieces13on the bottom portion of the wok2and improve the locking force when the clamping pin111is clamped with the bayonet121, preferably, the number of the resilient pieces13in the embodiment is three, correspondingly, the number of the positioning pins123is three, and the resilient pieces13and the positioning pins123are in one-to-one correspondence. In addition, in an embodiment of the present invention, it should be noted that the resilient piece13is a spring, and of course, the resilient piece13may also be made of other resilient materials as long as it has enough upward supporting force for the wok2, which is not described herein for further details. As shown inFIGS.2-7, in order to further improve the upward supporting force of the resilient piece13to the bottom portion of the wok2and further improve the locking force when the clamping pin111is clamped with the bayonet121, the flange assembly1in the embodiment further includes a pressing spring inner cover14and a pressing spring outer cover15, the outer wall of the pressing spring inner cover14is provided with a first annular flange141, the pressing spring inner cover14is further provided with a second accommodating groove142, the pressing spring outer cover15includes a base151and a first boss152arranged on the base151, a second through hole153penetrating through the upper surface and the lower surface of the pressing spring outer cover15is formed in the pressing spring outer cover15, the pressing spring outer cover15is provided with a second through hole153penetrating through an upper surface and a lower surface of the pressing spring outer cover15, and the inner wall of the second through hole153is provided with a second annular flange154; the pressing spring inner cover14is arranged on the resilient piece13through the second accommodating groove142in a covering manner, the pressing spring outer cover15is arranged on the pressing spring inner cover14through the second through hole153in a sleeving manner, the first annular flange141is disposed opposite to the second annular flange154and below the second annular flange154, and the pressing spring outer cover15is fixedly connected to the bottom portion of the first accommodating groove122through the base151; when the clamping pin111is connected with the bayonet121in a clamped manner, one end of the resilient piece13abuts against the bottom portion of the wok2through the bottom of the second accommodating groove142. The resilient piece13applies an upward supporting force to the pressing spring inner cover14, so that the pressing spring inner cover14abuts against the bottom portion of the wok2and generates upward supporting force to the bottom portion of the wok2, and due to the fact that the contact area between the pressing spring inner cover14and the bottom of the wok2is larger, the upward supporting force generated by the pressing spring inner cover14to the bottom portion of the wok2is relatively larger, thereby the locking force generated when the clamping pin111is clamped with the bayonet121is improved. In addition, in an embodiment of the present invention, in order to prevent the pressing spring inner cover14from escaping from the pressing spring outer cover15, the first annular flange141is disposed opposite to and below the second annular flange154; meanwhile, the upward supporting force of the pressing spring inner cover14to the bottom portion of the wok2can also be improved through clamping connection of the first annular flange141and the second annular flange154, and therefore the locking force generated when the clamping pin111is clamped with the bayonet121is further improved. As shown inFIGS.2-7, in order to rationalize the structure and fixedly connect the pressing spring outer cover15to the bottom portion of the first accommodating groove122through the base151, the bottom portion of the base151in the embodiment is provided with a fifth through hole1511penetrating through the upper surface and the lower surface of the bottom portion of the base151, the bottom portion of the first accommodating groove122is provided with a sixth through hole1221, and the fifth through hole1511is connected to the sixth through hole1221through a first screw. As shown inFIGS.2-8, in order to guide the pressing spring inner cover14into the first through hole112of the first flange11and avoid eccentricity when the first flange11is clamped with the second flange12, the flange assembly1in the embodiment further includes a guide piece16, the guide piece16is provided with a third accommodating groove161through which the guide piece16is arranged on and connected to the pressing spring inner cover14in a sleeving manner. The side wall of the guide piece16contacts with the side wall of the first through hole112to guide the pressing spring inner cover14into the first through hole112of the first flange11, and therefore eccentricity generated when the first flange11is clamped with the second flange12is avoided. As shown inFIGS.2-8, in order to reduce the frictional force when the side wall of the guide piece16contacts with the side wall of the first through hole112, the upper portion of the guide piece16in the embodiment has a conical frustum shape to reduce the contact area between the side wall of the guide piece16and the side wall of the first through hole112, thereby reducing the friction force when the guide piece16enters the first through hole112. As shown inFIGS.2-8, in order to rationalize the structure and realize that the guide piece16is connected to the pressing spring inner cover14through the third accommodating groove161in a sleeving manner, the pressing spring inner cover14is provided with a seventh through hole143, the bottom portion of the third accommodating groove161is provided with an eighth through hole1611penetrating through the bottom portion of the third accommodating groove161, and the eighth through hole1611is connected to the seventh through hole143through a second screw. As shown inFIGS.2,9,10and11, in order to avoid eccentricity of the wok2when the wok2is arranged on the inner container31and avoid influence on rotation of the wok2, the wok assembly device in the embodiment further includes an resilient supporting device6, the resilient supporting device6includes an annular base61and a plurality of resilient supporting structures62evenly distributed on the annular base61; the annular base61is in contact with a top portion of the inner container31and provided with at least one mounting portion611through which the annular base61is fixedly connected to the bracket4. Each of the resilient supporting structures62includes a mounting seat621, a pressing piece622, a toptop shaft623, a top bead624and a second resilient piece625, a third through hole6211is formed in the mounting seat621, one end of the top shaft623is fixedly connected to the pressing piece622, the other end of the top shaft623penetrates through the third through hole6211, and a second boss6231is arranged on the side face of the top shaft623; the second resilient piece625is arranged on the top shaft623in a sleeving manner, one end of the second resilient piece625abuts against the pressing piece622, the other end of the second resilient piece625abuts against one end of the second boss6231, the other end of the second boss6231abuts against the mounting seat621, the pressing piece622is fixedly connected to the mounting seat621, the top bead624is fixedly connected to the other end of the top shaft623, and each of the resilient supporting structures62is fixedly connected to the annular base61through the mounting seat621; when the wok2is placed on the heating device3, the top bead624abuts against the outer side wall of the wok2. When the wok2is placed on the heating device3, the outer side wall of the wok2extrudes the top bead624of each of the plurality of evenly-distributed resilient supporting structures62, so that each second resilient piece625is compressed; after the wok2is placed, the reaction force of each second resilient piece625acts on the outer side wall of the wok2through the top bead624of each of the plurality of evenly-distributed resilient supporting structures62to adjust the position of the wok2and automatically correct the eccentricity of the wok2, so that the driving device5can drive the wok2to stably rotate. In an embodiment of the present invention, the number of the resilient supporting structures62may be set according to actual use requirements, such as 3, 4 or 5, etc. In order to improve the centering effect of the resilient supporting structures62on the wok2and automatically correct the eccentricity of the wok2, the number of the resilient supporting structures62in the embodiment is four, and the four resilient supporting structures62are arranged on the annular base61in a circumferential manner. As shown inFIGS.2,12and13, in order to form a sealed space inside the wok assembly device and protect the wok assembly device from being damaged, the wok assembly device in the embodiment further includes a protective shell7within which the wok2, the heating device3, the bracket4and the driving device5are all contained; the protective shell7includes an upper protective shell71and a lower protective shell72, the bracket4includes a bracket body41and at least one connecting arm42arranged on the bracket body41, a first inserting part421is arranged on an upper portion of each connecting arm42, at least first inserting opening711is formed in the upper protective shell71, and each first inserting part421is inserted into the corresponding first inserting opening711; a second inserting part422is arranged on a lower portion of each connecting arm42, at least second inserting opening721is formed in the lower protective shell72, and each second inserting part422is inserted into the corresponding second inserting opening721. The upper protective shell71and the lower protective shell72are connected to the bracket4in an inserted manner, so that the bottom portion of the upper protective shell71and the top portion of the lower protective shell72are attached together, and meanwhile, a sealed space is formed inside the wok assembly device by combination the embedding and matching of the wok2. In addition, it should be noted that in an embodiment of the present invention, the connecting arm42is V-shaped, the first inserting part421is provided on one branch of the connecting arm42, and the second inserting part422is provided on the other branch of the connecting arm42. In an embodiment of the invention, the number of the connecting arms42can be set according to actual use requirements, such as 1, 2, or 3, etc. In order to enable the upper protective shell71and the lower protective shell72to be connected to the bracket4in an inserted manner securely, preferably, the number of the connecting arms42in the embodiment is two, and the two connecting arms42are arranged on the bracket body41in a circumferential manner; correspondingly, the number of the mounting portions611is also two, and the two mounting portions611are arranged on the annular base61in a circumferential manner so that the annular base61can be firmly fixed to the connecting arm42, and thereby achieving intimate contact of the annular base61with the top portion311of the inner container3. In an embodiment of the present invention, in order to reduce the manufacturing difficulty of the bracket4and reduce the cost, preferably, the bracket body41and the connecting arm42in the embodiment are integrally formed with a sheet metal. Of course, the bracket body41and the connecting arm42may also be separately formed and then connected together, which is not described herein for further details. As shown inFIG.2, in order to rationalize the structure and realize that the heating device3is fixedly connected to the bracket4, the bracket4in the embodiment further includes a supporting seat43, and the outer shell32is fixedly connected to the bracket4through the supporting seat43; a fourth through hole431is formed in the supporting seat43, and the first flange11sequentially penetrates through the bottom portion of the inner container31, the bottom portion of the outer shell32and the fourth through hole431. Specifically, a mounting support432is arranged on the supporting seat43, and the supporting seat43is fixedly connected to the bracket body41through the mounting support432. As shown inFIGS.2and5, in order to rationalize the structure and realize that the second flange12is rotatably connected to the driving device5, the driving device5in the embodiment is a motor, a connecting hole124is formed in the bottom portion of the second flange12, and the second flange12is rotatably connected to an output shaft of the motor5through the connecting hole124. Moreover, in the embodiment of the invention, in order to improve the driving torque of the motor5to the flange assembly1, the cross section of the connecting hole124in the embodiment is hexagonal, and correspondingly, the cross section of the output shaft of the motor5is hexagonal; of course, in the embodiment of the invention, the cross section of the connecting hole124may also be circular or any other shape as long as the driving torque of the motor5to the flange assembly1can be improved, which is not described herein for further details. As shown inFIGS.1and2, in order to achieve flipping of the wok, the wok assembly device in the embodiment further includes a frame (not shown), one connecting arm42is rotatably connected to the frame through a first rotating shaft8, and the other connecting arm42is rotatably connected to the frame through a second rotating shaft9. As shown inFIGS.2,4and14, in order to rationalize the structure and realize that the first flange11is fixedly connected to the bottom portion of the wok2, the bottom portion of the first flange11in the embodiment is provided with at least one mounting hole113penetrating through the upper surface and the lower surface of the bottom portion of the first flange11, the bottom portion of the wok2is provided with at least one stud21, and the stud21is detachably connected with the mounting hole113. In the embodiment of the present invention, the number of the studs21can be set according to actual use requirements, such as 3, 4 or 5, etc. In order to ensure that the first flange11is firmly connected to the bottom of the wok2and simplify the structure to reduce the cost, preferably, the number of the studs21in the embodiment is four, correspondingly, the number of the mounting holes113is four, and the studs21and the mounting holes113are in one-to-one correspondence. As shown inFIGS.1and14, in order to prevent the wok opening of the wok2from scratching a user when the wok of the cooking machine is to be replaced with a new one, a flanging structure22is arranged on the wok opening of the wok2in the embodiment. In addition, due to the design of the flanging structure22, garbage and other sundries can be prevented from falling into the sealed space. Moreover, in the embodiment of the present invention, it should be noted that the flanging structure22in the embodiment can adopt an arc structure or a right-angle structure and the size of the flanging structure22can be adjusted within a certain range, as long as it can prevent the wok opening of the wok2from scratching a user, which is not described herein for further details. In summary, the wok assembly device in the embodiment of the present invention includes a flange assembly1, a wok2, a heating device3, a bracket4and a driving device5, the heating device3includes an inner container31and an outer shell32, and the flange assembly1includes a first flange11and a second flange12; the outer shell32is fixedly connected to the bracket4, the inner container31is contained in the outer shell32, and the wok2is arranged on the inner container31; the first flange11is connected to a bottom portion of the wok2, sequentially penetrates through a bottom portion of the inner container31and a bottom portion of the outer shell32and is detachably connected to the second flange12; the second flange12is rotatably connected to the driving device5; and the driving device5is fixedly connected to the bracket4. When the wok2is to be replaced with a new one, the first flange11and the second flange12can be quickly detached from each other to separate the wok2from the driving device5, so that the wok2can be quickly detached from the driving device5; and then the first flange11and the second flange12can be quickly connected to each other to install a new wok2on the driving device5, so that quick replacement of the wok2is achieved. The foregoing descriptions are merely exemplary embodiments of the present invention, and it should be noted that several modifications and substitutions may also be made to those of ordinary skill in the art without departing from the principles of the invention, which should also be considered as a scope of protection of the invention.

11857109

DETAILED DESCRIPTION OF THE INVENTION While the specification concludes with claims defining the features of the invention that are regarded as novel, it is believed that the invention will be better understood from a consideration of the description in conjunction with the drawings. As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention which can be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the inventive arrangements in virtually any appropriately detailed structure. Further, the terms and phrases used herein are not intended to be limiting but rather to provide an understandable description of the invention. Definitions As described herein, a “unit” means a series of identified physical components which are linked together and/or function together to perform a specified function. As described throughout this document, the term “about” “approximately” “substantially” and “generally” shall be used interchangeably to describe a feature, shape or measurement of a component within a tolerance such as, for example, manufacturing tolerances, measurement tolerances or the like. As described herein, the term “removably secured,” and derivatives thereof shall be used to describe a situation wherein two or more objects are joined together in a non-permanent manner so as to allow the same objects to be repeatedly joined and separated. As described throughout this document, the term “complementary shape,” and “complementary dimension,” shall be used to describe a shape and size of a component that is identical to, or substantially identical to the shape and size of another identified component within a tolerance such as, for example, manufacturing tolerances, measurement tolerances or the like. As described herein, the term “connector” includes any number of different elements that work alone or together to repeatedly join two items together in a nonpermanent manner. FIGS.1-5illustrate one embodiment of an oil-less fryer stand device10that are useful for understanding the inventive concepts disclosed herein. In each of the drawings, identical reference numerals are used for like elements of the invention or elements of like function. For the sake of clarity, only those reference numerals are shown in the individual figures which are necessary for the description of the respective figure. For purposes of this description, the terms “upper,” “bottom,” “right,” “left,” “front,” “vertical,” “horizontal,” and derivatives thereof shall relate to the invention as oriented inFIG.1. As described below, the device10is intended to be used with any number of commercially available oil-less style frying devices having a centralized cooking chamber with a drain along the bottom of the chamber. Several nonlimiting examples of suitable fryers1for use herein include, but are not limited to the Big Easy Oil-less Turkey fryer that is commercially available by CHAR-BROIL®, the Oil-free Electric Turkey Fryer that is commercially available from MASTERBUILT®; and the Tur-infrared Oil-less turkey fryer that is commercially available from CHAR-BROIL®, among others, for example. FIG.1illustrates one embodiment of the oil-less fryer stand device10that includes a main body11having four elongated legs11a,11b,11cand11d, that are each connected to a lower shelf12and an upper shelf13. In one embodiment, a plurality of wheels14can be positioned along the bottom of the legs, and a handle15can be disposed between two of the legs. As shown, a propane tank opening16can be positioned centrally within the bottom shelf12to receive and engage the bottom end of a standard 20 lb. propane tank, as is known in the art. In the preferred embodiment, the main body will include the generally square cross-sectional shape so as to maintain a relatively small footprint in order to not occupy a large amount of space when not in use. Also, it is preferred that the main body be constructed metal so as to be suitable for prolonged exposure to adverse weather conditions, along with the high heat and oils encountered while cooking. Although not specifically illustrated, other embodiments are contemplated wherein the area beneath the top shelf is enclosed and includes one or more doors to provide a cabinet area for storage of items in addition to the propane tank. Although described above with regard to a particular shape, size, or construction material, this is for illustrative purposes only, as any number of other shapes, sizes and/or construction materials are also contemplated. To this end, the main body may be formed from any number of materials that are, for example, relatively strong and stiff for their weight. Several nonlimiting examples include, but are not limited to various metals or metal alloys (e.g., aluminum, steel, titanium, or alloys thereof), plastic/polymers (e.g., high-density polyethylene (HDPE), rigid polyvinyl chloride (PVC), or polyethylene terephthalate (PET)), and/or various composite materials (e.g., carbon fibers in a polymer matrix, fiberglass, etc.), among others, for example. In one embodiment, an elongated pipe21can extend upward from the top surface13aof the main body. The pipe can comprise a hollow member having an open top end21afor receiving and engaging the elongated shaft of the removable rotisserie spit22as shown by arrow a. In this regard, the rotisserie spit22can include any number of meat forks22aand22bwhich can be positioned along the shaft of the spit22at different locations. Likewise, the spit can preferably include a generally flat plate22c. The plate can include a diameter that is greater than the diameter of the pipe opening21a, and functions to prevent oils and liquids from meat being cooked on the spit from entering the pipe21through the open top end21a. In one embodiment, a raised lip23can be provided along the top surface13a. As shown, the lip can preferably include a circular shape that functions to encircle the bottom of the pipe21. Additionally, a drain opening24can be positioned along the top surface13aat a location within the area defined by the lip23. As shown best at cutoutFIG.2, a drain tube25can be positioned along the bottom surface13bof the top shelf, and can engage the bottom end of the drain opening24. Additionally, an electric rotisserie motor26can be positioned along the bottom surface13bso as to engage the bottom end of the pipe21. The rotisserie motor including a connector for engaging and rotating the bottom end of the spit22upon being activated by a control switch26a. In the preferred embodiment, the motor can include an electric cord26bso as to receive power from an electrical outlet. However, other embodiments are contemplated wherein the motor is configured to operate using batteries that can be inserted via a battery cavity (not illustrated). One example of a commercially available rotisserie motor26for use herein includes the Universal Grill Electric replacement rotisserie motor that is commercially available from Minostar, for example. Of course, any number of other types of components capable of selectively receiving and rotating the rotisserie spit are also contemplated. FIGS.3-5illustrate one embodiment of the oil-less fryer stand device10in operation. As shown, a commercially available oil-less turkey fryer1can be positioned onto the top shelf13of the device10such that the pipe21extends through the central drain opening2located inside the cooking chamber3of the fryer1. Next, the spit,22can be lowered into the cooking chamber3and inserted through the open top end of the pipe21auntil the bottom end of the spit is engaged with the above-described rotisserie motor. Next, the fryer1can be connected to a propane tank6that can be stored on the bottom shelf12, and the motor can be plugged into an outlet. Finally, the fryer can be activated to apply heat to the cooking chamber3, and the rotisserie motor can be switched on to begin rotating the spit located within the chamber. While cooking, juices, oils and other materials dripping from the meat will pass through the drain opening2of the cooking chamber so as to be deposited onto the area of the top shelf13aencircled by the raised lip23. At that time, the fluids can pass through the drain opening24into the drain tube25where they can be discarded. Accordingly, the above-described oil-less fryer stand device10provides an innovative and novel solution for engaging any type of oil-less frying device in a manner that permits a rotisserie spit to rotate meat and other items for even cooking within the fryer. Moreover, the innovative drain system permits oils to be removed from the fryer without modifying the fryer itself and thus voiding the manufacturer warranty. As described herein, one or more elements of the oil-less fryer stand device10can be secured together utilizing any number of known attachment means such as, for example, screws, glue, compression fittings and welds, among others. Moreover, although the above embodiments have been described as including separate individual elements, the inventive concepts disclosed herein are not so limiting. To this end, one of skill in the art will recognize that one or more individually identified elements may be formed together as one or more continuous elements, either through manufacturing processes, such as welding, casting, or molding, or through the use of a singular piece of material milled or machined with the aforementioned components forming identifiable sections thereof. As to a further description of the manner and use of the present invention, the same should be apparent from the above description. Accordingly, no further discussion relating to the manner of usage and operation will be provided. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Likewise, the term “consisting of” shall be used to describe only those components identified. In each instance where a device comprises certain elements, it will inherently consist of each of those identified elements as well. The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

11857110

DETAILED DESCRIPTION In the following description, numerous details are set forth to provide an understanding of the present disclosure. However, it will be understood by those skilled in the art that the present disclosure may be practiced without these details and that numerous variations or modifications from the described embodiments are possible. The present disclosure relates to a express BBQ for cooking food. The express BBQ has a housing, a drawer, and heat distributors. The housing defines a cooking chamber with the drawer and the heat distributors positioned therein. The drawer is insertable into the housing and includes a multi-level (e.g., two level) structure including a grill (food rack) for supporting the food and a drip tray connected below the food rack that are removable from the housing together. The housing and the drawer may be shaped such that the housing remains sealed to retain heat in the cooking chamber as the drawer is opened to access the grill and the drip tray. The heat distributors may be positioned along the housing a distance from (e.g., offset from) a splatter area where splatter, drippings, fluids, particles and/or portions of the food may be released. The positioning of the heat distributors may be used to provide a splatter-free and smoke-free cooking configuration. The heat distributor includes perforated pipes and heat diverters. The perforated pipes are positioned about the housing to pass heat from a heat source into the housing. The heat diverters are positioned about the perforations to direct heat exiting the perforations through the housing. The position of the heat diverters may allow for a “top and bottom heat (fire) system”. The heat distributor may circulate the heat through the housing and around the food for even distribution and/or faster cooking. The position of the heat diverters may be at a location away from the food, thereby preventing the food from contacting, splattering, and/or releasing food drippings (e.g., juice, water, grease, etc.) onto the heat diverters. This position may provide “smoke free” (or resistant) capabilities. These smoke free capabilities may also be provided by an enclosed cooking chamber within the housing, a net (or mesh) positioned about (e.g., above and/or below) the food, and a dripping tray below the food that may be provided with water or aluminum to enable the drippings to evaporate and disappear. The express BBQ may be provided with various options and/or configurations that may facilitate the cooking process. For example, the positioning of the heat distributors about the cooking chamber (e.g., above and below the grill) may be used to distribute heat that surrounds the food, thereby providing faster cooking and/or eliminating the need to turn (flip) the food during cooking. Flip-less (or no flip or non-flip) means that there is no need to rotate or flip the food because it cooks from both sides simultaneously. By eliminating the requirement that the food be flipped during cooking, the express BBQ may be used in a flip-less cooking operation. The express BBQ may be of a small size and/or usable in homes, apartments, or other facilities. The cooking chamber may be isolated so that users are not exposed to the food, drippings, splatter, smoke, heat, hot parts, and/or other items within the cooking chamber. The express BBQ may be provided with various options and features. For example, the express BBQ may include one or more of the following features: a lid (top cover) to distribute the heat on top of the food, upper and lower nets to apply grid lines and/or to isolate food from heat distributors (e.g., pipes), a disposal channel at an angle to direct waste (e.g., the drippings) from the drawer and out of the cooking chamber when the drawer is in any position (e.g., within or retracted from the housing), a drawer with a grill (food tray) closable in the housing to cook evenly, a retractable drawer that is secured to the housing, an enclosed cooking chamber that stays closed and secures heat inside even when the grill moves to an open position to access the food, a drawer with a grill and integral dripping tray below the grill to collect drippings, double controlled heat system with upper and lower heating chambers independently configurable and/or controllable, heat diverters on the pipes to direct the heat for even and/or selective distribution, a heat chamber with heat (fire) isolated therein away from users, heat distributors positioned a distance (e.g., 2 inches) from a wall of the housing away from food, a housing with an enclosed cooking chamber to keep heat from exiting when the drawer opens and closes, a grill located on the drawer in the housing in a concentrated area surrounded by the heat diverters, an upper net positioned above the food to direct and distribute heat evenly to the food, lower pipes in a bottom portion of the cooking chamber along the wall of the housing to a side of the food (offset), heat distributors positioned closer to the food to decrease cooking time, cooking chamber and heat diverters sized to provide efficient cooking, a lid with a lid heat diverter to redirect heat and prevent heat in upper portion of the housing from burning the food. “Express” as used herein refers to the enhanced cooking functions of the BBQ, such as increasing cooking speed by distributing heat through the cooking chamber, configuring cooking chamber size and/or heat distribution to the food (e.g., size, amount, type, etc.), isolating heat within the cooking chamber, configuring heat distribution for directing heat about desired portions of the cooking chamber, offsetting heat distributors about the food to facilitate cooking (e.g., faster cooking time) and/or cleanup (e.g., less splatter mess), cooking without requiring flipping, avoiding splatter onto heat distributors, retaining moisture within the food, enhancing the quality of the food (e.g., tenderness, moisture, isolated from contamination), etc. The express BBQ may have, for example, one or more of the cooking functions, among others: flip-less (no turning) of the food during cooking, express (e.g., high speed) cooking, splatter-free and/or smoke-free cooking, a sealed cooking chamber, a retractable drawer, a drip tray, removable components (e.g., for cleaning), easy cleaning, adjustable heating and/or cooking levels, configurable cooking chambers (e.g., one or more heating chambers), separable cooking chambers for isolated cooking (e.g., reduced size for cleaning, reduced fuel use, separate chambers for different foods, etc.), optional lid/door, adjustable height cooking levels, isolated and/or sealed cooking chamber during cooking and/or when food is accessed; drain and/or drain channel, heat source options (e.g., gas, propane, coals, electrical, infrared, etc.), modular and/or replaceable components, various pipe placement, a lid net, mobility, smoke prevention and/or containment, no requirement to flip during cooking, fast cooking time (e.g., about 7 min for foods), reduced smoke, enclosed chamber with internal cooking drawer and tray, cleaning tray for waste, and connected dual drawer with integrated cooking and waste tray, enhanced taste and quality of cooked foods, retained moisture in cooked foods, reduced fuel due to reduced cooking time, retractable door while cooking chamber remains closed, isolation of heat within cooking chamber when door is open, enhanced safety with enclosed chamber even when drawer retracted to access food, etc. Configurations of the Express BBQ FIGS.1A-1Cshow an example express BBQ100a,b,c. Each of the express BBQs100a,b,cincludes a housing101a,b, a drawer102a,b, and heat distributors104a,b. For clarity, the heat distributors104a,bare not shown inFIG.1C, but may optionally be provided. The housings101a,b,cincludes a base106a,bwith a lid108a,b. The lid108a,bis pivotally connected to the base106a,bto define a cooking chamber110therein.FIG.1Ashows the express BBQ100awith the lid108aopen and the drawer102aclosed.FIG.1Bshows the express BBQ100bwith the lid108aclosed and the drawer102aclosed.FIG.1Cshows the express BBQ100cwith the lid108bclosed and the drawer102bopen. Referring first toFIGS.1A-1B, the drawer102ais slidably positioned in an opening112in the base106aas indicated by the arrows. The drawer102aincludes a grill114supported above a drip tray116. The grill114may be a conventional grill (or net) having metal rods (or wires or other structures)118capable of supporting food120thereon. The grill114may support a variety of foods, such as meat, vegetables, breads, and combinations thereof, etc. The rods118may be spaced apart a distance sufficient to support the food120during cooking, and sufficient to allow moisture to drop from the food120during cooking. A splatter area121may extend about the grill114where drippings (e.g., splatter, drippings, fluids, particles, etc.) emitted from the food120during cooking may fall. Various configurations of the grill114may be provided having uniformly spaced rods, or spaces defined between sections of the grill114as is described further herein. The drip tray116is positioned below the grill114to capture drippings (e.g., moisture, splatter, water, and/or particles) released from the food120during cooking as schematically shown inFIG.1B. The drip tray116may be a metal or metal lined surface shaped to receive the drippings. Optionally, the drip tray116may be lined with foil or other material to capture the drippings. The drip tray116may also be filled with water to evaporate the drippings. The grill114and the drip tray116may be connected together by vertical supports, such as front and rear panels124a,bto support the grill114a distance above the drip tray116. Optionally, the vertical supports122may include vertical beams222connected between the grill114and the drip tray116. The front panel124amay be used to close the opening112of the base106aduring cooking. The rear panel124bmay be used to close the cooking chamber110when the drawer102ais pulled out to an open position as is described more fully herein. The heat distributors104a,bare positioned about the housing101ato pass heat from a heat source126into the cooking chamber110. The heat source126may be any heat source capable of generating heat, such as propane, gas, fire, electricity, infrared, etc. The heat from the heat source126may be passed to the heat distributor104a,bvia flowlines with or without valves. As shown, the heat distributor104a,bincludes perforated pipes128and heat diverters130a,bpositioned in the base106a. The perforated pipes128are coupled to the flowlines and shaped to receive the heat from the heat source126. The perforated pipes128are positioned about the grill114to pass the heat into the cooking chamber110as indicated by the arrows. In the example ofFIG.1A, the perforated pipes128are positioned in an upper portion of the cooking chamber110above the grill114. The upper heat distributors104also include upper heat diverters130apositioned about the perforations in the perforated pipes128to define a pathway to direct the heat through the cooking chamber110. The upper heat diverters130amay be, for example, flat metal portions positioned at an angle about the perforated pipes128to define a tapered outlet for releasing heat into the cooking chamber110. The tapered outlet is directed upwards into the lid108aof the housing101athereby directing the heat above the food120as is described further herein. In the example ofFIG.1B, the perforated pipes128are positioned in a lower portion of the cooking chamber110below the grill114. These lower heat diverters130bare positioned about the perforations in the perforated pipes128to define a pathway to direct the heat through the cooking chamber110. The lower heat diverters130bmay be, for example wooden and/or metal beams positioned along a side of the base106abelow the grill114to define a barrier to redirect heat from the perforations into the cooking chamber110. The barrier is positioned to redirect heat below the grill114thereby directing the heat below the food120. Optionally, the upper heat diverter130amay also be positioned about the perforated pipes128of the lower heat diverter130bas is described more fully herein. In the version ofFIG.1C, the housing101bhas a front124con a front side thereof that is positioned between the front and rear panels124a,bof the drawer102c. The drawer102chas horizontal supports222that extend through the front124cwith the front and rear panels124a,bconnected to the horizontal beams on either side of the front124c. The drawer102cis slidably positionable about the front124csuch that, when the drawer102bis opened, the cooking chamber110remains closed to restrict heat and/or steam from releasing from exiting. As also shown in this version, the lid101bhas a different shape including a flat top with a front portion that extends over a portion of the front side of the base106bas is described further herein. WhileFIGS.1A-1Cshow example configurations of the express BBQ100a,band its components, other variations of the express BBQ may be provided as described further herein. While certain shapes, sizes, arrangements, and/or configurations of the express BBQ is depicted herein, it will be appreciated that variations may be provided. For example, various components of the BBQ grill described herein may be combined in various arrangements about the express BBQ. In another example, the BBQ and/or its components may have various shapes and/or sizes and is not limited to the shapes and/or dimensions depicted. The examples shown and/or described are not intended to be limiting examples and variations may be provided. FIG.2shows an example housing201usable with the express BBQ100c. The housing includes the lid108band the base106b. The lid108bin this example is hingedly connected to the base106bto define the cooking chamber110therein. The lid108bhas a top portion with a front overhang to cover a top portion of the base106b. A handle325is provided to assist in lifting the lid108b. The base106bis a box-shaped member with an open top and a partially open front. The base106bhas a back vent226to release heat, and the lower heat diverters130bare positioned along an inner surface of the base106b. The base106bis also provided with drawer supports232(e.g., rails) to slidingly receive the drawer102(FIG.3). A drip channel234with a drip outlet235leading to receptacle236is provided along a bottom of the base106bto receive drippings from cooked food. In this version, the opening112ofFIGS.1A and1Bhas been replaced with the front124chaving openings225to receive portions of the drawer102bas described further herein. Other optional features may be provided, such as legs238a, a canister clamp238bto support a tank (e.g., propane tank), a support arm238cfor receivingly supporting flowlines from the heat source126and supporting control knobs for varying the heat. Other features not shown may be provided, such as wheels, locks, lid supports, etc. FIGS.3A-3Bshow example configurations of the drawers102a,b. The drawers102a,bmay include the grill114, the drip tray116, the front panel124a, and the rear panel124b. The drawer102aincludes a handle325and a drawer outlet327aligned with the drip channel234(FIG.2) to pass drippings from the drip tray116. As the drawer102aslides between an opened and closed position, the drawer outlet327remains in a position along the drip channel234to pass drippings to the drip channel234. FIG.3Bshows an example drawer102busable with the closed base106bofFIG.2. In this example, the drawer102bhas horizontal supports (beams)222secured between the front and rear panels124a,b. The horizontal supports222are receivingly positionable in the openings225of the base106b(FIG.1C). The drawer102bis positionable in the base106bwith the front panel124aon one side of the front124cand the rear panel124bpositioned on the other side of the front124c. As shown inFIGS.1C,2, and3B, the horizontal supports222may extend through the front124cto connect the front and rear panels124a. In this configuration, as the drawer102is pulled to the open position to access the grill114, the front panel124amoves away from the front124cand the rear panel124bmoves toward an opposite side of the front124c. The drawer102bmay be provided with other features, such as rails332and a net (mesh)338. The drawer102balso has drawer rails (or sliders)332positioned along the horizontal supports222. The rails332may be positioned along the horizontal supports222and slidingly and/or matingly engage the drawer supports232(FIG.2) to provide sliding drawer movement therebetween. The net338is positioned in the drip tray116of the drawer102b. As also shown in this version, the grill116may have various shapes or configurations. FIG.4shows a detailed view of an example lid408. The lid408is shown as having a cuboid shape with the handle325on a front portion thereof. The lid408is hingedly connected to the base406, but may be connected by other means. A lid support436, such as a slider or a hydraulic lift, may be provided to facilitate lifting of the lid and/or supporting the lid408in the open position. As shown in this view, the lid408may be provided with a lid heat distributor430positioned on an inner surface of the lid408. The heat distributor430may be fixedly or removably fastened to the lid408using various means, such as welding, connectors (e.g., bolts), etc. The lid heat distributor430may be a metal surface shaped to engage the upper heat diverter130ain the base406(which may be the base106a,106b, or other base). The lid heat distributor430may also have a curved portion between the curved ends to facilitate heat flow as described further herein. As also shown in this view, the lid408may be provided with a net438. The net438is shown connected to the lid heat distributor430by connectors431. The net438may be fixedly and/or removably connected to the lid408and/or the heat distributor430. The net438may be adjustably positioned above the grill114to engage the food120. The net438may be, for example, a metal sheet with openings to allow air flow therethrough. In embodiments in which the net438is a metal sheet with openings to allow air therethrough, the net438may be referred to as a “griddle” as is known to those in the art. The net438may have openings of various shapes and sizes, such as a grid or perforated pattern. As shown by the pattern depicted, the net438may be a metal material engageable with the food to apply grill lines to the food120. The net438may have various patterns and/or dimensions for applying desired pressure and/or heat to the food120. Optionally, the pressure may be sufficient to compress the food and/or release fluids therefrom. Also, the net438may have sufficient openings to allow heat flow while protecting the food from exposure to too much heat, thereby preventing burning of the food. FIGS.5A-5Edepict example configurations of the heat distributors504a-e. In each of these examples, heat is passed through perforated pipes128as indicated by the arrows. The various heat diverters530a-esteer heat exiting the perforated pipes128in a desired direction to circulate heat through the cooking chamber110. The pipe128may be a tubular member, such as a metal or heat tolerant conduit positionable in the cooking chamber110and capable of passing heat from the heat source therethrough. The heat distributor504aofFIG.5Ais similar to the upper heat distributor104aofFIG.1Awith the perforated pipe128positioned along a wall of the base106and the perforations pointed upwards. As shown in this view, the heat distributor504aincludes a pair of metal plates540connected together at an angle to form the heat diverter130a. The metal plates540may be joined by side pieces or connectors. The metal plates540are positioned about the perforated pipe128and shaped to define a nozzle for directing the heat through the cooking chamber. A bottom inlet defined between the metal plates540is positioned about the perforations in the perforated pipe128to receive the heat therethrough. The metal plates540are tapered to define a narrow outlet a distance from the perforated pipe128to release the heat therethrough as indicated by the arrows. The heat distributor504bofFIG.5Bincludes the heat distributor430ofFIG.4and the heat distributor504aofFIG.5Awhich distributes heat to an upper portion of the cooking chamber110(FIG.1A). The heat distributor430is shown with the curved edges positioned along an outer surface of the metal plates540of the heat distributor504a. The lid heat distributor430has ends that are curved to slidingly engage the angled portions of the upper heat diverter130awhen the lid is closed as indicated by the curved arrows. The metal of the lid heat distributor430may be thin and bendable to conform to the upper heat diverter130afor slidingly engagement therewith. Heat exiting the heat distributor504apasses along a bottom surface of the heat distributor430and is circulated through an upper portion of the base106a. This provides a direct flow of heat above the grill114and over the food120. The heat distributor504cofFIG.5Cis similar to the lower heat diverter130bofFIG.1Bwhich distributes heat to a lower portion of the cooking chamber110. As shown in this view, the heat distributor504bincludes the lower heat diverter130bpositioned above the perforated pipe128along a wall of the base106a. The perforated pipe128is positioned below the lower heat diverter130bwith the central perforations pointed inward towards a center of the base106a. The upper heat diverter130ais positioned about the perforated pipe128. In this case, the upper heat diverter130ais positioned horizontally in alignment with the perforations of the perforated pipe128to direct heat towards the center of the base106aas indicated by the arrows. The heat distributor504dofFIG.5Dis similar to the lower heat diverter130bofFIG.5C, except with the ability to distribute heat to upper and lower portions of the cooking chamber110. In this case, a portion of the heat diverter130bacts as a barrier blocking upward flow of the heat, thereby redirecting the heat to pass towards a center of the base106a. As heat exits the perforated pipe128, the heat is pushed out towards the center of a lower portion of the base106aand rises towards the heat diverter130b. This version operates similar to the heat diverter130bwhich allows heat to pass from the central perforations towards the center of the lower portion of the base106a. This version also allows heat from the heat diverter130b′ to pass from the upper perforations of the perforated pipe128′ through the heat passage542and towards an upper portion of the base106a. An additional heat passage542is provided through the heat diverter130b′ to define a modified lower heat diverter130b. The perforated pipe128has also been provided with an additional set of perforations along a top of the perforated pipe128, thereby defining a modified perforated pipe128′. Heat from the upper perforations passes through the passage542and to the upper portion of the cooking chamber110. The heat distributor130amay also be provided about the perforations on the side of the perforated pipe128′ as needed. The heat distributor504eofFIG.5Eincludes modified perforated pipes128″ positionable about the drawer102a,bto distribute heat through upper and lower portions of the cooking chamber110and in both directions as indicated by the arrows (FIGS.1A-1C). A vertical portion of the perforated pipe128″ may be positioned vertically along a wall of the base106a,b. The vertical portion may be positioned along the wall of the base106a,bin a desired location for distributing heat in desired areas. A lateral portion of the perforated pipe128″ may extend a distance from the wall the base106a,b. The position and distance of the lateral portion may be selected to extend the heat distribution to desired areas in the cooking chamber110. For example, it may be desired to place the perforated pipes128″ between portions of the grill114with the food120to prevent contact with the food120and/or to prevent drippings from dropping onto the pipe (which may cause smoke). A heat diverter, such as the heat diverter130aofFIG.5A, may be positioned about the pipe128″ to direct heat from the perforations as indicated by the arrows. FIG.6shows examples of placement of the perforated pipes128,128′,128″ about the grill114. As shown in this view, one or more perforated pipes may be placed about the grill114as desired to facilitate cooking. As also shown in this view, the grill114may have various configurations, such as one or more cooking sections with or without one or more perforated pipes128,128′,128″ positioned thereabout. While not shown, one or more of the heat diverters130a-cmay be used with one or more of the perforated pipes128,128′,128″. Using various combinations of the heat diverters130a-cand/or perforated pipes128,128′,128″, various configurations of one or more of the heat distributors (e.g.,430,540a-e) may be positioned about the grill114, drawer102a,b, and/or cooking chamber110a,b. The perforated pipes128,128′,128″ and/or heat diverters130a-cmay be positioned along a wall of the base106aoffset from the grill114′ to avoid the splatter area121, and a distance from the grill114′ sufficient to apply a desired amount of heat to the food120thereon. In an example (not intended to be limiting), the upper heat distributor540a(FIG.5A) may be positioned a distance D1(e.g., about 7 cm) above the grill114, the lower heat distributor540c,d(FIGS.5C and5D) may be positioned a distance D1(e.g., about 7 cm) below the grill114, and the heat distributor540emay be positioned a distance D1(e.g., about 7 cm) above and below the grill. Examples of the Express BBQ (Designs1-8) Examples of the express BBQ are provided to show the express capabilities, including capabilities which allow cooking with no need to rotate or flip the food because it cooks from both sides simultaneously using a “top and bottom heat system”. These configurations also seek to provide “faster cooking time” at a reduction in time with a range of cooking time (e.g., from about 3 to about 10 minutes for foods) to increase cooking speeds to be faster than conventional barbeque products. These configurations also seek to provide “smoke free” cooking to reduce the smoke by from about 70 to about 90% (and in some cases no smoke at all) due to the distribution of heat by the housing (e.g., frame and lid) designs, heat distributor design, grill and/or net design, and/or the drawer design (e.g., with water or aluminum in the lower drip tray). The drawer design may have a dual purpose to cover the bottom drip tray below the grill with water or aluminum in it. Putting water in the drawer may be used to reduce the amount of smoke coming out because the drippings (e.g., juice/water/grease) of the food being cooked drops into the water so it evaporates and disappears. Also, the drawer can have aluminum placed in it, which allows the drippings to fall on the aluminum so it can easily be thrown out after use. FIGS.7A-7Kshow various designs of the express BBQs700a-k. For descriptive purposes, portions of the housing of the express BBQ, such as the front and side panels, and/or portions of the drawers of the express BBQ, such as the front and rear panels and side rails, have been removed to show internal portions, such as the heat distribution features, of the express BBQ. However, it will be appreciated that the express BBQs700a-kofFIGS.7A-7Kmay have features and/or portions of the housing and drawer configurations as shown in other figures herein. As shown byFIGS.7A-7K, the express BBQ may have various design configurations (e.g., multiple size, frame designs, functional abilities, etc.) to provide one or more of the capabilities as explained further herein.FIGS.7A-7Gshow a first set of designs of the express BBQ700a-gfor cooking the food120.FIGS.7H-7Kshow a second set of designs of the express BBQ700h-k. Each of the express BBQs ofFIGS.7A-7Kshow portions of the housing701including the lid708aand the base706a(with portions removed), the drawer702aincluding the grill114and the drip tray116, and various configurations of the heat distributors704a-k. Other features are also provided as described further below. Each design may also have the “no-flip” concept with “heat (temperature/fire) control design” where there is no need to flip or touch the food120causing it to cook from both the top and/or bottom. FIGS.7A and7Bshow a first design of a express BBQ700a,bwith a heat distributor704a,bwhich functions with a dual (two) heat source (of fire and flames) with a “top and bottom” mechanism. In the version ofFIG.7A, the express BBQ700ahas a split grill114′ separated into two portions in a dual grill (net) design. This first design focuses on a “central fire design” where the heat and temperature comes from between portions of the split grill114′. The heat distributor704ais positioned between the portions of the split grill114′ (dual net). The heat distributor704amay be similar to heat distributor504eofFIG.5Eand includes perforated pipes128″ having a vertical portion and a lateral portion extending from the vertical portion to pass the heat therethrough. In this version, the vertical portion of the pipe128″ is connected to a wall of the base706aby a pipe frame support750. Lateral portions of the pipe128″ are positioned above and below the grill114′. The heat distributor704apasses heat from the heat source (not shown) and out the perforations of the perforated pipes128″ to provide heat above and below the food120and a offset a distance laterally away from the food120. In this position the heat is distributed above and below the food120, while the heat distributor704ais positioned away from the food120to avoid drippings and splatter from the food120. While not shown, the heat diverters (e.g.,130a) may be positioned about the perforated pipes128″ to divert the heat through the cooking chamber110as described, for example, with respect to5E. The express BBQ700amay be installed with single or multiple sets of perforations along the perforated pipes128″ that may have multiple (e.g., two) directions for distributing heat. The express BBQ700amay also be provided with additional perforated pipes128positioned about the express BBQ700a. For example, one or more pipes128may be positioned about the bottom of the grill114′ and the others installed in the top part of the base706a(frame) depending on the size of the housing701. Both of the pipes128″ may be connected and operating from a separate or common heat source (e.g., gas tank or propane). The express BBQ700ais also provided with a heat diverter730positioned in the lid708. The heat diverter730may be positioned over the grill114′ to shield the food120from heat exiting the heat distributor704a. The heat diverter730may be positioned about the heat distributor704awhen the lid708ais in the closed position. The heat diverter730may divert the heat exiting the perforated pipes128″ away from the food120, for example, to prevent burning. As also shown inFIG.7A, the drawer702ais depicted as including the drip tray116disconnected from and removable from the base706aby pulling handles on the drawer702a. The drip tray116/drawer702ais positioned below the grill114′ to catch the drippings from the food120. Optionally, the grill114′ may be integrally connected above the drip tray116to form part of the drawer702aas described, for example, inFIGS.1A-1C. In the version of Design1ofFIG.7B, the express BBQ700bhas single grill114with dual heat distributors704b. Each of the dual heat distributors704bare similar to the heat distributor704a, except the dual heat distributors704bare positioned about a rear wall of the housing701and spaced apart about the grill114. The dual heat distributors704beach have lateral perforated pipes128″ positioned above and below the grill114. The perforated pipes128″ of the heat distributor704bhas a vertical portion connected to a rear wall of the base106a. While the design1ofFIGS.7A and7Bmay be operated like a traditional BBQ grill with heat (fire) coming from the bottom only where the food may need to be flipped back and forth and rotated, the express BBQ700amay also be operated with heat (fire) coming from both sides (e.g., top and bottom), thereby solving the issue of flipping the food (food/product) and also cutting down the cooking time because of the high direct level of heat to both sides. The food may be cooked in between both up and down sources of heat (e.g., flames of fire). This configuration may also be used to reduce the drippings (e.g., water/juice) that come out of the food120and which leak to the bottom of the base706aand can cause smoke and burn. This design1may cause the drippings that come from the top to be controlled so the food cooks from within because of the flame is on top of the food120. This configuration may also provide heat distribution about the food120that reduces cooking time ranging anywhere from about 3 to about 10 minutes without having to flip the food120. The design1ofFIGS.7A and7Bmay also have the following features:Part 1. One or more pipes128may also be assembled in the bottom of the base706a. A designed lid (cover)708awith a heat diverter730may be used to prevent the heat from directly burning the food, and to help bring out and direct the heat to an upper portion of the housing701(top).Part 2. The pipe or pipes128″ connected to the gas tank/propane may be lifted to go on top of and above the grill114to heat to the food120from the top. This may be used to forgo flipping and/or rotating of the food120because the heat (fire/temperature) cooks from the top.Part 3. The heat diverter730may be a layer connected to the lid708ato help with the distribution of heat (to come down) as well as serving a frame protection purpose. A wider heat diverter730may be assembled above the pipe or pipes128″ similar to the heat distributor430ofFIGS.4and5B. The heat diverter730may be located within the lid708aon in a top part inside the lid708. The purpose of this special designed lid708awith heat diverter730may be to help bring a level of heat down back to the food120and/or to protect the lid708afrom the heat.Part 4. Depending on the design and size of the express BBQ700a,b, the level of heat coming from the bottom pipe128″ and the top pipe128″ can be different. The designs may have thicker/thinner or longer/shorter pipes128″ in the bottom and top. Sometimes there might be more holes for the heat to come out of the upper and/or lower pipes128″. In other words, the designs may have more holes in the top pipe128″ than the bottom pipe128″ which will make the top part of the express BBQ700a,bhotter than the bottom or the other way around (e.g., bottom hotter than the top) to provides a “temperature control” capability. This process of heat distribution may be used to perfect quality of the cooked food120as well as not having to rotate the food120or touch it while cooking.Part 5. The grill114′ that the food120may be place on has a “separate and dual grill (net)” one on each side of the pipes128″. The middle part between the portions of the grill114′ may be empty which provides an open space above the pipe128″ located in the bottom. This may have several reasons, such as preventing the drippings coming out of the food from dropping onto the pipes128″ in the bottom which can cause smoke. Also, this placement helps keep the base706aand the pipes128″ less dirty. This design may make it easier to take out portions of the grill114′ and clean it individually. Also for smaller portions of food one portion of the grill114′ may be used which means the second portion remains clean and untouched.Part 6. To keep the bottom of the grill114,114′ clean, a “drawer design” is provided to help keep the grill114,114′ clean. The bottom part of the base706ahas the drawer702athat covers the bottom of the base702a. The drawer702aopens and the surface can be taken out and washed and put back in to use again. Optionally, the drawer702amay be opened and aluminum sheets put in the bottom so any drippings that drops into the drawer702afalls on the aluminum which can be easily taken out and thrown away afterwards. This concept may be a way to keep the express BBQ700a,bclean. Another function of the drawer702amay be to put water in the drawer702awhich means the bottom part of the express BBQ700a,bmay have water in it so any drippings that come out while cooking can drop into the water. This may eliminate a majority of the smoke that takes place during cooking because any form of dripping (e.g., fire, juice, grease, etc.) that drops down falls into the water in the drawer702aand evaporates and disappears, making it to have less smoke and almost no smoke coming out. If drippings are left in a barbeque, left-over drippings (e.g., grease) can dry up and heat up when the barbeque is turned on to cook again, and can affect the flavor and quality of the food120. The drawer702amakes it possible to keep the bottom of the express BBQ700a,bclean and free of smoke at all times, and may also prevent any extra smoke or past residual smells/flavors to come up. FIGS.7C and7Dshow a second design of the express BBQ700c,d. This second design focuses on a “walled fire design” where the heat and temperature comes from the side walls. In the version ofFIG.7C, the express BBQ700chas single grill114with an upper heat distributors704cwith pipes128positioned along each wall of the base706aabove the grill114. In the version ofFIG.7D, the express BBQ700dmay similar to the heat distributor704c, except that no pipe128is positioned along a front wall of the base106. Each of the perforated pipes128are positioned to emit heat about an upper portion of the housing701above the grill114. This design has a combination of heat surrounding the grill114to reduce the cooking time because of the level of heat and the pipe/heat design. While not shown, each of the perforated pipes128may have a heat diverter to pass the heat upwards towards the lid as shown, for example inFIGS.5A and5B. Each of the pipes128may be coupled to a common or separate heat source.Part 1. The heat distributor704c,dand/or pipes128may have a design going on the side walls of the lower part of the base706a. In other words, instead of heat coming from the middle as shown inFIGS.7A and7B, heat may be coming from the sides. The design provides pipes128along part or all of a periphery of the base706a(e.g., along 2-4 sides). The pipes128may be individually connected or be one piece of pipe connected to the heat source to bring heat for a “walled heat design.” The pipe128that is spreading heat may have perforations (holes) in the bottom and at the top to direct the heat to go both to the bottom of the grill114and top part of the grill114to help both sides cook without flipping the food. On the lower part of the perforations, the pipe128may have edges and/or heat diverters (e.g.,130aofFIG.5A) to help circulate the heat to the bottom and distributing heat to the bottom of the food120.Part 2. The pipe128may be placed above the grill114in between the top of the base706aand the upper part of the grill114. The edge of the pipe128may be above the grill114. Once the lid708ais closed the heat diverter730within the top part of the lid708amay be provided to control and bring the heat back down circulating to help the top part of the food120cook. This design may form a “walled heat design” environment used to provide a faster, less or no smoke and non-flipping process.Part 3. The grill114may be a single grill that covers the entire lower area for food to be place on, or the dual grill114′ (FIG.7A) may be used. The lower bottom part of the grill114may be cleared because there is no pipe128in a bottom below the grill114so the entire grill may be used with more space to place food. Also, the drawer702amay be in the bottom of the base706awith the drawer702acoming out so the user can put aluminum or water in it. FIGS.7E-7Fshow a third design of the express BBQ700e,f. This third design focuses on an “upper heat design” where the heat and temperature come from above the grill114. In this version ofFIG.7E, the express BBQ700ehas single grill114with an upper heat distributor704ewith a single pipe128positioned above the grill114. In the version ofFIG.7F, the heat distributor704fhas a pair of pipes128″ positioned above the grill114. The perforated pipe(s)128,128″ is/are positioned to emit heat about an upper portion of the housing701above the grill114. The perforated pipe(s)128,128″ may have a heat diverter (not shown) to pass the heat upwards towards the lid708aas shown, for example, inFIG.5E(430). The pipe or pipes128,128″ located in the top of the grill114are positioned under the “special design lid”708awith the heat diverter730above the grill114. In this design, the temperature is coming from a top of the grill114, but optionally may or may not also have heat coming from the bottom below the grill114. The lid (cover)708ais designed to be placed on top of the pipes128,128″ inside the lid708ato help bring the heat down. This lid configuration may be used to reduce smoke, facilitate cleaning, and provided flavorful cooking. Also, the bottom part may be available space for putting the drawer702ain a way to that drippings (any juice or grease that drops) falls down into the drawer702a. The drawer702amay have capability to put water or aluminum in it for an easy to clean concept. FIG.7Gshow a fourth design of the express BBQ700e,f. This fourth design focuses on a “combination heat design” where the heat and temperature comes from above the grill114. In the version ofFIG.7G, the express BBQ700fhas single grill114with the heat distributors704dofFIG.7Dand the heat distributors700fofFIG.7F.Part 1. In this design, the upper pipes128use the “walled heat design” with the pipes128positioned along the side walls (as shown inFIG.7D) bringing fire out from both bottom and top part of the holes which will distribute heat to the bottom and top of the grill114. Optionally, heat may be coming from the bottom only of the pipes128(e.g., from lower perforations) giving heat to the bottom of the grill114.Part 2. One pipe or multiple pipes128″ may be located in the top part of the grill114(above the food120) under the lid708aand heat diverter730. The heat may be coming from the top of the grill114. When the lid708acloses, the heat diverter730may be placed on top of the pipe128″ inside the lid702ato help bring the heat back down to the food. This design is a combination of Design #2(e.g.,FIG.7D) and Design #3(FIG.7F). This heat distribution design may be used to increase cooking speed of the express BBQ700g. For example, depending of the food120cooked (e.g., type, shape, etc.), the food120, such as chunks of meat, may cook from about 2 to about 8 minutes.Part 3. The drawer702amay be placed in the bottom with the capability of putting water or aluminum in it so any drippings drops that drawer702a. This may eliminate extra smoke, and make it very efficient “easy to clean” concept. The drawer702amay be in the bottom to have minimal smoke or no smoke in some cases. The design of heat from the “surrounding walls” by heat distributor704dand the “upper heat design” by heat distributor704fon top part of the grill114(on top of the food120) may be used to seek faster cooking times without required “flipping or rotating the food”. Frame Designs and Structure: As in design1(FIG.7A) and design3(FIG.7E), different models, sizes and pipes128,128″ may be used. In some designs, the pipes128″ instead of coming from the side (i.e., length design) may come from the back of the base706a(i.e. width design) with the pipe128″ coming from the back towards the front. In other words, as shown in design #1(FIG.7A) where the pipe128″ is coming from the side in “the length” of the frame it may be coming from the back part of the frame in a “width” direction (as shown inFIG.7B). Due to spacing and size of the housing701, 1 or more pipes128″ may be positioned about the sides or back of the base106and face toward a front of the base106. Also, the structure of the pipe128″ that the heat exits in all designs can have a round or a flat shape. Depending on the size, design, and function of the express BBQ700g, more or less heat may come from the bottom or top. The same principle of “heat distribution” may be used top to bottom. For example, one or multiple pipes128,128″ may be positioned on top or bottom to give desired (e.g., higher) temperature depending of the size and/or need. The designs ofFIGS.7A-7Gmay be used to make the process of barbequing more efficient with “faster cooking time” (e.g., from about 50 to about 70% reduction in time) compared to conventional barbeques, such as grills with coal positioned below an open grill. Also, the designs may use the ‘no-flip’ concept where the food cooks from both sides without having to rotate or touch the food while cooking. Because of the distribution and spreading of heat using the drawer system, smoke may be reduced from about 70 to about 90%, and some cases no smoke at all while operating. This may be due to the fact that both sides of the food are cooking at the same time and also any drippings coming out are dropping down to the drawer702bwhich eliminates smoke. With the help of the “drawer system” the express BBQ may provide a clean and spotless process of grilling. FIGS.7H-7Kdepict additional designs of the express BBQ700h-k. These designs are similar to the express BBQs700a-gofFIGS.700a-g, except with a grill (net) drawer702band a walled pipe design, and with some additional parts which may be used to make the cooking process more efficient and increase capabilities. FIG.7Hshows a fifth design of the express BBQ700h. This express BBQ700hhas a housing701with the drawer702bextendable therefrom. The housing701has the lid708bwith the heat diverter730therein, and the base706bshaped to receive the drawer702b. The express BBQ700halso has upper and lower heat distributors704h. The upper heat distributors704hinclude the perforated pipes128positioned along each wall of the base706babove the grill114, and lower heat distributors704hincludes perforated pipes128positioned below the grill114. The heat distributors704hmay have heat diverters130apositioned about the perforated pipes128(see, e.g.,FIG.5A). In the configuration ofFIG.7H, the drawer702bhas a grill114that may not be stationary. The grill drawer702bmay be slidably removable from the base706bof the housing701. The grill drawer702bhas an integrated grill114and drip tray116. Food120may be placed inside the grill drawer702bon the grill114and then slid into the housing701so it may be cooked. The drawer702bmay be opened to check and see if the food120is cooked or not. The drawer702bmay be opened without opening the lid708bto check on the food120. The lid708bmay optionally be open if desired. The drawer702band the housing701may be shaped to allow the food120to be checked without exposing the heated environment inside the housing701. Because the drawer702bcomes out while the housing701remains closed, heat, smoke, and splatter from the food120is retained inside the housing701. The grill114may have the functionality to go in and out with the grill drawer702b. So that the food120may be placed to start cooking, the drawer702bmay be opened, the food120placed on the grill114, and the grill114slid back into the base706b. Once the food120is cooked, the drawer702bmay be opened to take the food120out and then the drawer702bslid back in. The drawer702bmay be used to help keep the express BBQ700hclean. The drip tray116of the drawer702bis located in the bottom with the grill114connected to the drip tray116so that once the drawer702bis opened, the drip tray116opens up as well with it. In this case, while removing or checking on the food120, the drippings from the food120may fall into the drip tray116and/or the bottom drawer702band not the ground. A net738is also provided in the drawer702bsimilar to the nets338ofFIGS.3A and3B. The drawer702bhas handles725, and front and rear panels that connect the top and bottom portions of the drawer702b(e.g., the grill114and the drip tray116) together so they open together at the same time. For clarity, front panel724ais shown, but the rear panel is not. This drawer702bcan be used with the express BBQs700hofFIG.7Hand/or any other versions of the express BBQs herein. The express BBQ700halso has a two-story concept. One section of the heat distributor704h(e.g., lower pipes128) may give heat and help to cook the food from the bottom and the upper section of the heat distributor (e.g., upper pipes128) from the top. The base706bmay have a protective wall lining the base706b. The wall of base706bas shown inFIG.7Hmay be taller for positioning the pipes128below a top edge of the base706b, for example, in this case the pipes128are on a middle part of an upper portion of the base706bbelow a top edge of the base706band above the grill114. When the lid708bis opened, the upper pipes128may be lower (recessed) out of the reach and placed a little deeper (lower) and provided with the heat diverters130a(FIG.5A) which act as a protective cover. These protective covers may be positioned about the perforated pipes128above the drawer702band about the surrounding walls of the base706b. The upper pipes128may be surrounded inside that base706b, with the lid708babove this base706b. The heat diverters130amay form a protective wall which can be used in all designs herein to provide a more protective environment. The lid708bmay have a shallow depth (or height between a top and bottom) and may be designed in a way that a portion of the base706bis open. In theFIGS.7A-7G, the walls of the base706aare the same height to meet a bottom of the lid702. InFIGS.7H-7K, the front of the base706bis shorter than the sides rear. The lid708bhas longer front to meet a top of the shorter front of the base706b. In this lid708b, the heat diverter730is also used to bring back down the heat to the food120(and it may still be connected to the lid708). This lid708bcan be used in the other designs herein (e.g.,FIGS.7A-7G). Another difference betweenFIGS.7A-7G and7H-7Krelates to the position of the bottom pipes128of the heat distributors704a-k. InFIGS.7A-7G, the lower pipes are in the middle (center) of the base706a. InFIGS.7H-7K, the pipes128of the heat distributor704hare along the surrounding walls of the base706bin a walled pipe design so the lower pipes128are installed below the grill drawer702b. The number of pipes on the bottom can be on 2, 3, 4 walls, depending on the size of the base706b. Having the pipes128connected to the side walls of the base706bmay help to avoid the drippings falling on the pipes128during cooking, and instead falling into the drip tray116of the grill drawer702bthrough an area in the middle of the base706bthat is empty. This can help and eliminate smoke because the middle is empty and drippings from the food120while cooking is not dropping on the pipes128and instead it is going directly into the drip tray116of the grill drawer702b. The bottom walled pipe design can be used in any of the designs. Another difference, from the design ofFIGS.7A-7Gis the position of the top pipes128of the heat distributers700a-g. InFIGS.7A-7B, the top pipes128are connected to the walls of the base706aabove the grill114. InFIG.7H, the drawer702bplaces the heat above the grill114in the walled pipe design similar to the bottom pipes128as explained in the previous section. In this case, there is a distance between the grill114and the upper pipes128. The pipes128are placed in the middle of our the protective wall of the base706below the very top edge of the base706b. These upper pipes128have the purpose to bring heat to the top of the grill114. The lid design having the heat diverter730located inside the lid708bbrings the heat back down to the food120so the top of food120is cooked. In this case, the food120is being cooked from both sides at the same time with the help of the lower pipes128and the upper pipes128. The number of pipes on top can be 2, 3, 4 depending on the size of the grill114. This upper pipe128configuration can be used in any of our designs1-5. Other difference in the fifth design ofFIG.7His net (mesh)738in the lid708b. This net738may be similar to the net438ofFIG.4. The previous lid design ofFIGS.7A-7gwas a without a net. In other words, in this new design the lid708bhas the net738within the lid708b. When the lid708bis closed and ready for operating, the lid708bmay be located on the top of the food120and has the purpose of bringing heat back down to the food120. The purpose of the net lid702ais to control the heat from the top so if the heat is stronger, weaker, etc. it won't burn the food120and there may be balance in cooking process. These nets738may have different designs and sizes depending on the actual grill114size and model. The focus and purpose of the net730bmay remain the same, which is to distribute heat properly to the food so it cooks to perfection. This net design can be added to any of the designs. Another addition is the heat diverters130athat act as fire protection system covers. These heat diverters130amay be placed on top of the upper pipes128(see, e.g.,FIGS.5A-5E) to make it more safe and to control and direct the heat. For safety, once you open the lid708b, the pipes128may be covered for protection so it won't be naked and out in the open. The shape and design of the heat diverters130amay be configured to distribute the heat to the lid708bto enter the net738so the heat may be brought back down to help and cook the food120. The net design can be used in any of the designs. FIG.7Ishows a sixth express BBQ700iwith mixed upper pipes128″ and lower pipes128.FIG.7Imay be similar toFIG.8H, except that the upper pipes128″ of the fifth design ofFIG.7Hare moved from the walls in the walled pipes design to another location. In the design ofFIG.7I, the upper pipes128″ are have portions extending laterally over the top of the grill114(similar toFIG.7B) for giving heat from top to bottom. The lower pipes128are in the bottom similar toFIG.7H, with an additional front pipe128. The pipes128,128″ may be connected to a common heat source as shown. The number of pipes128can be, for example, 2 or 3. FIG.7Jshows a seventh express BBQ700jwith combined upper and lower pipes128,128″. The upper pipes128ofFIG.7Jis similar to those ofFIG.7H. The lower pipes128are similar to the bottom pipes128of Design #1ofFIGS.7A and7B, with the pipe placed in the middle of the base706b. The lower pipes128″ extends along a middle part of the bottom of the base706b, and is connected to the upper pipes128for giving heat from top to bottom. FIG.7Kshows an eighth express BBQ700kwith combined upper and lower pipes128,128″.FIG.7Kis similar toFIG.7H, except with the lower pipe128along the sides of the base706(a no lower pipe128on the rear of the base706). Additional upper pipes128″ are also provided above the grill114and extend laterally over the grill114similar to the upper pipes128″ ofFIG.7G. The upper and lower pipes128are connected to the lateral pipe128″ along the back wall of the base706b. In this eighth design, three levels of heat and pipes128,128″ are provided including the walled upper and lower pipes128in the top and bottom of the base706b(above and below the grill114) similar toFIG.7H. The additional pipes128″ are positioned on the top above the grill114with the pipes128″ coming from the top and giving heat from top to bottom as in the design1ofFIGS.7A and7B. In other words, the top part of the pipes128in design1ofFIG.7Amay be added to this eighth design. Example Multi Express BBQS (Design9) FIGS.8A-8Bshow a multi express BBQ800a,bin a multiple (or multi-frame or dual/triple frame) configuration which divides the grill into multiple (e.g., two or three) different sections. This multiple frame configuration may be used with a walled pipe frame and/or smoker drawer concepts described herein. In this ninth design, medium and large sized grills114have been divided into two or three sections as if there were two or three different grills combined within one housing801a,b. In a medium design, two sections (or bases806) are provided. In a larger sized design, three or more sections (or bases806) are provided. A divider wall760is positioned between the grills114to separate each base806within the housings801a,b. As shown inFIG.8A, the pipes128are connected with the heat coming out of them, and are installed on the walls of the base806. Two pipes128are shown on each wall, one pipe in the bottom and one on the top part which is above the food120and the grill114. A total of four pipes are shown in each base806, two on the wall on the left and two on the wall on the right. The middle part of the base806between the pipes128is empty so the drippings from the food120fall away from the pipes128with the heat is coming out of them. One purpose of this may be so that one pipe128in the base806cooks the bottom part of the food120and the other pipe128which is on top heats up the top of the food120and cooks the top. The heat from both sides allows cooking so that there is no need to flip the food120(i.e., making this a “non-flipping” express BBQ800a. The divider wall860may also have one pipe128in the bottom and one pipe128on the top. In other words, four pipes128are in each of the bases806. As shown inFIG.8B, a smoker pipe828may also be provided on the back wall of the base806with a “smoker drawer”862on top of it. The purpose of this pipe828and smoker drawer862is for the user to be able to put wood (and/or wood pallet) in it so the express BBQ800bcan become a smoker as well. Once the pipe128is turned on, then it will heat up the smoker drawer862which is above the pipe128and burn the wood. The smoke that is created may make that particular base806into a smoker. In other words, multiple (e.g., 2 or 3) independent bases806are provided in one housing801a,b. The base806has at least two cooking pipes128on each wall, and may also have one pipe on the back wall which has the purpose of making part or all of the express BBQ800boperate as a smoker. Each of the bases806may have different configurations to allow cooking multiple (e.g., 3) different kinds of meals in one cooking session. For example, one base806may have chicken, another base806may have beef (e.g., a burger or steak), and yet another base806may have ribs being smoked at the same time. Each base806may has its own controller for individual heat settings. The lid808may include multiple (e.g., two or three) independent doors, or it can have one large single lids808opens and closes as one piece. The express BBQs800a,bofFIGS.8A and8Bmay also include the features of the other express BBQs herein (e.g., where the heat is distributed from top (to cook the top of the food) and bottom (to cook the bottom of the food)). The bases806within the housing801may be used independently. While large grills may be used for cooking, a portion of the multi-grill design may be used for cooking smaller portions of food120on a smaller part of the grill114without heating up the entire housing801. By using one of the independent grills114within one base806rather than the whole housing801, this may save on fuel usage and make for an easier cleaning process since only one base806is used. Also, various foods120may be separated into different bases806and be cook separately. For example, all chicken can be in one base806and all the beef (steak) in the other base806cooking separately. This way, the smell of both foods won't be mixed up and cooking time for each of them can be set accordingly. Also, the separate bases806may be used to assure that sufficient heat is generated by the heat distributors around the grill114. The base806may be sized to conform to the heat generated by the heat distributers in the cooking chamber110. The base806may need to be small enough to position the heat distributors in a location about the grill114such that sufficient heat is distributed within the housing801to cook the food. In this ninth design, the pipes128may be arranged similarly to the fifth design ofFIG.8Hwith a total of four pipes128along the side walls of the base806(e.g., two pipes128on the top and two pipes128on the bottom. In other words, the walled pipe design ofFIG.7Hmay be in the bottom and the walled pipe design ofFIG.8A,B on the top. Also, in some designs, the drawer702bofFIGS.7H-7Jmay be used to allow the drawer702bto be pulled out with the food120to check on the food120or to place or take out the food120and slide it back in. Some designs may have one single drawer702bthat comes out of all of the bases806together, and in some may have independent drawers702bfor each base806(i.e., different smaller drawers702bfor each base806(see, e.g., the food drawer702bofFIG.7H—the fifth design). Like the fifth design ofFIG.7H, the lid808may have the net738to bring heat back down to the food120. Also, in some designs, the multiple (e.g., double or triple) bases806may be designed differently with different pipe configurations. This means that each express BBQ800a,bmay have different designs in the bases806. For example, one housing801may have two or three designs at the same time. This may because two or three bases within one housing801have different configurations. For example, the eight design ofFIG.7Kwith its pipe configuration may be in one base806and the first design ofFIG.7A or7Bwith its pipe configuration may be in another base806on the other side of the divider wall860. This provides multiple configurations in the same express BBQ800a,b, each with individual configurations. The lid808may open as one big door that opens the entire housing801and all of the bases806. The lid808may have wall separators (not shown) which, once the lid808closes, further separate base806. Also, one of the bases may have a charcoal design as is described further with respect toFIG.9. This may provide the ability to use one or more of the bases806for charcoal cooking as well. Features of all the designs herein, such as drawer, pipe, net, and/or any other features described herein may be combined as desired to provide a BBQ system that allows for two and three versions in one. Portions (e.g., bases806) of the multi express BBQ800a,bmay be independent and may be designed differently. This provides the multi express BBQ800a,bwith multiple capabilities, thereby providing not just one, but two or three in one system. Example Charcoal Express BBQS (Design10) FIGS.9A-9Bdescribe a charcoal configuration of the express BBQ900a,b. This tenth design includes a housing901with a base906and lid908and one or more split grills114″. This version also includes a charcoal tray964positioned below the split grills114″ and in a space between the split grills114″. While not shown, the base906may optionally be provided with drawers as shown in the other examples herein. For this charcoal design, similar principles of other versions of the express BBQs700a-kare used with charcoal. This system distributes the heat of the charcoal to both side of the food120so that rotation and/or changing sides of the food120is not required because it is cooking both sides at the same time. This version includes the no-flipping, an reduced smoke capabilities, increased/dual (e.g., upper/lower) heating, easy cleaning, captured drippings, and other configurations described herein. This version also reduces fuel, in this case charcoal, and may include the multi-grill configuration ofFIGS.8A-8B. In this tenth design, the charcoal tray964is located in the bottom part of the base906below the grill114″. This charcoal tray964has a long narrow shape located in the middle of the base906. Charcoal (e.g., conventional briquettes) is placed inside this charcoal tray964. The charcoal tray964is positioned a distance from the front and the back wall of the base906with empty space therebetween (e.g., on both sides of the charcoal tray964). This charcoal tray964is connected to opposite walls (e.g., between the side walls) of the base906. Above the charcoal tray964is the grill114″ which the food120may be placed on. The grill114″ is in the split grill design ofFIG.7A, with one portion in the front and one in the back. The space in between the portions of the grill114″ is empty. This empty space is above the charcoal tray864. In other words, under both portions of the grill114″ is empty space so that when the food120is cooking the drippings do not drop into the charcoal tray864or onto the charcoal. This may eliminate the smoke and keeps the charcoal fresh and hotter in temperature. On the lid908, lid dividers966a,bmay be provided to separate portions of the lid908. The lid divider966ais positioned in a middle of the lid908going side to side. When the lid908closes, the lid divider966amay come down and pass between the portions of the grill114″ and into the charcoal tray964. The charcoal tray964may be separated by the lid divider966ainto two portions. This way the heat that is going up may be divided into two sections, one in a front portion of the base906about a front portion of the grill114″ and another in a rear portion of the base906about a rear portion of the grill114″. Heat may be controlled from the base906to the top of the food120by the design of the lid divider966ainstalled on the lid908. As shown inFIG.9B, the charcoal tray964may be used in a housing901with multiple bases906. The charcoal tray964may also be divided in two sections to allow for cooking smaller amounts of the food120in one section without heating up the other section. Also, only a portion of the charcoal tray964in the base906may need to be filled, rather than the entire area in the base906. Additionally, because the charcoal tray964is long and narrow, it may require less amount of charcoal. The charcoal tray964may be placed in brackets connected to the side walls (not shown) so the user can bring it closer to the top or bottom depending on how close they want the heat to be to the grill114″ and/or the food120. As also shown inFIG.9B, the lid divider966bmay be positioned in a center of the lid908in a vertical direction, meaning from front to back. This lid divider966bmay be in a size that can pass through the grill114″ when the lid908is closed. The lid divider966bmay divide the charcoal tray964into two sections left and right. The lid divider966bmay connect to a base divider960in the base906to divide the housing901into two sections. Like the multi-express BBQs800a,bofFIGS.8A and8B, the dividers960,966a,966bmay be used to separate the base906and/or housing901into sections for cooking smaller portions and using charcoal in one section of the housing901. The lid908may also have the net738ofFIG.7A-K. To maintain a clean base906, the housing901may have a drainage system as inFIGS.1C and2. During cooking, the drippings fall into the base906(and/or drip tray116—FIGS.7A-7J) away from the charcoal to prevent flames, smoke and burning of the food120. The charcoal tray964may be placed in the center between and away from the grills114″ so that the drippings drop into the bottom part of the base906and not on the charcoal tray964. The base906may be shaped to direct the drippings to the side and into a disposal box936. The disposal box936is placed under the base906. An area of the base906directs the drippings while cooking into the disposal box936. Once the charcoals need to be disposed, the charcoal tray964and a portion of the base906on top of the disposal box936may be bent/tilted to cause the charcoal to fall into the disposal box936. This may be used to keep the base clean and grease free, and to allow removal of the disposal box936to empty it out by simply lifting one side. The express BBQ900a,bmay be provided with other features, such as a food temperature (or thermometer) system that detects food temperature digitally with the need to open the lid902to check on the food. Within the base906, the grill114″ may have a high quality bimetal oven safe thermometer (not shown) which may measure the temperature of the food120so the best results are achieved every single time. The thermometer may have a long tube frame going on top of the cooking net and the actual gauge of the screen may come out on the outside next to the temperature knobs. Once the food120is placed on the grill114″ to cook, the food120may be placed on the thermometer tube so essentially the tube pokes a hole into the food120so the tube of the thermometer is in the middle of the food120while cooking. This may be used to see the inside temperature of the food while it's cooking. Depending on the size of the housing, 1 or more thermometers may be provided. For example, in the eighth design ofFIG.7K,1to2thermometers may be provided in each base906so that each base has independent measuring systems. Timers may also be provided. When the temperature of the food reaches a certain level, the heat may be adjusted (e.g., lowered and/or turned down) or an alarm system may be activated to notify the user. Example Combination Express BBQS (Design11) FIGS.10A and10Bshow another version of the express BBQ1000including multiple features described herein. This eleventh design shows a housing1001with a lid1008and base1006, and with a two part drawer1002with front and rear1024a,b, grill114, and drip tray116similar to those ofFIGS.7G-7K. This combination also includes heat distributors1004a-dwhich may be similar to the heat distributors504aofFIG.5A(see also the top walled pipe design ofFIG.7H),504dofFIG.5D(see also the bottom walled pipe design ofFIG.7H),504eofFIG.5A(see also the lateral pipe design ofFIG.7G), and430ofFIG.4(see also the lid design ofFIGS.7G-7K,7H), respectively. FIGS.10A-10Balso show addition electrical heat distributors1004e. These electrical heat distributors1004emay be a conduit, such as a heat coil, positionable in the base1006. As shown, the electrical heat distributors1004eis positioned along the wall of the base below the heat distributors1004a,b. The electrical heat distributors1004emay optionally be connected by a plug to an electrical outlet for power, and/or to controls for selectively varying the heat generated therefrom. Depending on the operation, one or more of the heat distributors1004a-dmay be used alone or in combination with one or more of the heat distributers1004e. As also shown in this view, the base1006may be provided with vertical posts1070on each side of the front1024cof the base1006. The vertical posts1070to support portions of the flowline that couple to the heat source126. The vertical posts1070have upper dials (or controls)1072acoupled to upper heat distributors1004a,cfor selectively adjusting heat flow therethrough. Lower dials1072bare coupled to the lower heat distributors1004bfor selectively adjusting heat flow therethrough. The flowlines as schematically depicted as extending from the posts to the heat source126supported on the base1006. Other features described herein, such as multiple bases, may also be used with the express BBQ1000. FIGS.7A-10Bshow various features usable with the express BBQ. As also shown, various combinations of these features may be provided. Additionally, variations in the shapes, sizes, arrangements, order, etc. may be provided. The above description is illustrative of the preferred embodiment and many modifications may be made by those skilled in the art without departing from the disclosure whose scope is to be determined from the literal and equivalent scope of the claims that follow. While the embodiments are described with reference to various implementations and exploitations, it will be understood that these embodiments are illustrative and that the scope of the inventive subject matter is not limited to them. Many variations, modifications, additions and improvements are possible, such as various combinations of the features and/or methods described herein. Plural instances may be provided for components, operations or structures described herein as a single instance. In general, structures and functionality presented as separate components in the exemplary configurations may be implemented as a combined structure or component. Similarly, structures and functionality presented as a single component may be implemented as separate components. These and other variations, modifications, additions, and improvements may fall within the scope of the inventive subject matter.

11857111

DETAILED DESCRIPTION OF EMBODIMENTS The invention provides a cooking device in which a temperature sensor monitors a temperature of the cooking medium (i.e. the oven air or oil) over time and a mass sensor monitors a mass of an item to be cooked over time. The information from the mass sensor and temperature sensor are used to provide a prediction of the food item core temperature and a cooking process is controlled in dependence on the predicted food item core temperature. FIG.1shows an example of the device in accordance with an embodiment of the invention. The cooking device comprises a heating chamber10in which a food item to be cooked is placed, and a heating element12for heating a cooking medium in the heating chamber (for example air). The heating chamber is preferably a closed space in the cooking device, so that the temperature within the space can be reliably controlled and therefore taken into account in the food item core temperature prediction. Thus, the closed space may be an oven with a closeable door, the closed volume of an air fryer or the closed volume of an oil fryer. Such temperature control will be more difficult in an open heating space. A temperature sensor14is for monitoring a temperature of the cooking medium over time. A mass sensor16is for monitoring a mass of a food item to be cooked in the heating chamber over time. This mass sensor may measure the mass of cooker itself including the food item to be cooked, and in this way it can be external to the heating chamber10as shown inFIG.1. Alternatively, it may be internal to the heating chamber, for example forming a part of a cooking shelf on which the food item is to be placed. The mass sensor may be implemented as a pressure sensor. A processor18processes information from the mass sensor and temperature sensor to provide a prediction of the food item core temperature and to control the cooking process in dependence on the predicted food item core temperature. The sensors are used to supply information to an algorithm run by the processor18to provide core temperature prediction, in particular using parameters that can be easily obtained in the cooking system. These parameters can be detected, determined or estimated without invasion or destruction of food. As a minimum for the invention, they include the cooking medium temperature, the mass and time (which is monitored by the processor). There may be other parameters monitored. For example, the parameters may comprise a combination of air or oil temperature, air or oil temperature rate of change, a surface temperature of food, a rate of change of the surface temperature of food, weight of food, weight loss rate of food, moisture content of food, the rate of change of moisture content, the humidity of the surrounding air, the rate of change of humidity etc. The relationship between the core temperature and a set of these parameters is first established, then the core temperature can be predicted by that relationship. The predicted core temperature can then be employed to judge the cooking status of the food and as a result can be used to control the process. The detectors are used in real time during the cooking process. The detectors include a timer implemented by the processor, the temperature sensor which may be a thermometer, thermocouples, or infra red sensor, and the mass sensor which may be a pressure sensor. The additional sensors may for example include a humidity sensor and a surface temperature probe. The selection of parameters to be sensed may vary among different cooking appliances. The processor18includes a data recording and processing module. This module records the detected values of the monitored parameters during cooking and the profiles may for example be pre-processed in this module, for example to apply data smoothing. The processor implements a prediction algorithm in a prediction module. This module stores the relationship between the core temperature of the food item and the monitored parameters. By employing the data from the data recording and processing module, the core temperature of the food item is predicted in real time. The relationship can be obtained by analyzing mass/heat transfer as well as applying mass/heat balance for the targeted cooking system. The system has a cooking controller20which uses the predicted core temperature of the food item to control the cooking process. The predicted core temperature of the food item is assessed to determine if it is in a desired temperature range (e.g., required by a certain doneness level) and the control decisions are made based on the assessment results. For example, the core temperature of veal or lamb steaks for the doneness of ‘medium well’ is in the range of 65-69° C. This doneness level is selected before the cooking of veal or lamb. As the cooking starts, the detectors begin measuring in real time the parameters and transmit the data to data storage and processing module; the prediction module continuously receives information from the data storage and processing module and predicts the core temperature using the stored algorithm. The predicted core temperature is then transmitted to the controller20. If the predicted core temperature falls below the desired range mentioned above, the cooking process will continue with a given heating program (e.g., heating with power of 800 W); when the predicted core temperature falls in that range, the cooking process will be stopped. The algorithm stored in the prediction module mainly refers to an established relationship between core temperature and the monitored parameters (“MP”s). The relation may be a direct function as generalized in Eq. (1) below, or it may require the solving of a differential equation as generalized in Eq. (2) below, where the changing rate of the core temperature is related to parameters based on the energy/mass balance of the cooking system. Specific equations, such as Eq. (7) derived below, can be obtained with appropriate simplification of the cooking system as well as the food shape. TC=f⁡(MPs)(1)dTCdt=g⁡(MPs)(2) The process of dry frying is used to explain the working principle of the invention in more detail. Parameters including the temperature of the cooking medium (air, oil, etc.), the mass and the rate of change of mass of the food are chosen as the monitored parameters. Thus, the sensors comprise one or more temperature sensors for air temperature measurement and pressure sensors (e.g., balances) for mass and rate of change of mass. The initial temperature of the food is also determined by thermometers or other approaches. For example the temperature of a food item taken from a freezer at a known temperature will be known without taking additional measurements. The sensors as well as the food initial temperature information are all provided to the processor18. The data storage and processing module receives the data from the connected sensors and sends the treated information to the prediction module and the predicted core temperature is then transmitted to the controller20and cooking control decisions are made based on the received information. The use of the method involves following steps: (i) The food is placed in the food container. The type of food is provided by manual input from the user. The doneness level is also selected manually depending on the user's personal preference. If it is not selected, a default medium doneness level is automatically selected.(ii) The initial temperature of the food is recorded and stored in the data storage and processing module. This may have been input by the user or it may be detected by the cooking appliance. By way of example, a prediction model can also be used to determine the initial food temperature. The input to the model can include the weight loss of the food at a given cooking time. The principle behind this is that after a given cooking duration a frozen food item has less water evaporation than a fresh one because the former requires extra heat for the water phase change, i.e., from solid to liquid. This approach can be used to categorize the food as frozen or non-frozen. One or more intermediate categories may also be defined. Detection of the food temperature is not essential. It may suffice for the user to enter a category such as frozen temperature, fridge temperature or room temperature.(iii) The cooking process is started and the temperature of the cooking medium in the cooking appliance is detected in real time by the temperature sensors. The temperature of the heating conductor, Thcmay also be recorded. The cooking time is also monitored so that a temperature-time profile can be obtained and stored in the data storage and processing module. The temperature-time profile is pre-treated (e.g., smoothed).(iv) The treated temperature-time profile before the present time and the initial temperature of the food are sent to the prediction module, where the core temperature is predicted by the established relationship between the core temperature and the monitored parameters.(v) The predicted core temperature is sent to the controller20and the control decisions are made. If the predicted temperature does not reach the temperature or does not fall in the temperature range that is required by the initially selected doneness level, the cooking process continues according to a certain heating program. The steps (iii) to (v) are repeated, until the predicted temperature reaches the temperature, or falls in a range that is required by the initially selected doneness level.(vi) A cooking ending process starts. The ending process could be either holding heating in a certain power for a certain time period, or stopping heating immediately, or following other heating programs. For the prediction of the core temperature in an actual cooking process, the correlation with the monitored parameters has to be established and stored in the prediction module. Considering the fact that the heat transferred from air to food equals the heat obtained by food, the heat balance can be described by Eq. (3): CpF*d(mF*TF)/dt=k*SF*(TA−TS)  (3) CpFis the heat capacity of the food, assumed as constant; mFis the mass of the food; TFis the average temperature of food; TSis the surface temperature of food; k is the heat transfer index from air to food; SFis the surface area of the food; and TAis the air temperature. The average temperature of food, TF, can then be calculated based on Eq. (4) derived from Eq. (3): dTFdt=k*SFCpF*⁢mF⁢(TA-TS)-TFmF*dmFdt=PmF⁢(TA-TS)-TFmF*dmFdt(4) P is a lumped parameter. The relationship between the core temperature of food, TC, and TS, TFvaries with factors such as food shape, surface area, structure/composition, etc. To simplify, the food is assumed to be a sphere with an effective radius of R′. For a certain type of food and under a certain cooking condition, the relationships between TSand TCand between TFand TCcan be expressed as: TS=α⁢TC(5)TF=3*a+14*TC(6) α is a parameter describing the temperature ratio of surface to core, which is mainly determined by the effective radius, R′, of the food, explained further below. As a result, Eq. (4) becomes: dTCdt=PmF⁢(43⁢α+1⁢TA-α⁢TC)-TCmF*dmFdt(7) As can be seen, the variable parameters needed to be monitored in order to create a differential equation only in TCare the food mass, the rate of change of food mass and the air temperature. The prediction of the core temperature follows the steps below: (i) Data is received from the data storage and processing module. The data includes cooking medium (e.g. air) temperature, initial temperature of the food, mass of the food and the rate of change of mass of the food.(ii) The effective radius, R′, of the food is determined based on information such as food size, structure, etc. as explained below.(iii) The value of α is calculated.(iv) The differential equation is solved with the received data. The core temperature-time profile is predicted and the core temperature at the present time moment is obtained. This process requires the determination of P and α. For a certain type of food, a is firstly related to the mass of food. α=A*eB*R′/(A+R′)(8)Where,R′=3⁢mF4⁢π⁢ρ3(9) ρ is the density of food in kg/m3. The values of P and parameters involved in Eq. (8) can then be obtained by training with sufficient test data. Training of the parameters can be based on minimizing the sum of squares of the prediction error between the predicted and actual-measured core temperatures. Samples with different food amounts are employed in the experimental training and the core temperature and weight are recorded in real time for training. The core temperature is used for doneness control. However, a surface or volumetric temperature can also be predicted. For some food types control of the surface temperature may be of interest to control the cooking. Core temperature is especially for interest for foods with relatively large size, since there will be an obvious temperature difference between the core and the surface. As mentioned above, the relationships between TSand TCand between TFand TCvary for different types of foods. As an example, spherical foods are employed to demonstrate the establishment of the relationship between α and mF. This type of food is close to a sphere in shape with an averaged diameter of R′. The diameter can be estimated from mass of food, by Eq. (10): R′=3⁢mF4⁢πρ3(10) ρ is the density of the food in kg/m3, mFis the initial mass of food in kg. The ratio of surface temperature to core temperature is assumed constant for most of the cooking time before doneness, TS=αTC(11) The temperature distribution function of the spherical food is: T=TS-TCR*x+TC(12) x is the distance from an arbitrary point to the core of the food; the temperature is assumed to linearly change along radius. The average temperature of food can be calculated by Eq. (13): TF=3/4*∫0R(4⁢π⁢x2*T)⁢dxπ⁢R3(13) From Eqs. 11, 12 and 13: TF=3*a+14*TC(14) As a result, Eq. (4) becomes, dTCdt=PmF⁢(43⁢α+1⁢TA-α⁢TC)-TCmF*dmFdt The relationship between α and R′ is assumed to be as follows, α=A*eB*R′/(A+R′)  (15) In Eq. (15), A and B are constants, which are related to the size of food. R′ can be obtained from Eq. (9). A and B can be obtained by training with test data. Other shapes of foods, such as cubic, rod, etc., can also be treated as the way mentioned above. The effective radius can also be calculated by Eq. (9). Note that, the values of A and B in Eq. (15) will be different even for the same type of foods. The effectiveness of the core temperature prediction has been demonstrated by experimentation, carried out using a Philips air fryer. A balance is placed under the fryer as shown inFIG.1to measure the mass (mF) during the cooking time. Two thermometers are placed in the air fryer to detect the air temperature (TA) around the food. The initial temperature of the food is pre-measured by a thermometer. The mass data series from the balance is smoothed and a derivative is taken to obtain the change rate of mass (dmF/dt). The detected air temperatures by the two thermometers are averaged to reduce measurement error. During the experiment, the frying temperature is selected as 200° C. and the reference core temperature of the food is measured by several thermometers by directly inserting the probe into the center. The measured core temperatures are averaged before use. The food employed in the experiments was a meat steak. Three meat steaks with similar shapes were employed and the masses of the three testing samples were 212 g, 215 g and 184 g, respectively.FIG.2shows the dimensions of one of the meat steaks used. This steak has a generally cuboid shape of around 8 cm×6 cm×3.5 cm and a mass of 212 g. The values of effective radius R′ are calculated based on the initial mass of the food as explained above. Experimental results are used to train the parameter P in Eq. (4). By considering the assumed relationship between α and R′, (Eq. (8)) the values of A and B are also fit. The two parameters A and B are specific for a certain type of food, the shape/size of which is within a certain degree. The value of P is a lumped parameter containing other parameters such as k (heat transfer index from air to food), SF(surface area of food) and CpF(heat capacity of food), which may all change with cooking time. As a result, it is preferred for the training to proceed stage by stage in order to guarantee trained values close to the actual values as much as possible. Two stages are considered. The trained values for the parameters in this example were: P=3.8894e-5 (TC<15° C.); 1.1679e-4 (TC>15° C.)A=138.3564B=6.2867 The prediction of the core temperature compared to the measured core temperature over time is shown inFIG.3. The y-axis plots core temperature (degrees C.) and the x-axis plots time (s). Plot30is the predicted core temperature for the 184 g sample and plot32is the measured core temperature. Plot34is the predicted core temperature for the 212 g sample and plot36is the measured core temperature. Plot38is the predicted core temperature for the 215 g sample and plot40is the measured core temperature. It can be seen that the predicted values agree well with the actual ones. The RMS error is 1.2° C. and the largest error (absolute value) is 3.2° C. The predictive approach described above involves a model with pre-trained parameters. The parameters can be adjusted to improve accuracy. The pre-trained values are determined by training experiments under various conditions, but there may still exist some exceptions where the prediction accuracy is not acceptable under some cooking conditions. A real time adaptive predictive method is described below as an enhancement to the basic approach described above, in order to make the model more robust. This enables more reliable prediction based on the real time feedback of the cooking status and thus enables more accurate control of the cooking process. The prediction module described above is enhanced by predicting at least one other variable (other than core temperature) relating to the cooking process. In particular, the prediction model further provides a prediction of at least one measurable property, and wherein the controller is adapted to update the model based on monitoring of the measurable parameter to provide a more accurate model for the prediction of the food core temperature. The additional variable relating to the cooking process could be the mass of food, the temperature of the air around the food, humidity of the air around the food, etc. The adjusted internal/core temperature is predicted based on the same model but with adjusted parameters making use of actual monitoring of the additional variable. Adjusted parameter values are thus derived from an adaptive module. This adaptive module adjusts the parameter(s) of the model based on the real time feedback of the cooking status. By considering the differences between the measured and model-generated values of the variable(s) relating to the cooking process, the parameter(s) of the model is (are) adjusted following a certain adaptive algorithm. The adjusted parameter(s) is (are) then transmitted to the prediction module to give an adjusted predicted internal/core temperature. A gradient descent algorithm can be employed by the adaptive module: k′=k−μ*(∂E/∂k)  (16) k is a parameter that is to be adjusted and μ is a positive constant determining the adaptation rate. The value of μ in Eq. (16) could be determined during the pre-training of the model parameters. Generally, it is determined by considering the possible variations of the model parameters with cooking time as well as under various cooking conditions during a parameter-training process. The determined value should maintain the predicting stability of the model. E is the function expressing the predicting error, which should reflect the ‘absolute difference’ between measured and predicted values. For example, it could be a function of the absolute value of the difference, or the even power (2, 4, 6, . . . ) of the difference between the measured and predicted values. ∂E/∂k is the partial derivative of E with respect to k. To illustrate the structure of the adaptive model, a simplified empirical model for a cooking system is proposed as an example. Two status variables could be predicted by the model, core temperature as explained above, and also the mass of food as illustrated in Eqs. (17) and (18). TCTC0*ek(t{circumflex over ( )}2)(17) mF√{square root over (mF02−k*a*t)}  (18) k and a are model parameters (constants) and k is a shared parameter for core temperature and mass prediction equations. TCis the core temperature of food; t the cooking time; TC0the initial core temperature; mFthe mass of food; mF0the initial mass of food. An adaptive algorithm adjusts one or more of the model parameters by minimizing the predicting error of the ‘extra’ status variable, which in this case is the mass. For the simplified model established above, the parameter adjusting method is to minimize the following constructed predicting error function, E E=½*(mFP−mFE)2(19) mFPis the predicted mass of the food and mFEis the actually measured mass of the food. The minimization could be realized by using a gradient descent algorithm as shown in Eq. (16). Based on Eqs. (17) and (18), ∂E/∂k=½*(e*a*t)mFP(20) where, e=mFP−mFE(21) The corresponding process flow is shown inFIG.4.FIG.4shows how equations 16, 20 and 21 are implemented. In discrete time, k′ in Eq. 16 becomes kt+1and becomes kt. In particular, substituting Eqs. 20 and 21 into Eq. 16 yields: k′=k−½a*μ*t(mFP−mFE)/mFP(22) FIG.4is the discrete time implementation of this equation. An example is given below to show the adaptive principle based on the model mentioned above. The system operates in the same way as described above, with the addition of the adaptive processing module which in this example receives the real time mass measurement. The prediction of core temperature and mass are made using the model so that the predicted mass and the real time measured mass can be compared. The discrepancy is used to adjust one or more parameter(s) of the model used in the prediction module. The adjusted one or more parameters are then sent to the prediction module to update the model. The core temperature is predicted based on the updated model and a new value is obtained. It should be noted that the forms of the models may be food type-dependent, which means that for different types of foods, the model may be in formats other than shown in the equations above. For example, the core temperature of French fries will reach a temperature platform at around 100° C. before doneness, which is different from the situation of meat balls: the core temperature is continuously increasing from the initial temperature to around 70° C. before doneness. Moreover, the status variables that will be predicted may also be different according to the different models established for the corresponding types of foods. A generally trained model could predict core temperature of food with sufficient accuracy for most cases if the parameters of the model have been already trained by suitable experiments. However, there may still exist cases where the prediction of the model deviates from the experiments. The adaptation improves the pre-trained model for an actual food and heating system, thus giving more robust cooking control. In the following example, meat balls with initial core temperature of 12.8° C. and initial mass of 273.2 g (mass of each meat ball is ˜27.3 g) were heated in a Philips air fryer. The frying temperature was selected as 200° C. The model established as Eqs. (17) and (18) is used to predict the core temperature. The parameters of the model are pre-trained by frying meat balls in the air fryer,k=7.3880e-6a=4.6247e4 To introduce a discrepancy between the model and actual system, a certain error6was added to the parameter k (to increase by 20%). The core temperature and mass of the meat balls as predicted and as measured is shown inFIG.5. FIG.5plots the core temperature (degrees C.) on the left hand y-axis and the mass (g) on the right hand y-axis and the time on the x-axis. Plot50is the predicted mass, plot52is the actual mass, plot54is the predicted core temperature and plot56is the actual core temperature. This deliberate error means that the differences between predicted and actual core temperatures are very large. In order to correct this situation, the adaptive predictive method discussed above was employed. The parameter k was adapted according to Eq. (16) where the factor □ was taken to be 6.5e-12. The predicted core temperature with the adjusted value of k is shown inFIG.6. FIG.6also plots the core temperature (degrees C.) on the left hand y-axis and the mass (g) on the right hand y-axis and the time on the x-axis. Plot60is the predicted mass, plot62is the actual mass, plot64is the predicted core temperature and plot66is the actual core temperature. The prediction accuracy for core temperature is greatly improved (root-mean-square error before adaptive prediction: 5.9° C., root-mean-square error after adaptive prediction: 2.3° C.). FIG.7shows cooking method of the invention, incorporating the method of determining food core temperature. In step70, the user enters a food type to a user interface of the cooking device, and also a desired doneness level. In step72, either the user enters a starting temperature of the food, or else the cooking device may determine the initial food temperature, assuming it is constant throughout. In step74, the user puts the food in the cooking device and starts the cooking cycle. The mass and temperature are monitored over time in step76, optionally as well as any additional parameters, for example for the adaptive algorithm learning process. In step78, if the adaptive algorithm is used, the additional parameter is predicted (which may be the mass), and this additional parameter is measured. The model is updated if needed. In step80the core temperature is predicted based on the model or the updated model (if the adaptive algorithm is used). In step82, it is determined if the target core temperature is reached. If it is not, the cooking process continues (steps76,78,80) and if it is, the end cooking sequence takes place in step84. The invention is used to predict core temperature. However, it can additionally be used for food surface and volumetric temperature prediction for cooking control. It is of particular interest for cooking appliances using dry heating, such as ovens and air fryers, although it can also be used for oil fryers. The equations above provide only one possible basis for the algorithms, and other approximations and simplifications can lead to other algebraic solutions. These will not change the underlying inventive concept. The system makes use of a controller for implementing the model defining the algorithm (shown in the example above as a processor) and for controlling the cooking cycle. Components that may be employed for the controller include, but are not limited to, conventional microprocessors, application specific integrated circuits (ASICs), and field-programmable gate arrays (FPGAs). In various implementations, a processor or controller may be associated with one or more storage media such as volatile and non-volatile computer memory such as RAM, PROM, EPROM, and EEPROM. The storage media may be encoded with one or more programs that, when executed on one or more processors and/or controllers, perform at the required functions. Various storage media may be fixed within a processor or controller or may be transportable, such that the one or more programs stored thereon can be loaded into a processor or controller. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measured cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.

11857112

Corresponding reference numerals indicate corresponding parts throughout the several views of drawings. DETAILED DESCRIPTION The following description is merely exemplary in nature and is in no way intended to limit the present teachings, application, or uses. Throughout this specification, like reference numerals will be used to refer to like elements. Additionally, the embodiments disclosed below are not intended to be exhaustive or to limit the invention to the precise forms disclosed in the following detailed description. Rather, the embodiments are chosen and described so that others skilled in the art can utilize their teachings. As well, it should be understood that the drawings are intended to illustrate and plainly disclose presently envisioned embodiments to one of skill in the art, but are not intended to be manufacturing level drawings or renditions of final products and can include simplified conceptual views to facilitate understanding or explanation. As well, the relative size and arrangement of the components can differ from that shown and still operate within the spirit of the invention. As used herein, the word “exemplary” or “illustrative” means “serving as an example, instance, or illustration.” Any implementation described herein as “exemplary” or “illustrative” is not necessarily to be construed as preferred or advantageous over other implementations. All of the implementations described below are exemplary implementations provided to enable persons skilled in the art to practice the disclosure and are not intended to limit the scope of the appended claims. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms “a,” “an,” and “the” can be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms “comprises,” “comprising,” “including,” and “having,” are inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order discussed or illustrated, unless specifically identified as an order of performance. It is also to be understood that additional or alternative steps can be employed. When an element, object, device, apparatus, component, region or section, etc., is referred to as being “on,” “engaged to or with,” “connected to or with,” or “coupled to or with” another element, object, device, apparatus, component, region or section, etc., it can be directly on, engaged, connected or coupled to or with the other element, object, device, apparatus, component, region or section, etc., or intervening elements, objects, devices, apparatuses, components, regions or sections, etc., can be present. In contrast, when an element, object, device, apparatus, component, region or section, etc., is referred to as being “directly on,” “directly engaged to,” “directly connected to,” or “directly coupled to” another element, object, device, apparatus, component, region or section, etc., there can be no intervening elements, objects, devices, apparatuses, components, regions or sections, etc., present. Other words used to describe the relationship between elements, objects, devices, apparatuses, components, regions or sections, etc., should be interpreted in a like fashion (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. For example, A and/or B includes A alone, or B alone, or both A and B. Although the terms first, second, third, etc. can be used herein to describe various elements, objects, devices, apparatuses, components, regions or sections, etc., these elements, objects, devices, apparatuses, components, regions or sections, etc., should not be limited by these terms. These terms can be used only to distinguish one element, object, device, apparatus, component, region or section, etc., from another element, object, device, apparatus, component, region or section, etc., and do not necessarily imply a sequence or order unless clearly indicated by the context. Moreover, it will be understood that various directions such as “upper”, “lower”, “bottom”, “top”, “left”, “right”, “first”, “second” and so forth are made only with respect to explanation in conjunction with the drawings, and that components can be oriented differently, for instance, during transportation and manufacturing as well as operation. Because many varying and different embodiments can be made within the scope of the concept(s) herein taught, and because many modifications can be made in the embodiments described herein, it is to be understood that the details herein are to be interpreted as illustrative and non-limiting. As used herein, it will be understood that generally a phase change material (PCM) is a substance with a high heat of fusion that melts and solidifies at a certain temperature and is capable of storing and releasing large amounts of energy. Heat is absorbed or released when the PCM changes from solid to liquid and vice versa, thus, PCMs are often classified as latent heat storage (LHS) units. When PCMs reach the temperature at which they change phase (their melting temperature) they absorb large amounts of heat at an almost constant temperature. The PCM continues to absorb heat without a significant rise in temperature until all the material is transformed to the liquid phase. When the temperature of the environment surrounding the liquid PCM falls to below the PCM melting temperature, the PCM solidifies, releasing its stored latent heat into the surrounding environment. A large number of PCMs are available in any required temperature range, e.g., from approximately 20° F. to 375° F. (approximately from −7° C. up to 19° C.). Many PCMs can store 5 to 14 times more heat per unit volume than sensible heat of conventional storage materials such as water, masonry or rock. Referring now toFIGS.1through6C, generally the present disclosure provides a heat exchanging liquid container system10(e.g., a consumable beverage container or mug) that quickly conditions (e.g., changes the temperature of) a liquid (e.g., a consumable beverage) disposed therein to a temperature within a desired temperature range (e.g., a desired drinking temperature range) as the liquid is discharged from, or poured out of, the system10(e.g., as a consumable beverage is being consumed). It should be understood that although the container system10of the present disclosure can be used to condition and provide any liquid within a desired temperature range upon removal or dispensing of the liquid from the liquid/beverage reservoir42, and remain within the scope of the present disclosure, for simplicity and clarity the container system10will be illustrated and described herein as a beverage container system10used to condition and provide a consumable beverage within a desired drinking temperature range upon removal or dispensing of the beverage from the beverage reservoir42. In such embodiments, example desired drinking temperature ranges can be approximately 98° F. to 160° F. or 37° C. to 71° C. for hot beverages, and approximately 32° F. to 55° F. or 0° C. to 13° C. for cold beverages. Generally, the container system10comprises a main body14and a phase change material (PCM) module18disposed or disposable within the main body14and a beverage reservoir42defined within main body14and/or the PCM module18. In various instances, the PCM module18can be fixedly connected to the main body14, or in various alternative instances, the PCM module18can be a removable module removably disposed within the main body14. The main body14comprises at least one sidewall22and a bottom26that enclose the PCM module18and the beverage reservoir42. The liquid/beverage reservoir42is suitable for retaining various hot and/or cold liquids and beverages (e.g., coffee, tea, hot chocolate, soda, beer, water, etc.) having a first temperature. The main body14can be structured and formed to have generally any radial (or lateral) cross-sectional shape. For example, in various embodiments, the main body14can be structured and formed to have a cylindrical, square, oval, rectangular, triangular, etc., radial (or lateral) cross-sectional shape. The system10additionally includes at least one temperature conditioning channel62formed along a wall of and/or through the PCM module18and through which the beverage will flow when being dispensed. The PCM module18is a hollow body having a PCM cavity46that is structured to retain a desired PCM50that thermally contacts a beverage within the temperature conditioning channel(s)62such that thermal energy is exchanged between the beverage and the PCM50to dispense the beverage to a consumer at a temperature within a desired temperature range, as described below. It is envisioned that the PCM module18can be any one or more reservoir, bladder, compartment, cavity, container, housing, or other hollow structure that can be at least partially filled with the PCM50. Moreover, the PCM module18is structured and formed to be airtight and leak-tight such that any beverage (or other liquid) that may be disposed within beverage reservoir42and/or conditioning channel(s)62will not leak, migrate or otherwise enter the PCM cavity46, and similarly such that the PCM50will not leak, migrate or otherwise enter the beverage reservoir42and/or conditioning channel(s)62. The PCM module18can be fabricated of any material suitable for retaining hot and/or cold beverages (or liquids), e.g., beverages (or liquids) ranging from approximately 20° F. to 200° F., approximately −7° C. to 94° C. For example, it is envisioned that the PCM module18can be fabricated from stainless steel, glass, ceramics, suitable plastics, etc. The heat exchanging liquid container system10is structured and operable to condition a liquid (e.g., a consumable beverage) to within the desired temperature range (e.g., the desired drinking temperature range) for an extended period of time (e.g., 3 to 24 hours). The heat exchanging thermal liquid container system10additionally includes a lid or cap assembly66that is removable engageable with the main body14and/or the PCM module18to cover the top opening of the beverage reservoir42. The lid assembly66is structured and operable to prevent and/or inhibit the beverage disposed within the beverage reservoir42from readily flowing or splashing out of the beverage reservoir42, and to allow controlled dispensing of the beverage from the beverage reservoir42. Generally, the heat exchanging liquid container system10of the present disclosure is structured and operable such that when a person discharges or pours a beverage from the container system10(e.g., proceeds to consume the beverage), the beverage flows through the one or more temperature conditioning channels62, whereby heat is exchanged between the beverage and a phase change material, thereby instantly reducing or increases the beverage temperature to a temperature within the desired drinking temperature. For example, in various embodiments, the heat exchanging liquid container system10that is structured and operable to allow a person who desires to drink a hot liquid (e.g., a hot consumable beverage) that has a temperature higher than an upper limit of a desired drinking temperature (e.g., greater than 160° F./71° C.) to pour a hot beverage into the beverage reservoir42of the system10, whereafter the liquid can be consumed substantially instantly at a temperature within the desired drinking temperature range (e.g. 98° F. to 160° F. or 37° C. to 71° C.). More particularly, substantially immediately, or within a very short time (e.g., 1-30 seconds) after the hot beverage is poured into the beverage reservoir42, the beverage can be discharged or poured from the reservoir42, whereby as the hot beverage flows through one or more temperature conditioning channel62heat is extracted from beverage by a phase change material (as described below) substantially instantly reducing the beverage temperature to a temperature within the desired drinking temperature range. More specifically, when a beverage (e.g., a hot beverage such as coffee, is poured into or disposed within the beverage reservoir42), and when the beverage is dispensed through the conditioning channel(s)62, the thermal energy (i.e., the heat) from hot beverage is transferred (i.e., rejected to and absorbed by) the PCM50, causing the PCM50to change phase from a substantially solid form to a liquid form, whereby the PCM50stores the thermal energy (i.e., the heat). Note the PCM50is selected to have melting temperature that is within a desired drinking temperature range for the respective beverage. Therefore, when the hot beverage is poured into the beverage reservoir42, and when the beverage is dispensed through the conditioning channel(s)62, the PCM absorbs thermal energy (e.g., heat) from the hot beverage, such that the temperature of the hot beverage is reduced to the respective melting temperature of the respective PCM50(i.e., within the desired drinking temperature range). Thereafter, when the temperature of the beverage cools such that the temperature of the beverage in the beverage reservoir42is reduced to a temperature below the melting temperature of PCM50, the PCM50releases (i.e., rejects) the thermal energy (i.e., the heat) stored in the PCM50back into beverage to maintain the beverage at or near the melting temperature of the PCM50, and therefore within the desired drinking temperature range. That is, the heat stored in the PCM50is rejected to and absorbed by the beverage within the beverage reservoir42, and when the beverage is dispensed through the conditioning channel(s)62, thereby heating the beverage or maintaining the beverage within a particular desired drinking temperature range, or at an approximately steady or constant temperature, during which time the PCM50gradually changes from the liquid form back to the solid form. In this way, a hot beverage disposed within the beverage reservoir42can be quickly cooled down and dispensed having a temperature within the desired drinking temperature range (e.g., a temperature within the range of approximately 98° F. to 160° F., 37° C. to 71° C.), for many hours (e.g., approximately 1 to 15 hours). Similarly, in various other embodiments, the heat exchanging liquid container system10is further structured and operable to allow a person who desires to drink a cold or cool liquid (e.g., a cold or cool consumable beverage) that has temperature that is higher than an upper limit of a desired temperature (e.g., greater than 55° F./13° C.) to pour a beverage into the reservoir42, whereafter the liquid can be consumed substantially instantly at a temperature within the desired drinking temperature range (e.g., 32° F. to 55° F., 0° C. to 13° C.). More particularly, substantially immediately, or within a very short time (e.g., 1-30 seconds) after the beverage is poured into the beverage reservoir42, the beverage can be discharged or poured from the reservoir42, whereby as the beverage flows through the temperature conditioning channel(s)62heat is extracted from beverage by the phase change material (as described below) substantially instantly reducing the beverage temperature to a temperature within the desired drinking temperature. Additionally, the temperature conditioning channel62has a width W that is selected to regulate the volume and flow rate of beverage allowed to be dispensed, and additionally regulate the rate of thermal energy exchange between the beverage and the PCM50. As one skilled in the art will readily understand, the smaller the volume of beverage in thermal contact with the PCM50(i.e., the small the width W of the conditioning channel62) the higher the rate of thermal energy exchange between the beverage and the PCM50, and more specifically, the faster the temperature of beverage will be conditioned, or adjusted, to approximate the melting temperature of the PCM50. Referring now toFIGS.1,2A and2B, in various embodiments, the PCM module18is structured and formed to contact the sidewall(s)22of the main body14, and in various instances the bottom26of the main body14. In such embodiments, the PCM module18is a hollow body liner having at least one sidewall34, and in various instances a bottom38, that defines the beverage reservoir42. More particularly, the PCM module18is structured and formed to include an interior hollow space that defines the PCM cavity46which can be at least partially filled with any desired PCM50. In various embodiments, only the PCM module sidewall(s)34are structured and formed to define the PCM cavity46, such that only the PCM module sidewall(s) is/are fillable with the PCM50. While in other embodiments, the PCM module sidewall(s)34and bottom38are structured and formed to define the PCM cavity46and are fillable with the PCM50. In various embodiments, the main body14can be a hollow body structured and formed to include an interior hollow space that defines an insulation cavity54that can be at least partially filled with thermal insulation56. The thermal insulation56can be any suitable thermal insulation, for example, in various embodiments the insulation cavity54can be at least partially filled with any desired thermal insulating material, gas or liquid, or can be absent a material, gas or liquid. For example, in various instances, the insulation cavity54can be absent or void of air, or mostly absent or void of air (e.g., a vacuum or reduced air), or in other instances the insulation cavity54can be at least partially filled with fiberglass, polystyrene, polyurethane foam, cellulose, mineral wool, or any other presently and future known thermal insulation material. In such embodiments, the thermal insulating function provided by the thermal insulation56within insulation cavity54will reduce and retard the rejection of thermal energy (e.g., heat loss) from the PCM50to the ambient environment such that the PCM50will remain at its respective phase change temperature (also referred to herein as the melting temperature) for an extended period of time, as described below. In various embodiments, the system10can additionally comprise a flow director58disposed within the beverage reservoir42. The flow director58is generally a tubular structure (e.g., a cylindrical tube, a square tube, a hexagonal tube, etc.) that extends into the beverage reservoir42but does not contact the bottom38of the PCM module18. Additionally, the flow director58has a diameter that is smaller than the diameter of the sidewall34of the PCM module18such that the temperature conditioning channel62is formed therebetween. As will be readily understood by one skilled in the art, when the system10is tilted to dispense the beverage a beverage flow F will flow from within the reservoir42, through the channel62, and exit the conditioning channel62at an egress end62A. In operation, when the system10is tilted to dispense the beverage a flow F through the conditioning channel62is generated. Accordingly, the beverage flow F will flow from within the reservoir42, through the conditioning channel62thermally contacting the PCM50, and exit the conditioning channel62at an egress end62A. As one skilled in the art will readily understand, when the beverage flows through the conditioning channel62the beverage thermally contacts the PCM50within the PCM module18. More particularly, when the beverage is at a temperature that is greater than the melting point of the PCM50, as the beverage flows through the conditioning channel62thermal energy is transferred from the beverage to the PCM50(i.e., the PCM50absorbs thermal energy (heat) from the beverage), thereby cooling the beverage to a temperature within the desired temperature range. The PCM50stores the absorbed thermal energy. Conversely, when the beverage is at a temperature that is lower than the melting point of the PCM50, as the beverage flows through the conditioning channel62thermal energy stored in the PCM50is transferred from the PCM50to the beverage (i.e., the PCM50rejects the stored thermal energy (heat) and the beverage absorbs the stored thermal energy (heat) from the PCM50), thereby heating the beverage to a temperature within the desired temperature range. In this way, when the beverage exits the conditioning channel62, the beverage will have a temperature within the desired drinking temperature range (e.g., approximately 98° F. to 160° F., 37° C. to 71° C. for hot liquids, and 32° F. to 50° F., 0° C. to 10° C. for cold liquids). As one skilled in the art will readily understand, due to the volume of the beverage within the reservoir42(which includes the conditioning channels62) when the system10is in an upright orientation (i.e., the beverage is not being dispensed and not flowing through the conditioning channel62) the thermal energy exchange rate between the beverage and the PCM50(e.g., the rate of absorption of heat by the PMC50) will be slower than the thermal energy exchange rate between the beverage flowing through the conditioning channel62and the PCM50when the beverage is being dispensed. More specifically, when the system10is tilted to dispense the beverage, the beverage will begin to flow through the conditioning channel62flowing along the sidewall34of the PCM module18and thermally contacting the PCM50within the PCM module18. However, as described above, the width W of the conditioning channel62will regulate the volume and flow rate of beverage allowed to be dispensed, and additionally regulate the rate of thermal energy exchange between the beverage and the PCM50. As one skilled in the art will readily understand, the smaller the volume of beverage in thermal contact with the PCM50the higher the rate of thermal energy exchange, and more specifically, the faster the temperature of beverage will be conditioned, or adjusted, to approximate the melting temperature of the PCM50, Hence, the temperature of the beverage flowing through the conditioning channel62as it is being dispensed will be conditioned, or adjusted, to within the desired drinking temperature range much faster than when the beverage is static within the reservoir42and not being dispensed. (i.e., not flowing through the conditioning channel62). For example, in various instances, when the beverage is static within the reservoir42and not being dispensed, the volume of beverage actively exchanging thermal energy with the PCM (i.e., the total volume of beverage within the reservoir42) can be V and the thermal exchange rate between the beverage and the PCM50can be P. However, when the beverage is being dispensed and flowing through the conditioning channel62, the volume of the beverage within the conditioning channel62can be V/m (wherein, m can be 2, 3, 4, 5, 6, 7, 8 etc.), based on length L and the width W of the conditioning channel62, and the thermal exchange rate between the beverage flowing through the conditioning channel can be P×n ((i.e., P multiplied by n) wherein n can be 2, 3, 4, 5, 6, 7, 8 etc.). Hence, the conditioning channel62enhances the rate of thermal exchange between the beverage and the PCM50such that the beverage can be dispensed from the system10and consumed at a temperature within the desired temperature range (e.g., at or near the PCM melting temperature) substantially immediately after the beverage is disposed within the reservoir42. In various embodiments, the lid assembly66comprises a center plate70connected to a lip74via a plurality of spokes78that define a plurality of beverage egress openings82therebetween. In such embodiments, the flow director58can be connected to a center plate70. The egress opening82extend through the center plate70such that the beverage within the beverage reservoir42can be dispensed though the egress openings82for consumption by a user. As one skilled in the art would readily recognize, when the system10is tilted to dispense the beverage via the conditioning channel62the beverage will be dispensed through only certain ones of the egress openings82, and the remaining egress openings will serve as air hole(s) that allow air to be drawn into the beverage reservoir42as the beverage is dispensed, thereby providing a smooth flow of the beverage through the respective egress opening(s)82. In various other embodiments, the flow director58can be mounted (fixedly or removably) within the beverage reservoir42via any suitable manner and means for mounting (fixedly or removably) the flow director58within the beverage reservoir42. In various embodiments, the lid assembly66additionally includes a connection or retention collar86that extends from a bottom side of the center plate70and is structured and operable to removably engage with the container body14and/or the PCM module18in a substantially liquid-tight manner. For example, in various embodiments, the retention collar86can threadably and positively engage the body14and/or the PCM module18. Or, in other embodiments, the lid assembly66can comprise a seal or gasket, e.g., a rubber-like O-ring or any other type of liquid seal (not shown) disposed around or connected to an inner or outer face of the retention collar86such that the seal, and hence the retention collar86, is removably frictionally and/or compressively engageable with the body14and/or the PCM module18. Although the retention collar86is exemplarily shown as removably engageable with the interior surface of body14and/or a top surface of the PCM module18, it is envisioned that the retention collar86can be removably engageable with the interior surface of only the body14, or removably engageable with the interior surface of only the PCM module18, or removably engageable with the exterior surface of the body14, or removably engageable with any combination thereof. Referring now toFIGS.1,3A and3B, in various embodiments, the lid assembly66can comprise a center cover90that is integrally formed with a circumferential rim94, and the PCM module18is connected to an underside of the center cover90and is suspended into the main body14, whereby the beverage reservoir42is formed around and below the PCM module18between an outer surface of the PCM module18and an inner surface of the main body14. The PCM module18can be fixedly connected to the center cover90, or removably connected (e.g., threadingly connected) to the center cover90. In such embodiments the PCM module18comprises a hollow outer body98connected to the underside of the lid center cover90such that the PCM cavity46is defined by the outer body98and the underside of the lid center cover90. The PCM cavity46is at least partially filled with a PCM50having a selected/desired melting temperature. In such embodiments, the PCM module18additionally comprises a tubular beverage conduit102extending through the PCM module18(e.g., extending through the PCM module outer body98) and the lid center cover90such that the beverage conduit102is in thermal contact with the PCM50. Moreover, the beverage conduit102is hollow such that the temperature conditioning channel62is defined therethrough, which is in thermal contact with the PCM50. Additionally, in such embodiments, the system10comprises a user operable beverage flow controller106that is structured and operable to allow a user to control the flow of beverage through the conduit102, and hence through the conditioning channel62as the beverage is dispensed from the beverage reservoir42. The flow controller106is shown in a Closed position inFIG.3Aand in an Open position inFIG.3B. The flow controller106can be any system, mechanism or device structured and operable to prevent the flow of the beverage through the conditioning channel62(e.g., through the beverage conduit102) when in the Closed position and to allow the flow of the beverage through the conditioning channel62(e.g., through the beverage conduit102) when in the Open position. Additionally, the flow controller106can be any system, mechanism or device structured and operable to provide thermal insulation between the PCM50and the beverage within the reservoir42when in the Closed position to thereby prevent heat and/or cooling loss of the PCM50when the flow controller106is in the Closed position. In various instances of such embodiments, the PCM module outer body98can comprises a hollow body structured and formed to include an interior hollow space that defines an insulation cavity110that can be at least partially filled with insulation114. The insulation114can be any suitable insulation, for example, in various embodiments the insulation cavity110can be at least partially filled with any desired insulating material, gas or liquid, or can be absent a material, gas or liquid. For example, in various instances, the insulation cavity110can be absent or void of air or mostly absent or void of air (e.g., a vacuum or reduced air), or in other instances the insulation cavity110can be at least partially filled with fiberglass, polystyrene, polyurethane foam, cellulose, mineral wool, or any other presently and future known insulation material. In such embodiments, the insulating function provided by the insulation114within insulation cavity110will reduce and retard the rejection of thermal energy (e.g., heat loss) from the PCM50to beverage disposed within the beverage reservoir42such that the PCM will remain at its respective phase change temperature for an extended period of time. In operation, the beverage conduit102functions as a straw whereby a user can extract/draw the beverage from the beverage reservoir42, via the beverage conduit102, when the flow controller106is in the Open position. As will be readily understood by one skilled in the art, when the flow controller106is placed in the Open position, a user can draw the beverage from the beverage reservoir42by generating a suction at an egress end102A of the beverage conduit102, thereby generating a flow F through the conditioning channel62(e.g., though the beverage conduit102) from an ingress end102B of the beverage conduit102to the egress end102A. Accordingly, the beverage flow F will flow from within the reservoir42, through the conditioning channel62thermally contacting the PCM50, and exit the conditioning channel62at an egress end102A. As one skilled in the art will readily understand, when suction is generated at the egress end102A of the beverage conduit102the beverage will begin to flow through the conditioning channel62thermally contacting the PCM50within the PCM module18. More particularly, when the beverage is at a temperature that is greater than the melting point of the PCM50, as the beverage flows through the conditioning channel/beverage conduit62/102thermal energy is transferred from the beverage to the PCM50(i.e., the PCM50absorbs thermal energy (heat) from the beverage), thereby cooling the beverage to a temperature within the desired temperature range. The PCM50stores the absorbed thermal energy. Conversely, when the beverage is at a temperature that is lower than the melting point of the PCM50, as the beverage flows through the conditioning channel/beverage conduit62/102thermal energy stored in the PCM50is transferred from the PCM50to the beverage (i.e., the PCM50rejects the stored thermal energy (heat) and the beverage absorbs the stored thermal energy (heat) from the PCM50), thereby heating the beverage to a temperature within the desired temperature range. In this way, when the beverage exits conditioning channel/beverage conduit62/102, the beverage will have a temperature within the desired drinking temperature range (e.g., approximately 98° F. to 160° F., 37° C. to 71° C. for hot liquids, and 32° F. to 50° F., 0° C. to 10° C. for cold liquids). As described above, the temperature conditioning channel62has a width W that is selected to regulate the volume and flow rate of beverage allowed to be dispensed, and additionally regulate the rate of thermal energy exchange between the beverage and the PCM50. As one skilled in the art will readily understand, the smaller the volume of beverage in thermal contact with the PCM50(i.e., the small the width W of the conditioning channel62) the higher the rate of thermal energy exchange between the beverage and the PCM50, and more specifically, the faster the temperature of beverage will be conditioned, or adjusted, to approximate the melting temperature of the PCM50. In instances where the system10is utilized to provide beverages at a cooled/cold temperature (e.g., soda, water, tea, sports drinks, beer, etc.) the PCM50will be selected to have a low melting temperature such as 32° F. to 50° F., 0° C. to 10° C. In such instances, the PCM module18can be placed in an environment having a temperature at or below the respective melting temperature of the PCM50(e.g., in a refrigerated freezer) such that the PCM50obtains a temperature at or below the respective melting temperature. Thereafter, when it is desired to utilize the system10to provide a cooled/cold beverage, the beverage can be deposited into the beverage reservoir42at any temperature (e.g., room temperature, approx. 70° F./21° C.) and the PCM module18can be placed into the beverage reservoir42and secured in place via the lid66. Alternatively, in various instances, the PCM module18can be placed into the beverage reservoir42and secured in place via the lid66, whereafter the beverage can be deposited into the beverage reservoir42at any temperature (e.g., room temperature, approx. 70° F./21° C.). Substantially, immediately thereafter the beverage can be drawn through the conditioning channel/beverage conduit62/102, as described above, whereby the beverage having a temperature above the melting temperature of the PCM50(e.g., room temperature) is quickly cooled to, and dispensed at, a temperature within the desired temperature range. Moreover, due to the insulation114within the insulation cavity110of the PCM module outer body98, the temperature of the beverage within the beverage reservoir42will remain substantially at the temperature at which it was deposited into the beverage reservoir42(e.g., room temperature), and will not exchange thermal energy with the PCM50until the beverage is drawn through the conditioning channel/beverage conduit62/102, as described above. Referring now toFIGS.1,4A and4B, in various embodiments, the container system10described above with regard toFIGS.1,3A and3Bcan further comprise one or more heat sink118disposed within the PCM cavity46. More particularly, the heat sink(s)118is/are disposed within the PCM cavity46and physically connected to, or in physical contact with, the beverage conduit102(and hence the conditioning channel62), and therefore is/are also in thermal contact with the beverage conduit102(and hence the conditioning channel62). Furthermore, the heat sink(s)118is/are in physical and thermal contact with the PCM50disposed within the PCM cavity46. As one skilled in the art will readily understand, due to the physical and/or thermal connection or contact of the heat sink(s)118to/with the conditioning channel/beverage conduit62/102, and with the PCM50, the heat sink(s)118function to increase the rate of thermal exchange between the beverage flow F flowing through the conditioning channel/beverage conduit62/102and the PCM50. More specifically, as one skilled in the art will readily understand, as the beverage flows through the conditioning channel/beverage conduit62/102the outer wall of the beverage conduit102prevents the beverage from physically contacting the PCM50. Therefore, the thermal exchange between the beverage flowing through the condition channel62occurs via, or through, the outer wall of the beverage conduit102. That is, thermal energy from the beverage is extracted by, or transmitted to, the beverage conduit outer wall, whereafter the thermal energy is extracted by, or transmitted to the PCM50, and vice-versa. Therefore, since the heat sink(s)118are physically and thermally connected to or in contact to/with the conditioning channel/beverage conduit62/102, and with the PCM50, thermal energy from the beverage is extracted by, or transmitted to, the beverage conduit outer wall and the heat sink(s)118, whereafter the thermal energy is extracted by, or transmitted to the PCM50, and vice-versa. Hence, as one skilled in the art will readily understand, the heat sink(s)118will increase the thermal exchange rate between the beverage and the PCM50, and therefore, increase the rate at which the temperature of the beverage flow F flowing through the conditioning channel/beverage conduit62/102is conditioned or adjusted to be within the desire temperature range. Referring now toFIGS.1,5A and5Bin various embodiments, the container system10described above with regard to any one or more ofFIGS.1,3A,3B,4A and/or4Bcan further comprise a center rod122disposed within the conditioning channel/beverage conduit62/102. The center rod122can have any length that is shorter than or equal to the length of the beverage conduit102, for example, the center rod can have a length that is approximately as long as a length of the PCM cavity46. Generally, the center rod122is structured and operable to consume space within at least the portion of the beverage conduit that extends through the PCM cavity46, such that the size of the conditioning channel62is reduced, thereby reducing the volume of the beverage flow F flowing through the conditioning channel/beverage conduit62/102. As described above, and as one skilled in the art will readily understand, reducing the volume of the beverage flow F flowing through the conditioning channel/beverage conduit62/102will increase the rate of thermal exchange between the beverage and the PCM50, and hence, the rate at which the temperature of the beverage flow F flowing through the conditioning channel/beverage conduit62/102is conditioned or adjusted to be within the desire temperature range. Therefore, the beverage can be dispensed and consumed at a temperature within the respective desired beverage temperature range substantially immediately after the beverage is disposed within the beverage reservoir42. It is envisioned that in various embodiments, the center rod122can be a heat transfer capacitor, a heat pipe, or a heat transfer device structured and operable to increase the rate of thermal exchange between the beverage and the PCM50, and hence, the rate at which the temperature of the beverage flow F flowing through the conditioning channel/beverage conduit62/102is conditioned or adjusted to be within the desire temperature range. Referring now toFIGS.1,6A,6B and6Cin various embodiments, the container system10described above with regard to any one or more ofFIGS.1,3A,3B,4A,4B,5A and/or5Bcan further comprise a beverage reservoir direct flow outlet126. The direct flow outlet126is fluidly connected to the beverage reservoir42such that the beverage can be disposed into the beverage reservoir42therethrough, and subsequently, the beverage disposed therein can be dispensed without flowing though the conditioning channel/beverage conduit62/102. Particularly, the direct flow outlet126is structured and operable provide a flow path for a flow F2of the beverage for dispensing the beverage disposed within liquid reservoir42without flowing through the temperature conditioning channel62such that the liquid can be dispensed at the temperature at which the beverage has within the beverage reservoir42. More particularly, when it is desired to dispense the beverage from the beverage reservoir without conditioning (adjusting) the temperature of the beverage via the conditioning channel/beverage conduit62/102, as described above, the system10can be tilted such that the flow F2of the beverage is generated and is dispensed from the beverage reservoir42via the direct flow outlet126. Hence, in such embodiments, the system10can provide a two temperature beverage dispensing system, whereby the beverage can be selectably dispensed via the direct flow outlet126at a temperature of the beverage within the reservoir42(e.g., an unconditioned temperature), or via the conditioning channel/beverage conduit62/102at a temperature within the desired temperature range (as dictated by the melting temperature of the respective PCM50). For example, if the beverage disposed within the beverage reservoir42has a temperature of approximately 72° F./21° C., and the PCM50within the PCM module18is selected to have a melting temperature of 32° F./0° C., thereby providing a desired temperature range of 32° F./0° C. to 41° F./5° C., the system10can be tilted to dispense the beverage via the direct flow outlet126at a temperature of 72° F./21° C., and also the beverage can be drawn from the beverage reservoir42and though the conditioning channel/beverage conduit62/102, whereby the 72° F./21° C. beverage is conditioned as described above and dispensed from beverage conduit102at a temperature between 32° F./0° C. and 41° F./5° C. In various embodiments, the system10can further comprise a direct flow outlet lid or cap130that is removably connectable to the direct flow outlet126to control the beverage flow F2from the direct flow outlet126(e.g., to open and close the direct flow outlet126). In various embodiments, all or any of the systems and components of the heat exchanging liquid container system10described herein can be combined with one or more of the systems and components of a thermal liquid container system described in U.S. patent application Ser. No. 15/803,977, titled Heat Exchanging Thermal Liquid Container, filed Nov. 6, 2017, the disclosure of which is incorporated herein by reference in its entirety. The description herein is merely exemplary in nature and, thus, variations that do not depart from the gist of that which is described are intended to be within the scope of the teachings. Moreover, although the foregoing descriptions and the associated drawings describe example embodiments in the context of certain example combinations of elements and/or functions, it should be appreciated that different combinations of elements and/or functions can be provided by alternative embodiments without departing from the scope of the disclosure. Such variations and alternative combinations of elements and/or functions are not to be regarded as a departure from the spirit and scope of the teachings.

11857113

DETAILED DESCRIPTION OF THE EMBODIMENTS The present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the disclosure are shown. This present disclosure may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this present disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art. Certain terms are used throughout the description and following claims to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This document does not intend to distinguish between components that differ in name but function. In the following description and in the claims, the terms “include/including” and “comprise/comprising” are used in an open-ended fashion, and thus should be interpreted as “including but not limited to”. “Substantial/substantially” means, within an acceptable error range, the person skilled in the art may solve the technical problem in a certain error range to achieve the basic technical effect. The following description is of the best-contemplated mode of carrying out the disclosure. This description is made for the purpose of illustration of the general principles of the disclosure and should not be taken in a limiting sense. The scope of the disclosure is best determined by reference to the appended claims. Moreover, the terms “include”, “contain”, and any variation thereof are intended to cover a non-exclusive inclusion. Therefore, a process, method, object, or device that includes a series of elements not only includes these elements, but also includes other elements not specified expressly, or may include inherent elements of the process, method, object, or device. If no more limitations are made, an element limited by “include a/an . . . ” does not exclude other same elements existing in the process, the method, the article, or the device which includes the element. FIG.1is a perspective view of a coffee bean grinder of the present disclosure.FIG.2is a cross-sectional view along line A-A′ ofFIG.1.FIG.3is a schematic exploded view of a part of the coffee bean grinder of the present disclosure. As shown in the figures, in this embodiment, a coffee bean grinder1is provided, which comprises a housing assembly11, a shaft component13, and a securing member15. The housing assembly11comprises a housing111, a bearing component112, and an outer grinding member113, where the bearing component112and the outer grinding member113are disposed in the housing111, and the outer grinding member113is disposed below the bearing component112. The shaft component13is assembled in the housing111and comprises a shaft member131, an inner grinding member132, and an elastic member133. One end of the shaft member131comprises a connecting shaft1311and a shaft cap1312. The shaft cap1312is disposed at the connecting shaft1311. An outer diameter of a bottom end of the shaft cap1312is greater than an outer diameter of the connecting shaft1311. The inner grinding member132is disposed at the other end of the shaft member131. One end of the shaft member131passes through the elastic member133and the bearing component112in order. The elastic member133is disposed between the inner grinding member132and the bearing component112, and two ends of the elastic member133support the inner grinding member132and the bearing component112, respectively. The inner grinding member132and the outer grinding member113are correspondingly disposed, and a grinding gap G exists between the inner grinding member132and the outer grinding member113. The shaft member131drives the inner grinding member132to rotate relative to the outer grinding member113. The coffee beans are ground by the cooperating operation of the inner grinding member132and the outer grinding member113. When the coffee beans are ground, the coffee powder is discharged through the grinding gap G. An accommodating space110exists between the housing111and the bearing component112, and the accommodating space110is in communication with the grinding gap G. A inclined grinding surface1321of the inner grinding member132is opposite to an annular grinding surface1131of the outer grinding member113with a grinding gap G therebetween. The inclined grinding surface1321of the inner grinding member132comprises a first grinding surface1322and a second grinding surface1323. The first grinding surface1322is disposed above the second grinding surface1323. A grinding pattern of the second grinding surface1323has a greater pattern density than a grinding pattern of the first grinding surface1322. So, when the coffee beans are put into the accommodating space110, they would be roughly ground by the first grinding surface1322of the inclined grinding surface1321and the annular grinding surface1131at first, then would be further finely ground by the second grinding surface1323of the inclined grinding surface1321and the annular grinding surface1131. FIG.4is another schematic exploded view of a part of the coffee bean grinder of the present disclosure. As shown in the figure, in this embodiment, the securing member15comprises a body150, a securing hole151, and a securing groove152. An opening shape of the securing hole151and an opening shape of the securing groove152are identical to the shape of a shoulder13120provided at the bottom end of the shaft cap1312. The securing groove152is disposed at the body150. The securing hole151penetrates the body150corresponding to a position of the securing groove152. An opening angular position of the securing groove152on a surface of the body150is different from an opening angular position of the securing hole151on a surface of the body150. Wherein the shape of the opening of the securing hole151, the shape of the opening of the securing groove152, and the shape of a periphery of the shoulder13120of the shaft cap1312are polygonal, for example, hexagon, pentagon, quadrilateral, or triangle, but it should not be limited thereto, where the above-mentioned shapes can be selected and adjusted according to requirements. The shape of components in this embodiment is hexagonal as an example. The opening of the securing groove152and the opening of the securing hole151are hexagonal. The securing groove152and the securing hole151are overlapped and disposed on the securing member15. The opening angular position of the securing groove152is different from the opening angular position of the securing hole151, that is, the opening of the securing groove152is co-center with the opening of the securing hole151, but one of the two hexagonal openings is deflected form another. In other words, the securing groove152and the securing hole151overlap at the center part. When the securing grooving152is deflected from the securing hole151at same axial center position, corners of the opening of the securing groove152and corners of the securing hole would be misaligned and do not overlap, i.e., the corners of the opening of the securing groove152correspond to an outer side of an edge of the opening of the securing hole151, and the corners of the opening of the securing hole151correspond to an outside of a side edge of the opening of the securing groove152. Moreover, when the securing hole151penetrates the securing member15and a bottom of the securing groove152and when the securing hole151penetrates a part of the bottom of the securing groove152, an area of the securing groove152that is not penetrated by the securing hole151(i.e., the corners of the opening of the securing groove152) would still comprise the bottom of the securing groove152as the shoulder13120for supporting the shaft cap1312. FIG.5depicts a first step of a securing action of a securing member secured to a shaft member of the present disclosure. As shown in the figure, in this embodiment, during assembling, the securing hole151of the securing member15corresponds to the shape of the periphery of the shoulder13120of the shaft cap1312, so that the connecting shaft1311of the shaft member131and the shaft cap1312could pass through the securing hole151of the securing member15. Wherein the dotted lines inFIG.5show a schematic range of the opening area of the securing hole151, and also indicate an area where the shaft cap1312and the connecting shaft1311passing upward through the securing hole151of the securing member15. FIG.6depicts a second step of the securing action of the securing member secured to the shaft member of the present disclosure. As shown in the figure, in this embodiment, when the connecting shaft1311and the shaft cap1312pass through the securing hole151of the securing member15correspondingly, the securing member15would press downward against the bearing component112of the housing assembly11(seeFIG.2), so that the bearing component112of the housing assembly11could press downward against the elastic member133, and the height of the shoulder13120of the shaft cap1312is disposed above the opening of the securing hole151of the securing member15, that is, the connecting shaft1311is disposed in the securing hole151of the securing member15. FIG.7depicts a third step of the securing action of the securing member secured to the shaft member of the present disclosure. As shown in the figure, in this embodiment, a diameter of the securing hole151of the securing member15is greater than an outer diameter of the connecting shaft1311, so the securing member15can be rotated from an angle at which the opening of the securing hole151corresponding to the shoulder13120of the shaft cap1312to an angle at which the opening of the securing groove152corresponding to the shoulder13120of the shaft cap1312. That is, the corners of the shoulder13120of the shaft cap1312could correspond to positions above the corners of the securing grooves152having the bottom. Wherein the dotted lines shown inFIG.7draw a schematic rame of the opening area of the securing groove152. FIG.8depicts a fourth step of the securing action of the securing member secured to the shaft member of the present disclosure. As shown in the figure, in this embodiment, when assembled, an external force of the securing member15pushing down the bearing component112of the housing assembly11can be released, so that the elastic member133would be no longer under pressure. The elastic member133then restores the elastic force to upwardly support the bearing component112of the housing assembly11, so that the bearing component112could upwardly support the securing member15, the shoulder13120of the shaft cap1312could be embedded in the securing groove152, and the bottom of the securing groove152could support the corners of the shoulder13120. In this way, the securing member could be secured between the shaft cap1312and the bearing component112. Back toFIG.3, the bearing component112comprises a bearing part1121, a first ball bearing1122, and a second ball bearing1123. A bottom of the bearing part1121comprises a lower bearing groove1124, and a top of the bearing part1121comprises an upper bearing groove1125. The bearing part1121comprises a shaft hole1126interconnected with the lower bearing groove1124and the upper bearing groove1125. The first ball bearing1122is disposed in the lower bearing groove1124, and the second ball bearing1123is disposed in the upper bearing groove1125. The shaft member131penetrates the first ball bearing1122, the shaft bearing part1121, and the second ball bearing1123. The first ball bearing1122and the second ball bearing1123are secured to the shaft member131. So, a rotational friction force of the shaft member131relative to the bearing part1121of the bearing component112can be reduced. Besides, the shaft component13further comprises a collar134that is sleeved on the shaft member131. The collar134is disposed between the elastic member133and the bottom of the bearing component112. The collar134could improve the supporting stability for one end of the elastic member133. FIG.9is yet another schematic exploded view of a part of the coffee bean grinder of the present disclosure. As shown in the figure, in this embodiment, an adjusting component17is further provided, which comprises an adjusting member171, a plurality of driving rods172, and a rotating ring173. An outer side of a bottom of the adjusting member171comprises an external thread1713, and an inner side of the upper bearing groove1125comprises an internal thread1127. The external thread1713at the bottom of the adjusting member171can be screwed with the internal thread1127inside the upper bearing groove1125. The adjusting member171supports the securing member15from below, a periphery of a top of the adjusting member171comprises a toothed ring1711, the rotating ring173is rotatably disposed on the housing assembly11, the plurality of driving rods172are disposed at the rotating ring173, and the driving rods172are respectively engaged with the toothed ring1711. Wherein the rotating ring173drives the driving rods172to rotate, and the driving rods172are linked with the toothed ring1711to drive the adjusting member171to rotate to rise or descend relative to the upper bearing groove1125. Referring toFIG.2again, when the adjusting member171rotates and rises, it would support the securing member15to lift upward, and meanwhile, the securing member15would pull the shaft member131upwardly, the inner grinding member132of the shaft member131would compress the elastic member133along a direction towards the bearing component112, and the inclined grinding surface1321of the inner grinding member132of the shaft member131would move close to the annular grinding surface1131of the outer grinding member113of the housing assembly11to reduce the grinding gap G. In this way, when the particle size of ground coffee powder is smaller than the grinding gap G, the coffee powder would fall out from the grinding gap G, so the particle of the ground coffee powder can be controlled in a limited size. Wherein,FIG.2shows that when the adjusting member171rotates and rises to the highest position, the bottom of the inclined grinding surface1321of the inner grinding member132of the shaft member131would abut against the bottom of the annular grinding surface1131of the outer grinding member113of the housing assembly11, so the grinding gap G would be closed. When the adjusting member171rotates and descends, it would support the securing member15to move downward, the securing member15would no longer act on the shaft member131, and meanwhile, the inner grinding member132of the shaft member131would no longer compress the elastic member133in a direction toward the bearing component112. In other words, the elastic restoring force of the elastic member133can push the inner grinding member132downwardly and drives the shaft member131to move downward, and the inclined grinding surface1321of the inner grinding member132would be separated from the annular grinding surface1131of the outer grinding member113of the housing assembly11to increase the grinding gap G. In this way, the ground coffee bean powder would be coarse particles. Besides, the adjusting component17further comprises a third ball bearing174, the adjusting member171comprises a recess1712, the third ball bearing174is disposed in the recess1712, and the securing member15is disposed on the third ball bearing174. The third ball bearing174also penetrates the shaft member131. So, the third ball bearing174can be used to reduce the rotational friction force between the securing member15and the adjusting member171. Furthermore, an outer side of a top of the housing assembly11comprises a plurality of bumps114, and an inner side of the rotating ring173comprises a plurality of notches1731. The bumps114correspond to the notches1731, and are disposed on rotation paths of the notches1731of the rotating ring173. During the rotation of the rotating ring173, the vibration and sound of the bumps114moving into or out of the notches1731can be clearly felt and heard. Wherein, an outer surface of the rotating ring173is labeled with numbers, so during rotation, the grinding gap G can be adjusted by adjusting the rotating distance by turning the numbers and scales labeled on the rotating ring173. Moreover, the outer side of the top of the housing assembly11is labeled with a zero mark115between the two bumps114. By rotating the adjusting member171to the highest position, the inner grinding member132of the shaft member131can be raised to the highest position. When the grinding gap G is in a closed state, rotate the number or the zero point of the scale on the outer surface of the rotating ring173to the position corresponding to the zero mark115for assembling. In this way, users could see that the grinding gap G of the coffee bean grinder1is at the zero point of the closed state. Regarding the adjustment of the grinding gap G, it can be adjusted to a desired gap distance by turning the rotating ring173to a certain point of the scale in correspondence with the desired gap distance by taking the zero mark115as reference point. FIG.10is yet another schematic exploded view of a part of the coffee bean grinder of the present disclosure. As shown in the figure, in this embodiment, a handling component19is further provided. The handling component19comprises a pivoting member191, a handling rod192, and a handling knob193. The pivoting member191is disposed at one end of the handling rod192, the handling knob193is disposed at the other end of the handling rod192, and the pivoting member191is assembled on the shaft cap1312. Besides, the shaft cap1312comprises a slot1313, the pivoting member191is embedded in the shaft cap1312, and the shaft cap1312and the pivoting member191are magnetic members, which are mutually magnetically attracted for assembling and securing. Besides, a covering component21is further provided, which comprises a support211and a cover212. The support211is assembled on the shaft cap1312, the cover212is assembled on the support211, and the cover212covers and is disposed above of the accommodating space110. In addition, an accommodating member23is further provided, comprises an accommodating groove231corresponding to an outlet of the grinding gap G, and the accommodating member23collects the ground coffee powder. FIG.11is a perspective view showing a connecting condition of the coffee bean grinder to a motor mechanism of the present disclosure. As shown in the figure, in this embodiment, a motor mechanism25is further provided, which is connected to the shaft member131and can drive the shaft member131to rotate. The shaft member131drives the inner grinding member132to rotate relative to the outer grinding member113for motored coffee bean grinding, where the motor mechanism25can be a motor or any driving element. The motor mechanism25can be at least the base described in another Taiwanese patent (application number: 111203945) filed by the applicant of this disclosure, where the base is connected to a shaft member131through a drive shaft of the first assembling part, as long as the length and structural configuration of the drive shaft is in coordination with the overall shape and size of the coffee bean grinder of the present disclosure. In summary, embodiments of the present disclosure provide a coffee bean grinder, comprising a housing assembly, a shaft component, and a securing member, where the shaft component is assembled in the housing assembly. When a coffee bean grinding complex is formed by the inner grinding member of the shaft component and the outer grinding member of the housing assembly, the shaft component and the housing assembly can be easily assembled and secured through the structural configuration of the securing member, and also through which, the shaft component and the housing assembly can also be disassembled for cleaning and maintenance after grinding operation. It is to be understood that the term “comprises”, “comprising”, or any other variants thereof, is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device of a series of elements not only comprise those elements but further comprises other elements that are not explicitly listed, or elements that are inherent to such a process, method, article, or device. An element defined by the phrase “comprising a . . . ” does not exclude the presence of the same element in the process, method, article, or device that comprises the element. Although the present disclosure has been explained in relation to its preferred embodiment, it does not intend to limit the present disclosure. It will be apparent to those skilled in the art having regard to this present disclosure that other modifications of the exemplary embodiments beyond those embodiments specifically described here may be made without departing from the spirit of the disclosure. Accordingly, such modifications are considered within the scope of the disclosure as limited solely by the appended claims.

11857114

Description of numerals in the drawings:1—handle;11—first housing;12—second housing;121—insertion port;122—first bearing mounting slot;123—second bearing mounting slot;2—barbecue fork;20—fork head;21—locking mechanism;211—open slot;212—connection slot;213—bulge;22—telescopic rod;3—driving system;31—motor;32—circuit board;33—battery;34—button;4—linkage mechanism;41—rotating sleeve;42—bolt;5—first bearing;6—second bearing. DESCRIPTION OF THE EMBODIMENTS The present disclosure will be described in detail below with reference to the drawings and in conjunction with embodiments. The various examples are provided by way of explanation of the present disclosure rather than limitation to the present disclosure. Indeed, it will be apparent to those skilled in the art that modifications and variations may be made in the present disclosure without departing from the scope or spirit of the present disclosure. For example, features shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. It is therefore desirable that the present disclosure encompass such modifications and variations falling within the scope of the appended claims and their equivalents. In the description of the present disclosure, the terms “longitudinal”, “transverse”, “up”, “down”, “front”, “back”, “left”, “right”, “perpendicular”, “horizontal”, “top”, “bottom” and the like denote orientation or positional relationships based on those shown in the drawings and are merely intended to describe the present disclosure conveniently rather than requiring that the present disclosure must be constructed and operated in a particular orientation, and therefore, they cannot be construed as limitations to the present disclosure. The terms “joint”, “connect” and “set” used in the present disclosure should be understood in a broad sense, for example, which may refer to a fixed connection or a detachable connection; which may refer to a direct connection or an indirect connection through intermediate components; which may refer to a wired electrical connection, a radio connection, or a wireless communication signal connection, and the specific meanings of the above terms may be understood by those of ordinary skill in the art according to a specific situation. One or more examples of the present disclosure are shown in the drawings. The detailed description uses numeric and alphabetic markers to refer to features in the drawings. Similar or like reference signs in the drawings and descriptions have been used to refer to similar or like parts of the present disclosure. As used herein, the terms “first”, “second” and “third” and the like are used interchangeably to distinguish one member from another and are not intended to denote the location or importance of individual members. As shown inFIGS.1to8, according to the embodiment of the present disclosure, provided is a hand-held electric barbecue device, including a handle1, where the handle1is provided with a barbecue fork2and is internally provided with a driving system3and a linkage mechanism4, the barbecue fork2is detachably connected to the linkage mechanism4, and the linkage mechanism4is in drive connection to an output end of the driving system3, so that the barbecue fork2is in drive connection to the driving system3through the linkage mechanism4, and the driving system3may control the rotating state and speed of the barbecue fork2. Specifically, the linkage mechanism4includes a rotating sleeve41and a bolt42, and the bolt42is fixedly arranged at one end inside the rotating sleeve41in a diameter direction of the sleeve. The barbecue fork2includes a fork head20, where a connecting end of the fork head20is fixedly connected to a locking structure21, the fork head20is inserted into the rotating sleeve41after being fixedly connected to the locking mechanism21, and the locking mechanism21is detachably connected to the rotating sleeve41through the bolt42. Specifically, a diameter of the other end of the locking mechanism21is provided with an open slot211in an axial direction, the locking mechanism21is located at the bottom of the open slot211to clockwise rotate at a certain angle in a circumferential direction around an axis of the locking mechanism21, thus forming a connection slot212; the connection slot212is in communication with and perpendicular to the open slot211, and widths of the open slot211and the connection slot212fit a diameter of the bolt42, so that the bolt42is capable of entering the bottom of the open slot211. The bolt42clockwise rotates to the interior of the connection slot212after entering the bottom of the open slot211, which enables the locking mechanism21and the rotating sleeve41to be limited in an axial direction. When the bolt42rotates away from the connection slot212anticlockwise, and then enters the open slot211, the locking mechanism21may be pulled out of the rotating sleeve41in an axial direction, thus changing the different barbecue forks2. In the embodiment, a food connecting end of the fork head20is of a U shape structure. The fork head20may be also of a single straight rod structure or a tree structure with multiple branches, which facilitates roasting of many kinds of food at one time. Hence, a user may change the fork head according to his/her needs. There are many shapes of food connecting ends of the fork head20, which will not be discussed in full details here. Further, a bulge213is arranged on a slot wall of the connection slot212at an intersection between the connection slot212and the open slot211, and a width between the bulge213and each of opposite inner walls of the connection slot212is less than the diameter of the bolt42; and the bolt42may enter the connection slot212by virtue of elastic deformation of the locking mechanism21, so that the bolt42is locked in the connection slot212through the bulge213, thus locking the locking mechanism21and the rotating sleeve41in a circumferential direction. Specifically, the driving system3includes a motor31, where an output end of the motor31is provided with a D-shaped shaft, and an end part of the rotating sleeve41is connected to the D-shaped shaft of the output end of the motor31; and the rotating sleeve41is driven by the motor31to rotate, thus driving the fork head of the barbecue fork2to rotate, which enables the food on the barbecue fork2to turn over to be heated evenly. The driving system3further includes a circuit board32and a battery33, where the motor31, the circuit board32and the battery33are electrically connected, one side of the circuit board32is further provided with a button34, configured to switch on and off states of the motor31and a rotating speed of the motor31. In the embodiment, the motor31may be set to rotate forward or backward. When the direction in which the bolt42is driven by the motor31to rotate is the same as the arrangement direction of the connection slot212, the barbecue fork2will not fall off automatically during use. When the direction in which the bolt42is driven by the motor31to rotate is opposite to the arrangement direction of the connection slot212, a torque generated by the motor21at the bolt42is not enough to support the bolt42to cross the bulge213. Therefore, the barbecue fork2will not fall off automatically. Further, the handle1includes a first housing11and a second housing12, where the first housing11is detachably connected to the second housing12, and one end of the second housing12is provided with an insertion port121, which enables the barbecue fork2to be inserted into the handle1; the second housing12is internally provided with a first bearing mounting slot122and a second bearing mounting slot123corresponding to a linear direction of the insertion port121, the first bearing mounting slot122and the second bearing mounting slot123are internally provided with a first bearing5and a second bearing6, respectively, the inner diameters of the first bearing5and the second bearing6fit an outer diameter of the rotating sleeve41, and the rotating sleeve41is arranged in the second housing12through the first bearing5and the second bearing6to facilitate the rotation of the rotating sleeve41. Further, to conveniently store and carry the hand-held electric barbecue device, a telescopic rod22is arranged between the fork head20and the locking mechanism21, a connecting end of the fork head20is fixedly connected to an innermost rod body of the telescopic rod22, an end part of an outermost rod body of the telescopic rod22is fixedly connected to the locking mechanism21, and the fork head20is detachably connected to the rotating sleeve41through the telescopic rod22and the locking mechanism21. From the above description, it can be seen that the above embodiment of the present disclosure achieves the following technical effects: 1. The barbecue fork2is rotatably connected to the driving system3through the linkage mechanism4, the barbecue fork2rotates following the output end of the driving system3, which enables the food to be turned automatically during roasting so as to prevent the taste from being affected as the food is burnt on account of forgetting to turn. 2. The linkage mechanism4includes the rotating sleeve41and the bolt42, the bolt42is transversely inserted and secured inside the rotating sleeve41, the end part of the locking mechanism21is provided with the open slot211and the connection slot212, the rotating sleeve41is switched by the bolt42at the open slot211or the connection slot212, so the locking mechanism21and the rotating sleeve41are switched in a locked manner in an axial direction, which facilitates the change of different barbecue forks2. 3. The bulge213is arranged at an edge of an intersection between the connection slot212and the open slot211; when the bolt42rotates inward the connection slot212, the bolt42may enter the connection slot212by virtue of elastic deformation of the locking mechanism21, so that the bolt42is locked inside the connection slot212through the bulge213, thus locking the locking mechanism21and the rotating sleeve41in a circumferential direction. 4. The telescopic rod22is arranged between the fork head20and the locking mechanism21, and the length of the hand-held electric barbecue device is shortened by means of a telescopic function of the telescopic rod22, so that the hand-held electric barbecue device is convenient to store and carry. Compared with the prior art, the hand-held barbecue device turns automatically to prevent the taste of food from being affected as the food is unevenly heated due to untimely turning; and meanwhile, the different types of barbecue forks can be changed according to user's needs. Hence, the hand-held electric barbecue device is convenient to use, store and carry. The foregoing is merely a preferred embodiment of the present disclosure and is not intended to limit the present disclosure which may be subject to various modifications and variations to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present disclosure shall be included in the scope of protection of the present disclosure.

11857115

DETAILED DESCRIPTION Referring now toFIGS.1-3, views of cookware100are shown, according to some embodiments. The cookware100is shown as including a pan102and a handle104coupled to the pan102. The handle104includes a shaft106and a grip108coupled to the shaft106. The shaft106includes a proximal end110mating with, adjacent, etc. the cookware100with an opposite, distal end112of the shaft106received in the grip108. As shown inFIGS.1-3, the cookware100includes the pan (e.g., frying pan)102. In other embodiments, the cookware100can include any type of pan, pot, skillet, griddle, other cooking vessel, etc. The pan102is configured for cooking of food, for example by placing the food in the pan102and placing the cookware100(i.e., the pan102) on a cooktop, stovetop, grill, or other heat or energy source. In some embodiments, the pan102is made of an inductive material such that the cookware100is adapted for use with an induction cooktop. As shown, the pan102includes a curved wall114extending upwards from a base surface116to a lip118. The proximal end110of the shaft106is curved to match a contour of the curved wall114of the pan102such that the proximal end110of the shaft106facilitates coupling of the shaft106to the pan102at the curved wall114. In the example shown, the proximal end110of the shaft106includes wings, fins, tabs, extensions, widening, etc. which provides an increased surface area (relative to the shaft106at other areas of the shaft106) for attachment between the curved wall114and the shaft106. The proximal end110of the shaft106is further shown as including holes120, which can accommodate rivets, bolts, or other fasteners coupling the shaft106to the pan102. Additionally or alternatively, welding, adhesive, etc. may be used to couple the shaft106to the pan102. In some embodiments, the shaft and the pan102are integrally formed (e.g., cast as a unitary structure). The handle104is thereby configured to enable a user to manipulate (e.g., pick up, move, turn, etc.) the pan102. The handle104can be made of material(s) that provide thermal insulation between the hand of user holding the grip108and the pan102. The cookware100further includes a plug122extending at partially through the shaft106and the grip108to secure the grip108on the shaft106, as described in further detail below. As illustrated inFIGS.1-3, the plug122includes a ribbed surface providing a thumb grip (e.g., increasing contact area, friction, etc. between the grip108and a user's thumb when the user is holding the grip108) which facilitates manipulation of the cookware100. Various views, embodiments, elements, etc. of the handle104are shown inFIGS.4-22and described in detail in the following passages. Referring now toFIGS.4-10, views of a first handle400, a second handle402, and a third handle404are shown, according to some embodiments. The handle104can be any of the first handle400, the second handle402, or the third handle404in various embodiments, for example based on the first handle400, the second handle402, and the third handle404share many common features and differ primarily with respect to dimensions of various components thereof. The following description is applicable to each of the first handle400, second handle402, and third handle404, with differences noted below.FIG.4shows perspective vies of the first handle400, the second handle402, and the third handle404,FIG.5shows another perspective view of the first handle400,FIG.6shows another perspective view of the second handle402,FIG.7shows another perspective view of the third handle404,FIG.8shows a front view of the first handle400,FIG.9shows a front view of the second handle402, andFIG.10shows a front view of the third handle404. FIGS.4-10show the first handle400as including a shaft106a, a grip108a, and a plug122a, show the second handle402as including a shaft106b, a grip108b, and a plug122b, and the third handle404as including a shaft106a, a grip108b, and a plug122c. As shown inFIGS.4-10, the shaft106aof the first handle400is longer than the shaft106bof the second handle402, and the shaft106bof the second handle402is longer than the shaft106cof the third handle404. As shown, the grip108aof the first handle400and the grip108bof the second handle402have substantially the same dimensions while the grip108cis smaller (e.g., shorter in length) than the grips108a,b. The shafts106a,b,care illustrated has including corners (bends, curves, etc.)406a,b,cbetween proximal ends110a,b,cof the shafts106a,b,cand the grips108a,b,c. The corners406a,b,ccan be provided as curves having various radii in various embodiments. A proximal end110a,b,cof the shafts106a,b,cmay be substantially flat (straight, planar, etc.). The curves406a,b,cenable the shafts106a,b,cand the grips108a,b,cto extend away from a pot, pan, etc. (e.g., pan102as illustrated inFIG.1) while the proximal ends110a,b,cof the shafts106a,b,cand the holes120a,b,ctherein are suitably oriented for coupling of the shafts106a,b,cto a pot, pan, etc. (e.g., as shown inFIG.1). The grips108a,b,care shown as including flared ends408a,b,c. The flared ends408a,b,cdefine proximal ends of the grips108a,b,c(i.e., ends closest to the proximal ends110a,b,cof the shafts106a,b,c. The flared ends408a,b,cflare to a width greater than neighboring portions of the grips108a,b,c, for example to constrain a user's hand from sliding along and off of one of the grips108a,b,ctowards the proximal end110a,b,cof the correspond shaft106a,b,cand the pot/pan/etc. coupled thereto. Each flared end408a,b,cis shown as providing a face410a,b,cfacing the proximal ends110a,b,c, with the face410a,b,csubstantially perpendicular to the shaft106a,b,cat the flared end408a,b,c. The faces410a,b,cmay be curved or planar in various embodiments. The shafts106a,b,cextended both into and from the grips108a,b,cfrom the faces410a,b,c. Each handle104a,b,cis also illustrated as including an open channel412a,b,cextending through the grip108a,b,cand the shaft106a,b,c. (e.g., formed by holes, passages, channels, etc. through the shaft106a,b,cand through sides of the grip108a,b,con either side of the shaft106a,b,c). The open channels412a,b,ccan facilitate hanging of the handles104a,b,c, on hooks, carabineers, wires, ropes, etc., for example facilitating storage of cookware including one of the handles104a,b,cwhen not in use. The open channels412a,b,care shown as having oval perimeters. Other shapes can be used in other embodiments. Referring now toFIG.11, perspective views of the first shaft106a, the second shaft106b, and the third shaft106care shown, according to some embodiments. The shafts106a,b,cinclude proximal ends110a,b,c, distal ends112a,b,copposite the proximal ends110a,b,c, corners406a,b,cbetween the proximal ends110a,b,cand the distal ends112a,b,c, and open channels412a,b,cproximate the distal ends112a,b,c. The shafts106a,b,care shown as being substantially planar except at the corners406a,b,c, and may have a curved, arched, etc. cross-section in other embodiments. Each proximal end110a,b,cis winged, widened, etc., with each proximal end110a,b,cillustrated as including a first wing1100a,b,cand a second wing1102a,b,csymmetric with the first wing1100a,b,cacross a longitudinal axis of the shaft106a,b,c. The first wing1100a,b,cand the second wing1102a,b,cinclude holes120a,b,cconfigured to receive rivets, bolts, other fasteners, etc. coupling the proximal end110a,b,cto a pot, pan, or other cooking vessel (e.g., as inFIG.1). The shafts106a,b,care shown as including apertures (channels, openings, windows, holes, etc.)1114a,b,c, with each aperture1114a,b,cextending through the corresponding shaft106a,b,cand positioned between the distal end112a,b,cand the corner406a,b,c(between the open channels412a,b,cand the corners406a,b,c. The apertures1114a,b,care show as oval-shaped, and can be other shapes in some embodiments (e.g., circular, triangular, rectangular, pentagonal, hexagonal, etc.). The apertures1114a,b,care configured to receive the plugs122a,b,cas described in further detail below. The shaft106cof the third handle104cis further shown as including an open section1116. The open section1116is provided along the shaft106cbetween the aperture1114cand the open channels412a,b,c. The open section1116is provided to reduce the weight of the third handle104c, for example to improve balance and feel of the third handle104cto a user. In other embodiments, the open section1116is replaced or filled with a material having a higher density than a material of the shaft106cto increase a weight of the shaft as may be desirable to improve a user's experience in handling the third handle104c. Referring now toFIGS.12-17, exploded (or disassembled) and cut-away views of the handles104a,b,care shown, according to some embodiments.FIG.12shows an exploded view of the first handle104a,FIG.13shows an exploded view of the second handle104b, andFIG.14shows an exploded view of the third handle104c.FIG.15shows a cut-away side view of the first handle104a,FIG.16shows a cut-away side view of the second handle104b, andFIG.17shows a cut-away side view of the third handle104c. FIGS.12-17illustrate that each of the grips108a,b,cincludes a pocket1200a,b,cformed between a first side1202a,b,cof the grip108a,b,cand a second side1204a,b,cof the grip108a,b,c. The pockets1200a,b,care sized to receive the corresponding shafts106a,b,cso that the distal ends112a,b,cof the shafts106a,b,care position in the pockets1200a,b,c, i.e., between the first sides1202a,b,cand the second sides1204a,b,cof the grip108a,b,c. The pockets1200a,b,care open at the faces410a,b,cto allow the shafts to slide into or out of the pockets1200a,b,c. The first side1202a,b,cof each grip108a,b,cincludes a first aperture1206a,b,cand the second side1204a,b,cof each grip108a,b,cincludes a second aperture1208a,b,c. Each first aperture1206a,b,cis aligned with the corresponding second aperture1208a,b,c. When the shafts106a,b,care received in the pockets1200a,b,c, the apertures1114a,b,c, in the shafts106a,b,care aligned with and contiguous with the corresponding first apertures1206a,b,cand second apertures1208a,b,c, thereby defining volumes structured to receive the plugs122a,b,c. The first apertures1206a,b,care shown as being bigger than (e.g., larger volume or surface area, greater perimeters, longer, wider) than the second apertures1208a,b,c. The first apertures1206a,b,care further shown as having a shape that substantially matches a shape of the apertures1114a,b,cin the shafts106a,b,c. The shape of each first apertures1206a,b,cand plug122a,b,cmay be configured (e.g., shaped as oblong, oval, rectangle, etc.) to ensure that the plug can only be inserted in a desired/proper orientation. In addition, or alternatively, each first apertures1206a,b,ccan include a divot or projection configured to ensure that the plug122a,b,ccan only be inserted in a desired/proper orientation. Each second aperture is shown as including a narrower portion1500a,b,cand a wider portion1502a,b,cwith the narrower portion1500a,b,cpositioned between the wider portion1502and the pocket1200a,b,c. The narrower portion1500a,b,cis narrower than the wider portion1502a,b,c. When assembled as shown in the cut-away views ofFIGS.15-17, each plug122a,b,cfills (occupies volume within) the corresponding first aperture1206a,b,cand second aperture1208a,b,c, in the grip108a,b,cand the aperture1114a,b,cin the shaft106a,b,c, thereby retaining the grip108a,b,con the shaft106a,b,c(retaining the shaft106a,b,cin the pocket1200a,b,c). Each plug122a,b,cincludes a projection1504a,b,cstructured to extend through the narrower portion1500a,b,cof the second aperture1208a,b,c, with each projection1504a,b,chaving a lip1506a,b,cwhich engages the second side1204a,b,cof the grip108a,b,cbetween the narrower portion1500a,b,cand the wider portion1502a,b,c. The lips1506a,b,ccan thereby retain the plugs122a,b,cin the apertures1206a,b,c/1208a,b,c/1114a,b,c. The plugs122a,b,cmay be compressible under force from a user to be selectively inserted into the apertures1206a,b,c/1208a,b,c/1114a,b,cand/or removed from the apertures1206a,b,c/1208a,b,c/1114a,b,c. The plugs122a,b,cthereby enable easy assembly of the handles104a,b,cand/or disassembly of the handles104a,b,c. For example, in some scenarios, users may desire to use or clean cookware without the grips108a,b,c(e.g., to enable exposure of the cookware to higher temperature, to enable deep cleaning of the cookware, etc.). The teachings herein enable the grips108a,b,cto be repeatedly installed by inserting a shaft106a,b,cinto a pocket1200a,b,cand the inserting a plug122a,b,cinto the first apertures1206a,b,cand second apertures1208a,b,cof the grip108a,b,cand into the aperture1114a,b,cof the shaft106a,b,c, and repeatedly uninstalled by removing the plug122a,b,cfrom the apertures1206a,b,c/1208a,b,c/1114a,b,cand then removing the shaft106a,b,cfrom the pocket1200a,b,c. When received in the apertures1206a,b,c/1208a,b,c/1114a,b,c, a ribbed surface1510a,b,cof each plug122a,b,cis aligned with an external surface1512a,b,cof the corresponding first side1202aof the grip108a. The ribbed surfaces1510a,b,cis thereby positioned to provide increased traction, friction, etc. between a user's thumb (or other part of a hand) and the handle104a,b,c. Each plug122a,b,cthereby provides both a ribbed thumb grip and retention of the grip108a,b,con the shaft106a,b,c. Referring now toFIGS.18-20, views of a plug122are shown, according to some embodiments. The plug122may be any of the plugs122a,b,cherein. The plug122is shown as including a ribbed surface1510, a body1800extending from the ribbed surface1510, and a projection1504extending from the body1800with the body1800between the ribbed surface1510and the projection1504, The ribbed surface1510includes multiple ribs1802protruding from a base1804. The base1804provides a planar or curved surface from which the ribs1802protrude, with each of the ribs1802extending laterally across the base1804and spaced apart longitudinally along the base1804. Various numbers of ribs1802are included in various embodiments (e.g., six, seven, eight, nine, etc.). The body1804can be approximately oval shaped and may be sized and shaped to fit in (e.g., match) a portion of the first aperture1206a,b,csuch that the body1804is positioned in the first apertures1206a,b,cwhen the handle104is assembled. As shown inFIG.19, a dot1900(point, button, knob, etc.) can also protrude from the base1804, for example at a similar height, etc. as the ribs1802but differentiated in length to provide an indication of directionality of the plug122. In some embodiments, the dot1900provides a pivot point for a thumb of a user interacting with the ribbed surface1510. The body1800extends from the base1804in an opposite direction as the ribs1802. As shown, the body1800may have a smaller cross-sectional area than the base1804but a greater thickness (in the direction of extension form the base1804). The body1800is shown as including a first curved end piece1806, a second curved end piece1808opposite the first curved end piece1806, and a rectangular midsection1810extending between the first curved end piece1806and the second curved end piece1808. The rectangular midsection1810has a width less than the diameters of the first curved end piece1806and the second curved end piece1808such that the rectangular midsection1810connects the first curved end piece1806and the second curved end piece1808while leaving some open space therebetween which can enable slight deformation of the body1800during insertion or removal of the plug122from the grip108and shaft106. The first curved end piece1806and the second curved end piece1808are structured to fit snuggly against edges of the first apertures1206a,b,cand the apertures1114a,b,c. The rectangular midsection1810is shown as including a ring1811which may be an artifact of a molding process which forms the plug122as an unitary body. The body1800is further shown as including a bump1812on the second curved end piece1808. The bump1812is structured to interface with a recess included with any of the first apertures1206a,b,cto ensure that the plug122is inserted in a particular desired orientation (e.g., with the bump1812extending towards the distal end112, with the bump1812extending towards the proximal end110). As shown, the bump1800is adjacent the ribbed surface1510and spaced apart from the projection1504. The projection1504includes a lip1506spaced apart from the body1800. The lip1506is shown as being part of a tip1814of the projection1504. The tip1814is shown as frustoconical (e.g., shaped as a portion of a cone) with a radius which decreases as the tip1814extends from the lip1506such that the tip1814has a tapered shape which can facilitate insertion of the projection1504through the second apertures1208a,b,c. The plug122is thereby formed to enable selective, easy (e.g., tool-free) insertion of the plug122into position relative to the grip108and the shaft106to retain the grip108on the shaft106as shown inFIGS.1-3and in the various other drawings herein. The plug122is also thereby adapted for selective, easy (E.g., tool-free) removal from such a position to enable removal of the grip108from the shaft106, thereby enabling use of cookware100without the grip108, cleaning of the cookware100separate from the grip108, replacement of the grip108and/or the plug122(e.g., after routine wear-and-tear, etc.), and other advantageous use cases. As utilized herein with respect to numerical ranges, the terms “approximately,” “about,” “substantially,” and similar terms generally mean +/−10% of the disclosed values. When the terms “approximately,” “about,” “substantially,” and similar terms are applied to a structural feature (e.g., to describe its shape, size, orientation, direction, etc.), these terms are meant to cover minor variations in structure that may result from, for example, the manufacturing or assembly process and are intended to have a broad meaning in harmony with the common and accepted usage by those of ordinary skill in the art to which the subject matter of this disclosure pertains. Accordingly, these terms should be interpreted as indicating that insubstantial or inconsequential modifications or alterations of the subject matter described and claimed are considered to be within the scope of the disclosure as recited in the appended claims. The term “coupled” and variations thereof, as used herein, means the joining of two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent or fixed) or moveable (e.g., removable or releasable). Such joining may be achieved with the two members coupled directly to each other, with the two members coupled to each other using a separate intervening member and any additional intermediate members coupled with one another, or with the two members coupled to each other using an intervening member that is integrally formed as a single unitary body with one of the two members. If “coupled” or variations thereof are modified by an additional term (e.g., directly coupled), the generic definition of “coupled” provided above is modified by the plain language meaning of the additional term (e.g., “directly coupled” means the joining of two members without any separate intervening member), resulting in a narrower definition than the generic definition of “coupled” provided above. Such coupling may be mechanical, electrical, or fluidic. References herein to the positions of elements (e.g., “top,” “bottom,” “above,” “below”) are merely used to describe the orientation of various elements in the FIGURES. It should be noted that the orientation of various elements may differ according to other exemplary embodiments, and that such variations are intended to be encompassed by the present disclosure.

11857116

DETAILED DESCRIPTION OF THE EMBODIMENTS Hereinafter, a detachable handle for a cooking vessel according to the present disclosure will be described in detail with reference to the accompanying drawings. As illustrated inFIGS.1to13, a detachable handle for a cooking vessel according to the present disclosure includes a body10; a lever20hinged to a lower portion of the body10; a pressing member30installed to be movable forwardly and backwardly in the body10; a spring40elastically supporting the pressing member30; a cover50installed at an upper portion of the body10; and a button60installed through the cover50. The body10is formed to have a shape of a bar with an open upper portion, and a communication hole11is formed at a lower portion thereof. The body10is preferably formed of a synthetic resin material having excellent physical properties. Also, a vessel support portion12supporting one side of a cooking vessel (C, refer toFIG.14) is integrally formed at a front end of the body10, and a spring seating portion14in the form of a recess in which a spring40is accommodated to be seated is formed inside the vessel support portion12. In addition, a plurality of movement-preventing grooves16having a slit shape are formed side by side on a bottom surface of the body10. One end portion of the lever20is pin-coupled to the body10to be tilted at a predetermined angle with respect to the body10, and an engaging portion22is formed to protrude in an upward direction inside the lever20inserted into the body10. The engaging portion22is positioned to correspond to the communication hole11of the body10to be in contact with the pressing member30, and a rotary roller may be used as the engaging portion22in order to minimize damage (abrasion, etc.) according to an operation of the lever20, as well as smoothly implementing an operation of the lever20. The rotary roller is in rolling contact along an interworking guide34bformed at the support portion34of the pressing member30according to a pulling operation of the lever20. For example, when the rotary roller is not used as the engaging portion22, the operation of the lever20may not be smoothly performed or abrasion may occur due to friction with the pressing member30. Also, the rotary roller used as the engaging portion22is detachably coupled between a pair of coupling portions26integrally formed with the lever20. In addition, the lever20includes a movement preventing protrusion24coupled to the movement-preventing groove16of the body10, and a coupling state with the body20may be firmly and stably maintained through the movement preventing protrusion24. Meanwhile, the lever20is formed of a synthetic resin material having excellent physical properties, and a magnetic component may be additionally included in the movement preventing protrusion24of the lever20and the movement-preventing groove16of the body10to further strengthen a coupling state between the lever20and the body10. The pressing member30is for selectively pressing the cooking vessel (C, refer toFIG.14) according to a forwardly and backwardly motion thereof, and the pressing member30is preferably formed of a plate-shaped metal material. Also, the pressing member30includes a vessel pressing portion32formed to be bent to correspond to the vessel support portion12of the body10and a support portion34selectively supporting the engaging portion22of the lever20. In particular, the support portion34includes a support34aand an interworking guide34binclined downwardly from the support34a. The support34aserves to firmly and stably press and support the engaging portion22of the lever20, and the interworking guide34binterworks with the movement of the engaging portion22of the lever20to simply and stably guide the engaging portion22to the support34a. The support34aand the interworking guide34bare easily formed by cutting a certain portion of a plate surface of the pressing member30and bending the same to be inclined downwardly, without using a separate member. In addition, a fitting protrusion36fitted and supported to the spring40is integrally formed at an end portion of the pressing member30. Meanwhile, an anti-slip coating layer or an anti-slip groove may be additionally formed at a portion of the support34ain contact with the engaging portion22of the lever20to prevent slipping and maintain a supported state of the engaging portion22more stably, and a rubber cover is provided on the vessel pressing portion32of the pressing member30in order to increase adhesion with the cooking vessel (C, refer toFIG.14). The spring40serves to elastically support the pressing member30, while being seated on the spring seating portion14of the body10. The pressing member30may be elastically moved forwardly and backwardly by the spring40. Meanwhile, a variety of known types, including compression springs, may be selectively applied as the spring40. The cover50is formed of a synthetic resin material, is coupled to the body10, and has a bar shape with an open lower portion. Also, the cover50is detachably coupled to the body10by a screw or the like. A pair of button installation holes52having a certain size is formed on both sides of the cover50, and a pair of restraining protrusions54corresponding to each other at a predetermined interval is formed in a bar shape and side by side. In addition, at least one coupling protrusion56is formed to protrude between the pair of restraining protrusions54. The button60is formed to be elastically movable in the pair of button installation holes52formed on both sides of the cover50. The button60includes a pair of body portions62installed to be movable (forwardly and backwardly) and spaced apart from each other in the pair of button installation holes52and having a restraining groove62aformed at an upper portion thereof and restrained by the restraining protrusion54of the cover50and a pressing protrusion62bformed at a lower portion thereof; an elastic portion64interposed between the pair of body portions; and a plate-shaped body support portion66coupled to the coupling protrusion56of the cover50. The restraining groove62aof the body portion62is for restraining the forwardly and backwardly movement according to the pressing operation of the body portion62and is formed relatively wider than a width of the restraining protrusion54of the cover50. In addition, the pressing protrusion62binterworks according to the pressing operation of the body portion62to press the engaging portion22of the lever20from both sides to release a supported state of the pressing member30on the support portion34. For this purpose, the pressing protrusion62bis formed so that a portion in contact with the engaging portion22of the lever20is inclined at a predetermined angle so that the lever20is naturally lowered by the pressing operation. Also, the body portion62includes an elastic portion fitting protrusion62cfor stably maintaining an installation state of the elastic portion64, and a plurality of assembling protrusions62dare formed on a lower surface of the body portion62to firmly and stably maintain a connection state with the body support portion66. The elastic portion64is for elastically operating the pair of body portions62, and a known compression spring or the like is used. A hollow66athrough which the pressing protrusion62bof the body portion62passes is formed in the body support portion66to support the pair of body portions62, thereby preventing the body portion62from being separated. Coupling holes66bcoupled to the coupling protrusion56of the cover50are formed at central upper and lower portions of the body support portion66, and assembling grooves66care formed on both sides of the coupling holes66bto be coupled to the assembling protrusions62dof the body portion62. The operating state of the detachable handle for a cooking vessel described above will be described with reference toFIG.14as follows. First, (a) ofFIG.14shows a state in which the handle is detached from the cooking vessel C, and the lever20is tilted by a pressing operation of the buttons60located on both sides of the cover50and lowered with respect to the body10, and the vessel pressing portion32of the pressing member30is maintained in a state spaced apart from the vessel support portion12of the body10by a predetermined distance. At this time, the pressing member30maintains a state advanced by the spring40, and the engaging portion22of the lever20is moved in a state in contact with the support portion34formed on the pressing member30. Also, when the lever20is pulled by a certain external force, the engaging portion22of the lever20is moved upwardly along the support portion34of the pressing member30as shown in (b) ofFIG.14and supported on the support portion34by an elastic force of the spring40, so that the handle is attached to the cooking vessel C as shown in (c) ofFIG.14. Here, the pressing member30, in a state of being elastically supported by the spring40, moves forwardly and backwardly by contact with the engaging portion22of the lever20.

11857117

DETAILED DESCRIPTION OF THE DRAWINGS AND THE PRESENTLY PREFERRED EMBODIMENTS As noted above, the present invention provides a flexible cutting board that is used in a curved configuration when cutting or chopping foods so as to provide more efficient food processing. Further the present invention provides a cutting board that can be used in combination with a cutting board holder that secures the cutting board in a curved configuration. The flexible cutting board used in the present invention can be made of a polyethylene or polypropylene material such as amorphous polypropylene co-polymer (alternatively known as 1-propene, polymer with ethane) or high density polyethylene or any suitable semi-rigid plastic or elastomeric material that can withstand being punctured by a knife when chopping or cutting food items and is flexible for purposes of the present invention. Here it is noted that, as readily understood by those in the art, the flexibility of the cutting boards useful for purposes of the present invention can be adjusted by appropriately sizing the thicknesses of the cutting boards and choice of materials from which the flexible cutting boards are made. Commercially available flexible cutting boards can be used in accordance with the present invention. According to one embodiment of the present invention, a method of using the flexible cutting boards involves physically or manually holding the flexible cutting boards in a curved configuration while chopping or cutting foods on/in the flexible cutting boards. Here reference to cutting foods “on/in” the flexible cutting boards will be understood as the description of the present invention proceeds, and it is apparent that while the foods are chopped or cut “on” the flexible cutting boards at the bottom of the curved configuration, the foods being chopped or cut are located between or “in” the side walls of the curved configuration of the flexible cutting boards. As can be understood, according to the present invention the height of the side walls of the cutting board are sufficient to “catch” and retain food particles that traject outwardly from the sides of the knife blade. According to another embodiment of the present invention the flexible cutting boards of the present invention are used in combination with a cutting board holder that is configured to receive the flexible cutting boards in a curved configuration and hold the cutting boards in such curved configuration in a manner that frees both hands of the person using the flexible cutting boards to chop or cut foods. In all embodiments of the present invention, the flexible cutting boards can be used in normal or laid out flat configurations and can be held in a curved configuration to form and used as a chute to pour chopped or cut food items into bowels, containers, etc. FIG.1is a perspective view of a flexible board according to the present invention laid out in a flat configuration. The flexible cutting board1shown inFIG.1has a rectangular shape and can be of any convenient size such as, but not limited to 15×12 inches, 18×12 inches, 24×18 inches, etc. Larger and smaller sizes can also be provided and used. As noted above the flexible cutting board1can be made of a polyethylene or polypropylene material such as amorphous polypropylene co-polymer (alternatively known as 1-propene, polymer with ethane) or high density polyethylene or any suitable flexible or semi-rigid plastic or elastomeric material that can withstand being punctured by a knife when chopping or cutting food items and is flexible for purposes of the present invention. The thickness of the flexible cutting board1can range from 0.03 inches to 0.3 inches or larger. Based on the present description of the invention and how the flexible cutting board1is to be held in a curved configuration, those skilled in the art can determine suitable thicknesses of the flexible cutting boards1based on the material from which the flexible cutting boards1are made. The upper and lower surfaces of the flexible cutting board1can be smooth. Otherwise the lower surface can be provided with a textured surface of the type conventionally used on cutting board to prevent slipping, e.g. a “waffle back.” In other embodiments the top surface of the flexible cutting board1can be lightly textured as is known in the art of cutting boards to provide a sturdier surface. FIG.2is a perspective view of the cutting board ofFIG.1configured in a curved shape according to one embodiment of the present invention. According to the present invention the flexible cutting board1is held in a curved configuration as depicted inFIGS.2-5when used during a process of chopping or cutting food items. This curved configuration can be achieved by bending (not creasing) the flexible cutting board1ofFIG.1along or near the center of either the longer or shorter axis so that the corresponding sides2and3are flexed toward each other with the upper portions of the sides2and3being parallel or substantially parallel to one another and held so as to face one another with a space in between that is sufficient to allow a used to reach in and chop or cut food items on the flexible cutting board with a knife. In the case of a square cutting board the axes parallel to the opposite sides have the same length. Accordingly, in the case of a square cutting board either pair of opposite side can be bent upward and towards each other. FIG.3is an end view of the cutting board ofFIG.2. As shown inFIG.3the flexible cutting board1is in a curved configuration that, from the end view, has the general shape of a “U.” As the flexible cutting board1is used to chop or cut foods items in such a U-shaped configuration, it was discovered during the course of the present invention that, in the case of chopping brittle food items such as nuts at the bottom of the U-shaped configuration, the upward directed sides2and3of the U-shaped configuration kept chopped particles from flying out beyond the cutting board1. The ability of the U-shaped configuration to prevent particles of chopped food items from flying off and escaping the confines of the curved cutting board is believed to be explained as follows. During a chopping or cutting process, a user aligns a knife along the center of the U-shaped cutting board ofFIG.3and, maintaining this general alignment, chops downwardly toward the bottom of the U-shaped cutting board. As the blade of the knife pierces brittle food particles such as nuts, the downward force of the blade is transferred into the food particles. This transferred force is applied outwardly from the beveled edge of the blade of the knife. As a result, food particles that are chopped and separated by the knife blade accelerate outwardly from the sides of the knife blade. Since chopped food particles tend to traject outwardly more so than upwardly, the upwardly extending side of the curved cutting board do not have to be extensively tall. A side wall height of about 5 inches or more will “catch” and retain most food particles and a side wall height of about 4 inches will “catch” an retain a significant amount of food particles. As can be appreciated and likely experienced by many, in the case of chopping brittle food items on a flat cutting board, many chopped particles fly off the cutting board and onto and across a counter where the chopping process is being conducted. In the case of chopping brittle food items such as nuts in the curved cutting board of the present invention, virtually all chopped particles that might otherwise fly off (as in the case of using a flat cutting board) are contained since the acting forces only cause chopped particles to move in a trajectory outward from the sides of a knife blade and thus toward the upward extending sides2and3of the U-shaped configuration. Few if any particles will be trajected out from the open ends of the flexible cutting board held in the curved configuration ofFIGS.2-5. Again, due to the manner in which the downward force of the knife is transferred outwardly from the sides of the knife during a chopping/cutting process, food particles do not tend to traject towards the open ends of the curved cutting board. In addition to containing chopped particles, chopping food items while holding the flexible cutting board in the U-shaped configuration causes un-chopped particles to fall toward the bottom of the U-shaped configuration so that it is not necessary to stop a chopping process and reposition the food items being chopped. This feature of the present invention can be appreciated by considering that when one chops food items such as loose nuts on a flat cutting board, not long into the process it becomes necessary to stop chopping and push un-chopped particles together before continuing chopping. This cycle of chopping, arranging un-chopped particles and resuming chopping is repeated over and over when a flat cutting board is used. This feature of the present invention provides advantages for cutting brittle and soft foods. In contrast to using a flat cutting board, when performing a chopping or cutting process while holding the flexible cutting board in the U-shaped configuration according to the present invention, un-chopped food particles and pieces automatically fall and collect at the bottom of the U-shaped configuration, relieving the user from having to stop and interrupt the chopping process as in the case of chopping on a flat cutting board. After which the flexible cutting board can be rinsed off and/or wiped off and used to chop or cut another food item. The U-shaped configuration of the cutting board is not strictly limited to the exact shape illustrated inFIG.3. Having a configuration with a curved bottom and upward directed sides is desired to contain food items being chopped or cut and allow pieces to be chopped or cut to fall downward and collect or accumulate where they can be efficiently chopped or cut. As can be understood from the description herein, the curved configuration of the cutting board can form a narrower or wider U-shaped configuration than illustrated inFIG.3. The heights of the sides of the U-shaped configuration are greater than the width of the bottom of the U-shaped configuration. Further the U-shaped configuration does not have to be symmetrical. The upper portions of sides2and3can be parallel to one another, or substantially parallel to one another or in some embodiments inclined away from one another in the upward direction. According to one embodiment of the present invention a method of chopping or cutting food items is provided which involves manually holding a flexible cutting board by hand during a chopping and/or cutting process. For example, a right-handed person would hold the top edges of the flexible cutting board upward and slightly together to for a curved configuration as inFIG.3with their left hand, and with their right hand the person would hold a knife and chop and/or cut food items within the U-shaped flexible cutting board. After the chopping/cutting the person could hold the flexible cutting board in the same or tighter curved configuration to function as a chute to pour the chopped/cut food item(s) into a container. When not used in a curved configuration, the flexible cutting board could also be used in a conventional flat configuration. In alternative embodiments illustrated inFIGS.4and5, the manually holding of the flexible cutting board by hand can involve the use of elements that can removably attach between the tops of opposite sides of the flexible cutting board and hold the tops together in a spaced apart relationship. For example, one or both of the opposite sides of the flexible cutting board could be provided with straps that can be used to removably connect the tops of the opposite sides together to form a U-shaped configuration. Such straps could be connected to the sides and/or each other by snaps, clips or other engaging elements. As an alternative to straps, bridging elements that engage between the top edges of the sides of the flexible cutting board could be used. A bridging element similar to a pleat spacer would provide for engaging the top edges of the sides of the flexible cutting board in a manner that would allow for adjustment of the spacing between the tops of the sides of the flexible cutting board. Alternatively a bridging element16(FIG.4) with only engaging spaces or slots at or near opposite ends (to receive the tops of the opposite sides of the flexible cutting board) could be used to provide a fixed spacing distance between the opposite side walls. Bridging elements17(FIG.5) comprising spaced apart clips17′ could also be used. Such clips17′ could be spaced apart at a fixed distance (for example, fixed to a solid spacer) or at an adjustable distance (for example, fixed to an adjustable length spacer). Clips17′ can be spring biased clips or clips with slots into which the top edges of the side of the flexible cutting board are received. In a method that is an alternative to manually holding the flexible cutting board in a curved configuration, the present invention further provides a cutting board that is used in combination with a cutting board holder that secures the flexible cutting board in a curved configuration. This embodiment is further described in reference toFIGS.6-8. FIG.6is a perspective view of a cutting board holder according to one embodiment of the present invention. In order to hold the flexible cutting board1of the present invention in a curved configuration for chopping and/or cutting food items, the sides2and3of the flexible cutting board need to be held in an upright or upward configuration as described in reference toFIGS.2-5above. In addition, the bottom of the flexible cutting board (when in the curved configuration) needs to be supported on a solid surface so that a knife can strike solidly on food items to be chopped and/or cut. In the embodiment of the cutting board holder shown inFIG.6, the cutting board holder4includes a base5from which four posts6that extend upward from the base5. In the embodiment shown the base5has a rectangular shape and the four posts6are located at or near the corners of the base5. In other embodiments the posts could be located inwardly from the ends of the base and not strictly at the corners of the base5. Also, in further embodiments more than four posts could be used, and or upstanding side wall portions could be used that extend along part(s) or the entire length of sides of the base5. The posts6can have circular, rectangular, square, or any desirable cross-sectional shapes, including relatively flat cross-sectional shapes. FIG.7is a perspective view of a flexible cutting board held in a curved configuration by a cutting board holder according to one embodiment of the present invention.FIG.8is an end view of the flexible cutting board and cutting board holder combination ofFIG.7. As can be seen inFIGS.7and8, the cutting board holder4is configured to receive and hold a flexible cutting board1in a curved configuration similar to that shown and discussed above in reference toFIGS.2-5. The bottom7of the curved or U-shaped flexible cutting board1rests on upper surface of the base5and the upward extending posts6are positioned along the outside of the curved or U-shaped flexible cutting board1. As shown, opposed pair members of the upward extending posts6can be aligned or substantially or sufficiently aligned with one another on opposite sides of the curved or U-shaped flexible cutting board1to support the flexible cutting board1in its curved configuration and to resist forces that tend to cause the flexible cutting board1to return to a flat configuration. As noted above, in other embodiments more than four posts could be used, and or upstanding side wall portions that extend along part(s) or the entire sides of the base5and along the outside of the curved or U-shaped flexible cutting board1. It is preferred that the base5of cutting board holder4extends along the length of the area where a user will be chopping and/or cutting food items on a flexible cutting board1held in the cutting board holder4. This area is generally along the middle of the cutting board holder4and can extend towards the end where a user inserts and chops and/or cuts with a knife. The base5of the cutting board holder4can extend beyond the length of a flexible cutting board1inserted within the cutting board holder4if desired. In such a configuration the upward extending posts6may be located inwardly of the ends of the base5that extend beyond a flexible cutting board inserted within the cutting board holder4. As discuss in reference toFIG.3above, in the same manner the U-shaped configuration of the cutting board is not strictly limited to the exact shape illustrated inFIG.8. As can be understood from the description herein the curved configuration of the cutting board can form a narrower or wider U-shaped configuration than illustrated inFIG.8. Further the U-shaped configuration does not have to be symmetrical. The tops of the upward extending post6can be configured to engage the top edge of a flexible cutting board1inserted and held by the cutting board holder4. For example, the tops of the upward extending posts6can have inwardly projecting portions8that provide overhanging structures9under which the top edges10of a flexible cutting board1can engage when the flexible cutting board1is inserted into the cutting board holder4. Such engagement will secure the flexible cutting board1in the cutting board holder4in a manner that will allow easy release by merely pushing the top edges10of the flexible cutting board1inwardly so as to clear the overhanging structures9. Here is it noted that the distance between the heights of any engaging structures provided on the posts6relative to the base5of the cutting board holder4and between the width of such engaging structures on opposite sides of the cutting board holder4will determine what width a flexible cutting board1should have to be inserted into the cutting board holder4and engaged by such engagement structures so that the bottom7of the curved or U-shaped flexible cutting board1rests on the base5of the cutting board holder4. In a similar manner the width of a flexible cutting board1will determine the distance between the heights of any engaging structures on the posts6relative to the base5of the cutting board holder4and the distance between the width of such engaging structures on opposite sides of the cutting board holder4that is needed so that when the flexible cutting board1is inserted into the cutting board holder4and engaged by such engaging structures, the bottom7of the curved or U-shaped flexible cutting board1rests on the base5of the cutting board holder4. According to one tested embodiment designed for a flexible cutting board having a rectangular shape of 13×15 inches, posts were spaced apart on opposite sides of the base at approximately 3.5 inches and the posts were 7 inches tall with tops that were about 5 inches above the upper edges of the supported flexible cutting board. The base was 15 inches long to match the length of the flexible cutting board. In this tested embodiment two posts were provided on each side and spaced inwardly from respective ends of the base by 4.5 inches. These general dimensions and their ratios can be used and scaled up and adjusted as desired for further embodiments. Other non-limiting examples of engaging structures that can be provided at or near the tops of the upward extending posts include angled notches formed in the posts, pins that can be fixed or inserted into one or more openings near the tops of the posts, crosspieces that could be coupled or attached to the tops of posts on opposite sides of the cutting board holder, clips that could be attached to or near the tops of the posts, etc. Engaging structures such as clips could be used that clip onto the posts tightly enough to withstand unintentional sliding up or down on the posts or otherwise can be tightened at a desired height on the posts. As noted herein, use of engagement structures are optional and can be used if it is desired to engageably secure a flexible cutting board in the cutting board holders of the present invention. According to one embodiment of the present invention the edges of the flexible cutting board1that would become the top edges10when inserted and held by the cutting board holder4can be configured to be thicker than the remaining portions of the flexible cutting board1so as to provide a stiffer, more rigid edge for purposes of engagement in the cutting board holder4. The cutting board holder4is preferably made from a material that can be easily cleaned and even washed in a dishwasher if desired. Suitable materials for this consideration include plastic materials. Otherwise the cutting board holder4can be made from metal or wood or any suitable sturdy material. While the base5of the cutting board holder5is depicted as being in the form or a rectangle inFIGS.6-8, according to other embodiments, the base can be in the form of a frame having an open center and side and end rails. FIG.9is a perspective view of a cutting board holder according to another embodiment of the present invention. The cutting board holder4shown inFIG.9has a base5that is in the form of a frame that has side rails11that are connected at opposite ends by end rails12. The base5has four posts6that are located inwardly of the end rails12. The base5is configured to have an open center area so that when a flexible cutting board1is inserted into the cutting board holder4and secured in a U-shaped configuration by having the top edges of the flexible cutting board engaged by engagement structures at the tops of the posts6(if engagement is desired), the bottom of the U-shaped flexible cutting board rests on a surface that is exposed through the open center area of the base5. The end rails12can be relatively flat (e.g. have a relatively flat profile) if desired or otherwise similar to the size of the side rails11. The posts6of the cutting board holder4are depicted as having pivot points13about which they can pivot with respect to the side rails11. The pivot points13could be defined by rotatable rods or shafts that extend through the bottoms of the posts6and side rails11, and in the embodiment ofFIG.6pivotable posts6could be incorporated with rotatable rods or shafts that extend through base5and connect to the bottoms of posts6on opposite sides of the base5. Other pivotal arrangements can also be incorporated and used. According to some embodiments of the present invention the posts6of the cutting board holder4are attached or coupled to the base5of the cutting board holder4in a manner that allows the posts6to pivot so that the cutting board holder4can be “folded up” and develop a more compact profile that provides for easy storage because the “folded” cutting board holder requires less space for storage than in the case that the posts6are not pivotable or retractable or removable. In further embodiments, the posts can be configured to pivot into and out from the base rather that from the outer sides of the base. In the embodiment shown inFIG.9the posts6can pivot downward so as to be immediately adjacent to the side rails11and develop a smaller profile for purposes or requiring a smaller storage space for the cutting board holder. As can be understood, the posts6, while shown being pivotally attached on the outside of the side rails11, could also, in other embodiments the posts can be pivotally attached to the tops or inside surfaces of the side rails11. The pivotal posts6could be provided with mechanisms that secure or limit their movement in their upright positions if desired. For example blocks or catches could be provided on the side rails11(or sides of base5) that limit the pivoting to between the upright and folded positions. In other embodiments spring catches could be provided at the pivotal connections that engage in set upright and folded positions and require a user to pull the pivotal posts6slightly outward (or push spring catch releases slightly inward) to release from such engagements or otherwise pivotally force the pivotal posts6out of such engagement. Detent mechanisms could be incorporated to provide for such reversibly engageable pivotal embodiments. It is to be understood that the pivotal posts6discussed in reference to the embodiment of the invention shown inFIG.9, could also be used in conjunction with a flexible cutting board holder4similar to that shown inFIGS.6-8in which case the posts6would be pivotally attached to the sides of the base5or on the top along the sides of the base5. FIG.10is partial side view of an embodiment of the present invention that provides an alternative manner of folding the posts6against the sides of side rails11of a flexible cutting board holder or to the sides of a solid rectangular base5of a flexible cutting board holder. InFIG.10the posts6are configured to pivot or fold from an upright position toward one another and upon one another. In the illustrated arrangement each post6is pivotally coupled to the side rail11(or side or side edges of a solid rectangular base5) by a bracket14,15that allows one post6ato pivot downward and rest flat on the side rail11(or side or side edges of a solid rectangular base5) and allows the other post6bto pivot downward and rest flat on the previously pivoted post6a. As can be appreciated, embodiments of the invention discussed in reference toFIGS.9and10are only non-limited examples of how to provide flexible cutting board holders that can be folded up to reduce the storage space required to store them in, for example, a kitchen cabinet or drawer. In other embodiments that provide for reduced storage space the posts6could be removable received in bores provide in the base5(or side rails11). For example, the bottoms of the posts6could be provided with external threads and the bores could be provided with complementary internal threads into which the post could be screwed. In other embodiments bayonet or other releasable engaging structures could be provided on the bottoms of the posts and in the bores to removably receive the posts. FIG.11is a partial side view of an embodiment of the present invention that provides for height adjustment of the posts that hold and secure a flexible cutting board in a desired U-shaped configuration. The post6depicted inFIG.11comprises a number of telescoping sections that allow for height adjustment of the post. When engagement structures, as discussed above are provided at or near the tops of such height adjustable posts a user can adjust the heights of the posts and make sure the bottom of a U-shaped flexible cutting board held in the flexible cutting board holder and secured by such engagement structures rests on the underlying base or counter top for purposes of chopping or cutting food items. The telescoping posts can be secured in a desired height using various locking arrangements that a conventionally used in telescopic posts and poles. It is also possible to only provide a portion of the posts with a height adjustment telescopic section, rather than the entire length of the posts. In further embodiments engagement structures that are provided on the posts for engaging the top edges of a flexible cutting board position in and held by the flexible cutting board holder can be height adjustable. For example, engagement structures that are designed to protrude inwardly can be configured with pins or posts which can be secured into corresponding holes or bores provided at different levels near the tops of the posts. In other embodiments the engaging structures could be configured to be attached to the posts by structures that slide over the posts and can be tightened against the posts or locked or caught or clipped at desired heights. FIG.12is a perspective view of a cutting board held in a curved configuration by a cutting board holder according to another embodiment of the present invention.FIG.13is an end view of the cutting board and cutting board holder combination ofFIG.12. In the embodiment of the invention shown inFIGS.12and13, the flexible cutting board1has through-holes18that are provided to be aligned with and receive inwardly projecting engaging structures19that are provided near the tops of the posts6of the cutting board holder. In this embodiment, the flexible cutting board1has a design configuration (i.e., includes through-holes18) that cooperates with the engaging structures19near the tops of the posts6. In a similar manner, rather than through-holes18the cutting board1shown inFIGS.12and13(andFIG.8) could be provided with notched-out areas along the opposite sides of the cutting board1that could be manipulated to engage the engaging structures19. The engaging structures can have any convenient shape such as a circular peg that extends inwardly from the posts6near the tops of the posts6or inwardly extending projections having any cross-sectional shape and the sides of the flexible cutting board1can be provided with compatible shaped through-holes or notched-out areas that are configured to receive the engaging structures when the flexible cutting board is held by the posts6of the cutting board holder. According to one embodiment the posts along one side of the cutting board holder can be provided with overhanging structures similar to those show inFIG.8and the posts along the opposite side of the cutting board holder can be provided with the engaging structures19. A flexible cutting board can be positioned in the cutting board holder so that one side abuts against the overhanging structures (in notched areas along the side of the flexible cutting board if desired) and then the engaging structures on the posts on the other side of the cutting board holder can pass through through-holes or notches provided on the other side of the flexible cutting board. Alternatively, as discussed above, all the posts can be provided with engaging structures19and both sides of the cutting board can be provided with through-holes or notches for engagement with each of the engagement structures. In other embodiments the engagement structures could be in the shape of hooks that can hook into through-holes provided along one or both sides of the flexible cutting board. In use, a user drops a flexible cutting board downward between the upward posts of the cutting board holder and, if desired, engages the opposite top edges or through-holes or notches with the engagement structures discussed above. At this point the user can adjust or could have adjusted the height of the posts or engagement structures as desired in the case of using a flexible cutting board holder provided with such adjustments. Then the user places a desired amount of food items to be chopped and/or cut onto the bottom of the curved or U-shaped flexible cutting board. Next the user inserts a knife into one end of the curved or U-shaped cutting board between the side walls of the curved or U-shaped flexible cutting board and begins chopping and/or cutting the food item. As the user chops and/or cuts the food item, chopped/cut particles are contained within the curved or U-shaped flexible cutting board and particles to be chopped and/or cut fall down into the bottom of the curved or U-shaped cutting board. After the chopping/cutting process is complete, the used can release the top edges of the cutting board from the engaging structures (if used) and hold the flexible cutting board in the same or tighter curved configuration to function as a chute to pour the chopped/cut food item(s) into a container. When removed from the cutting board holder and not used in a curved configuration, the flexible cutting board could also be used in a conventional flat configuration. In further embodiments of the present invention the upright posts do not have to be straight. Alternatively the posts could have a curved shape, including a curved shape that is at least partially complementary to the desired U-shaped configuration of a flexible cutting board held in the flexible cutting board holder. In further embodiments that do not require a holder or holder elements that are separate from the cutting board, the cutting board can be in the form a tube having a cross-sectional shape that provides a U-shaped lower portion that can be placed on a support surface for chopped/cutting food and a sufficient height to allow a user to develop a knife chopping force to chop foods. Examples of such tubular cross-sectional shapes include egg-shaped cross-sectional shapes, ellipsoidal cross-sectional shapes and elongated oval cross-sectional shapes with straight, parallel or curved sides. Suitable heights of such tubular shaped cutting boards are about 7 inches or taller. Widths of about 5 inches or wider will allow a user to position their hand inside the tubular cutting boards to chop foods with a knife and wash the tubular cutting boards after use. Tube lengths of about 10 inches or longer would be sufficient. These and other dimensions referred to herein can be adjusted to accommodate an amount of foods to be chopped/cut if desired. Although the present invention has been described with reference to particular means, materials and embodiments, from the foregoing description, one skilled in the art can easily ascertain the essential characteristics of the present invention and various changes and modifications can be made to adapt the various uses and characteristics without departing from the spirit and scope of the present invention as described above and set forth in the attached claims.

11857118

Elements with the same function and mode of operation are each given the same reference signs in the figures. FIG.1shows a device10for displaceably positioning a kitchen appliance11shown inFIG.2on a working surface12. The device comprises a displacement element13for displacing the kitchen appliance11on the working surface12, the displacement element13being configured and designed for installation in a ground area14of a base unit16of the kitchen appliance11. The device further comprises adjustment element15for adjusting the size and, in particular, the position of the displacement element13between a deactivated state Z1of the displacement element13for positioning the displacement element13spaced from the working surface12in and/or on the kitchen appliance11and an activated state Z2of the displacement element13for positioning at least a part of the displacement element13on the working surface12for displacing the kitchen appliance11. Deactivated states Z1and activated states Z2of various embodiments are shown inFIGS.3to6and will be described in detail later. In the device10shown inFIG.1, the displacement element13for displacing the kitchen appliance11has a plurality of stamp-shaped foot units20that are adjustable in size and position and spaced apart from one another. The adjustment element15comprises a gear wheel21for each foot unit20for displacing the foot units20, a gear rim22engaged with the gear wheels21, and a drive pinion23for driving the gear rim22. For adjusting the displacement element13between a deactivated state Z1and an activated state Z2, the adjustment element15thus has a gear mechanism21,22. The adjustment element15further comprises an electric motor18for displacing the displacement element13by driving the drive pinion23. In the device10shown inFIG.1, a roll25in the form of a track roller for rolling displacement of the kitchen appliance11is arranged on each foot unit20as a component of the displacement element13. A linear drive17for a translatory movement of at least a part of the displacement element13between the deactivated state Z1and the activated state Z2is installed in each of the foot units20shown by the gear wheels21. FIG.2illustrates a kitchen appliance11having a base unit16and a food container29positioned in the base unit16. The food container29is positioned in a container receptacle28of the base unit16. The container receptacle28is configured as part of a housing27of the base unit16. The base unit16further comprises an operating unit33for operating the base unit16and the kitchen appliance11. The operating unit33comprises a touch-sensitive input and display screen. A device10shown as inFIG.1(not shown in detail) is installed in a ground area14of the housing27or the base unit16. The device10has a displacement element13which has sliding element26instead of the rollers25shown inFIG.1. In the base unit16shown inFIG.2, the displacement element13is in an activated state Z2, in which the sliding element26or a part of the displacement element13contacts the working surface12and the housing27is spaced from the working surface12. FIGS.3and4each show a side view of a ground area14of a base unit16according to a first embodiment. In the base unit16shown inFIG.3, the displacement element13is located in a deactivated state Z2within the housing27, wherein a stand34or stands34can be regarded as part of the housing27in the present case. The base unit16shown comprises a control device32for detecting an operating state of the base unit16and for allowing the displacement element13to be moved, based on the detected operating state, from the deactivated state Z1to the activated state shown inFIG.4. The control device32may be understood as a central control unit of the kitchen appliance11and/or the base unit16. The control device32is in signal connection with the operating unit33, the adjustment element15and an actuating device24of the base unit16. The actuating device24is designed in a recessed grip as a manually operable actuating device24for actuating the adjustment element15for adjusting the displacement element13between the deactivated state Z1and the activated state Z2. The actuating device24shown inFIG.3is designed on a bottom side30of the ground area14of the housing27. Furthermore, the actuating device24is configured as a touch-sensitive or touch-sensitive actuating device24for touch-sensitive actuation of the adjustment element15. The base unit16shown inFIG.3further comprises visualization element31for generating an indication on the base unit16that can be visually perceived by a user of the base unit16, and in particular on the working surface12below the base unit16, for detecting a difference between the deactivated state Z1and the activated state Z2. For the desired visualization, the visualization device has LED elements. Once the displacement element13is in the activated state Z2, the visualization element31is activated synchronized by the control device32for illuminating the working surface12under the bottom side30. This is shown inFIG.4. In the example shown, the visualization element31can thus be understood as underbody light of the base unit16. The base unit16may be configured such that the displacement element13is in the activated state Z2only as long as a user touches the actuation device24. As soon as the actuating device24is no longer touched, the adjustment element15adjusts the displacement element13back to the deactivated state Z2, in which the roll25are displaced back into the housing27. The light emitted by the visualization element31is synchronously switched off, in particular faded out. The base unit16now stands firmly on the working surface12again. FIGS.5and6each show a side view of a ground area14of a base unit16according to a second embodiment. The base unit16according to the second embodiment is characterized in particular by a lever mechanism19of the adjustment element15for adjusting the displacement element13, which is installed instead of the electromotive drive unit according to the first embodiment. With reference toFIG.7, a method for the safe use or operation of a base unit as described above is then explained. Within the scope of the method, in a first stage S1, an adjustment request of a user of the base unit16for adjusting the displacement element13from the deactivated state Z1to the activated state Z2is first detected. This can be detected by detecting or determining an exertion of pressure on the actuating device24and/or a touching of the actuating device24. In a second stage S2, an operating state of the base unit16is detected and/or determined, at least approximately simultaneously. For detecting and/or determining the operating state, a temperature in and/or at the food container29, a rotational speed of an agitator (not shown) of the base unit16and/or a weight of food in the food container29are determined. In a stage S3, it is now determined whether the operating state with reference to the user's adjustment request is classified as a critical or “dangerous” operating state, i.e. an operating state in which an increased danger to the user can be expected during the displacement of the kitchen appliance11. If this is not the case (Y(es)—case), the displacement element can be adjusted to the activated state according to stage S4a. If, on the other hand, the base unit16is in a critical operating state or an operating state unsuitable for displacement according to stage S4b(impermissible case/N(o)—case), displacement of the displacement element13into the activated state Z2is prevented or not even permitted. At the same time, a corresponding notice and/or warning is issued to the user via the operating unit33. In other words, for safety reasons, the functionality of moving into the activated state is available to the user (exactly) only when the base unit is in a predefined safe operating state. The invention admits of further design principles in addition to the embodiments illustrated. That is, the invention is not to be considered limited to the embodiments explained with reference to the figures. For example, the housing27may be designed without conventional feet34, but with a standing surface without projections from the bottom side30. Furthermore, the lever mechanism19may comprise a biasing unit for biasing at least one lever of the lever mechanism19in order to facilitate an adjustment of the displacement element13to the activated state Z1by the user. LIST OF REFERENCE SIGNS 10Device11Kitchen appliance12Working surface13Displacement element14Ground area15Adjustment element16Base unit17Linear drive18Electric motor19Lever mechanism20Foot unit21Gear wheel22Gear rim23Drive pinion24Actuating device25Roll26Sliding element27Housing28Container receptacle29Food container30Bottom side31Visualization element32Control device33Operating unit34StandZ1deactivated stateZ2activated stateS1Detect adjustment request of a userS2Detect operating state of the base unitS3Critical operating state?S4aY(es): displacement element in activated stateS4bN(o): displacement element in deactivated state (and prevent shifting and issue warning to user)

11857119

DETAILED DESCRIPTION Before turning to the figures, which illustrate certain exemplary embodiments in detail, it should be understood that the present disclosure is not limited to the details or methodology set forth in the description or illustrated in the figures. It should also be understood that the terminology used herein is for the purpose of description only and should not be regarded as limiting. Referring toFIGS.1-2, a sink accessory system10is shown, according to an exemplary embodiment. The sink accessory system10includes a sink13having a sink area defined by at least a first wall15and an opposing second wall20. The sink13may be a top mounted (e.g., self-rimming or drop-in), an under mounted, a flush mounted, a bar or preparation type, apron-front, or any other sink type known in the art. The first wall15and the second wall20may be each disposed adjacent one or more additional sink walls, rims, edges, or any other sink features known in the art. The sink accessory system10includes at least one sink accessory100. The sink accessory100is configured to wedge within the sink13to create an additional functional level available to a user, without requiring added features or geometries within the sink13(e.g., brackets, fasteners, etc.). A functional level may be considered as a spatial level or space within the sink area that a user may use for one or more functions. As shown, the sink accessory100includes a first end105and a second end110, which is disposed opposite the first end105. Each of the first end105and the second end110may define walls or sides, which define a functional region or work space113disposed therebetween. The first end105of the first sink accessory100is configured to engage with the first wall15of the sink13and the second end110of the first sink accessory100is configured to engage with the second wall20of the sink13. In various embodiments, the sink accessory100is configured to facilitate one or more functional tasks within the sink area. In various embodiments, the functional region or work space113may include at least one of a cutting board, colander, strainer, utility rack, basket, storage container, wash bin, drying rack, etc. FIG.3shows a top view of sink accessory100wedged within the sink13. As shown, the sink13has a width W1defined between the opposing first wall15and the second wall20. Similarly, the sink accessory100has a width W2defined between the first end105and the second end110, wherein W2is smaller than W1. The sink accessory100is configured such that the first end105and the second end110respectively engage with the first wall15and the second wall20of the sink13to wedge the accessory100therebetween. In various embodiments, the sink accessory100may be made of a flexible or elastic material including, but not limited to, one or more polymers, plastics, metals, composites, or a combination thereof. FIG.4shows a side view of the sink13, according to an exemplary embodiment. As shown, the first wall15and second wall20of the sink13are sloped at angles25and30(i.e., draft angles), respectively. Accordingly, the width W1of the sink13may be smaller nearest a bottom surface35of the sink13and greatest nearest an upper edge or rim37of the sink13. Consequently, the sink accessory100may be placed in the sink13such that the first and second ends105,110may wedge between the sloped first and second walls15,20without the aid of mounting features within the sink including, but not limited to, ledges, ridges, lips, brackets, bevels, etc. Because the sink accessory100wedges between the opposing walls15,20of the sink13, the sink accessory100may be positioned at a height above the bottom surface35of the sink13to provide additional function space for a user. Because the sink accessory100is held in place within the sink13by a wedge fit between the ends105,110and the walls15,20, the angles25and30of the sink walls15,20determine a vertical position of the sink accessory100within the sink13. To facilitate a secure wedge fit within the sink13, each of the first end105and the second end110of the sink accessory100may be drafted (i.e., may be sloped or angled) such that the first end105has a draft angle125and the second end has a second draft angle130. Accordingly, the sink accessory100may be wedged in a vertical position such that the sink accessory100is closer to an upper edge or rim37of the sink13than to the bottom surface35of the sink13if the angles25,30are greater than the angles125,130. Similarly, the sink accessory may be wedged in a vertical position such that the sink accessory100is closer to the upper edge or rim37of the sink13than to the bottom surface35of the sink13if the angles25,30are smaller than angles125,130. Furthermore, the sink accessory100may be sized such that the width W2may enable wedging of the sink accessory100within the sink13. The height of the sink accessory100when wedged within the sink13is based on the width W2of the sink accessory100relative to the width W1of the sink13, and based on the angles125,130of the sink accessory100relative to the angles25,30. In various embodiments, depending on the angles125,130and the width W2, the sink accessory100may be positioned within the sink13such that an upper edge of the sink accessory100is substantially parallel to or lower than the upper edge37of the sink13In other embodiments, depending on the angles125,130and the width W2, the sink accessory100may be positioned within the sink13such that an upper edge of the sink accessory100is vertically higher than the upper edge37of the sink13. Accordingly, the sink accessory100may be adaptable to a variety of types of the sink13having various widths W1and angles25,30respectively associated with side walls15,20. In various embodiments, the angles125,130associated with ends105,110of the sink accessory100and/or the angles25,30associated with the walls15,20of the sink13may range from approximately 3 degrees to approximately 5 degrees. FIGS.5and6show side cross-sectional views taken along line5-5ofFIG.3of the sink accessory100wedged within the sink13, according to various exemplary embodiments. As shown inFIG.5, the sink accessory100may be wedged within the sink13at a distance D1from the bottom surface35of the sink13in a case where the width W2and angles125,130of the ends105,110are such that the sink accessory100is disposed closer to the upper edge37than to the bottom surface35of the sink13. In another embodiment, as shown inFIG.6, the width W2and angles125,130of the ends105,110may be such that the sink accessory100is disposed a distance D2from the bottom surface35, wherein the sink accessory100is spaced a distance from the upper edge37and is thus closer to the bottom surface35. In various embodiments, the sink accessory100may include one or more features disposed at either or both of the first and second ends105,110to increase a coefficient of friction (i.e., to prevent slipping, lateral movement within the sink, etc.) between the sink accessory100and the walls15,20of the sink13. Such features may include but are not limited to high friction coatings40or portions having one or more strips or ridges50made of a high friction material (e.g., silicone, rubber, etc.), which may engage with the walls15,20to facilitate a friction fit of the sink accessory100within the sink13. In various embodiments, a thickness T1, defined between a bottom surface and an upper edge of the sink accessory100, may be based on a desired function of the sink accessory100. In other embodiments, the thickness T1may be adjustable (e.g., to suit a particular function, to fit the sink13, etc.). In some embodiments, at least one of the width W2and the angles125,130associated with the ends105,110of the sink accessory may be based on the desired function of the sink accessory100. In other embodiments, at least one of the width W2and the angles125,130associated with the ends105,110of the sink accessory100may be adjustable (e.g., to suit a particular function, to fit the sink13, etc.). As previously described, the sink accessory may be made of or may include one or more metallic, non-metallic, polymeric, composite, and/or other suitable materials. In various embodiments, the sink accessory100may be configured such that the ends105,110are flexible and may elastically form a wedge between the walls15,20of the sink13. In various embodiments, the draft angle125of the first end105of the sink accessory100may be the same as the draft angle130of the second end110of the sink accessory100. In other embodiments, the draft angle125may be greater than or less than the draft angle130(i.e., such that the sink accessory100may be positioned at an incline between the walls15,20). In various embodiments, at least one of the draft angle125and the draft angle130may be within a predetermined range or tolerance of the angles25,30associated with the walls15,20of the sink13. In some embodiments, the sink accessory100may be configured such that the first end105having the first draft angle125may have a first amount of flexibility and the second end110having the second draft angle130may have a second amount of flexibility. Accordingly, the sink accessory100may be flexibly adjustable to fit within a range of widths W1and/or draft angles25,30associated with the sink13. During use, the sink accessory100may be used to provide additional functional space in a sink area by wedging the sink accessory100between opposing walls15,20of the sink13. In various implementations, the sink accessory100may be used with one or more additional sink accessories or tools, such as a sink accessory17, which is shown inFIGS.1and2. As illustrated, the sink accessory100may be configured to wedge within the sink13at distance below the upper edge of the sink13such that the sink accessory17may be placed at a height above the sink accessory100. Accordingly, the sink accessory100may enable a user to create multiple functional levels or spaces within the sink area. For example, the sink accessory100may be a wash bin or a storage bin wedged a distance below the sink accessory17, which may be a cutting board or a drying rack. In various embodiments, multiple sink accessories100may be wedged within the sink13to created multiple functional levels or spaces therein. For example, a sink accessory system10may include a first sink accessory having a first width may be wedged within the sink13near the bottom surface35(e.g., at a distance D2) and a second accessory having a second width greater than the first width may be wedged within the sink13near the upper edge37(e.g., at a distance D1). In various embodiments, a first sink accessory and a second sink accessory may be wedged within the sink13at a same height such that the first sink accessory and the second sink accessory may be adjacently positioned within the sink13. In other embodiments, first and second sink accessories may be wedged within the sink13, wherein the first sink accessory has a first thickness and the second sink accessory has a second thickness different than the first thickness. In yet other embodiments, first and second sink accessories may be wedged within the sink13, wherein the first sink accessory has first and second draft angles associated with its respective first and second ends, and the second sink accessory has third and fourth draft angles associated with its respective first and second ends, wherein the first and second draft angles are greater than or smaller than the third and fourth draft angles. In various embodiments, a sink accessory system may include a first sink accessory configured to have a first function (e.g., colander, strainer, utility rack, drying rack, wash bin, storage bin, cutting board, etc.) and a second sink accessory having a second function, which may be the same as or different than the first function. For example, For example, a sink accessory system10may include a first sink accessory configured as a wash bin and a second sink accessory configured as a drying rack. Notwithstanding the embodiments described above and shown inFIGS.1-6, various modifications and inclusions to those embodiments are contemplated and considered within the scope of the present disclosure. As utilized herein with respect to numerical ranges, the terms “approximately,” “about,” “substantially,” and similar terms generally mean +/−10% of the disclosed values, unless specified otherwise. As utilized herein with respect to structural features (e.g., to describe shape, size, orientation, direction, relative position, etc.), the terms “approximately,” “about,” “substantially,” and similar terms are meant to cover minor variations in structure that may result from, for example, the manufacturing or assembly process and are intended to have a broad meaning in harmony with the common and accepted usage by those of ordinary skill in the art to which the subject matter of this disclosure pertains. Accordingly, these terms should be interpreted as indicating that insubstantial or inconsequential modifications or alterations of the subject matter described and claimed are considered to be within the scope of the disclosure as recited in the appended claims. It should be noted that the term “exemplary” and variations thereof, as used herein to describe various embodiments, are intended to indicate that such embodiments are possible examples, representations, or illustrations of possible embodiments (and such terms are not intended to connote that such embodiments are necessarily extraordinary or superlative examples). The term “coupled” and variations thereof, as used herein, means the joining of two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent or fixed) or moveable (e.g., removable or releasable). Such joining may be achieved with the two members coupled directly to each other, with the two members coupled to each other using a separate intervening member and any additional intermediate members coupled with one another, or with the two members coupled to each other using an intervening member that is integrally formed as a single unitary body with one of the two members. If “coupled” or variations thereof are modified by an additional term (e.g., directly coupled), the generic definition of “coupled” provided above is modified by the plain language meaning of the additional term (e.g., “directly coupled” means the joining of two members without any separate intervening member), resulting in a narrower definition than the generic definition of “coupled” provided above. Such coupling may be mechanical, electrical, or fluidic. References herein to the positions of elements (e.g., “top,” “bottom,” “above,” “below”) are merely used to describe the orientation of various elements in the FIGURES. It should be noted that the orientation of various elements may differ according to other exemplary embodiments, and that such variations are intended to be encompassed by the present disclosure. Although the figures and description may illustrate a specific order of method steps, the order of such steps may differ from what is depicted and described, unless specified differently above. Also, two or more steps may be performed concurrently or with partial concurrence, unless specified differently above. It is important to note that any element disclosed in one embodiment may be incorporated or utilized with any other embodiment disclosed herein. For example, the multiple sink accessories of the exemplary embodiment described may be incorporated in the sink13of the exemplary embodiment. Although only one example of an element from one embodiment that can be incorporated or utilized in another embodiment has been described above, it should be appreciated that other elements of the various embodiments may be incorporated or utilized with any of the other embodiments disclosed herein.

11857120

DETAILED DESCRIPTION In an embodiment of the disclosure, a heated towel rack is provided as an apparatus for heating and/or drying towels. The heated towel rack may comprise a plurality of cross bars vertically arranged between one or more lateral support structures that serve as the racks a user on which a user may be able to hang a towel or other garment. At least one cross bar of the plurality of cross bars may include at least one vent configured to evenly distribute heated (or non-heated) air to the towel or garment, allowing the towel or garment to be evenly warmed and/or dried. In some embodiments, a plurality of cross bars may comprise a plurality of vents. In some embodiments, a heated towel rack may include one or more (in some embodiments, two) lateral supports, at least one forced air heating unit in fluid communication with at least one channel within a lateral support, and a plurality of cross bars coupled between the one or more lateral supports. At least one cross bar of the plurality of cross bars may include at least one vent that traverses into a conduit within the cross bar. The channel of the lateral support may be in fluid communication with the at least one vent by way of the conduit of the cross bar. In some configurations, the at least one cross bar may be rotatably coupled with the at least one lateral support. The rotatable coupling between the cross bar(s) and the lateral support(s) would allow for the rotation of individual cross bars allowing a user to direct the angle of the vent(s) in order to redirect forced heated air to their liking. In some embodiments, the at least one forced air heating unit may include at least one heating element, a fan, and a controller. The controller may be operatively coupled to the at least one heating element and the fan in order to control air temperature and airflow through the vent(s). In some embodiments, the heated towel rack may include a first lateral support and a second lateral support. The first lateral support and the second lateral support may be differentiated by the attachment of the forced air heating unit. For example, the first lateral support may be coupled to at least one forced air heating unit, while the second lateral support may lack any direct coupling to a forced air heating unit. In alternative embodiments, the at least one forced air heating unit may not be coupled to a lateral support and may be coupled to a support cross bar that is in fluid communication with the at least one cross bar. In some embodiments, the heated towel rack may include a stopper that is obstructively positioned within the conduit proximal to the second lateral support to prevent heated air to enter the channel of the second lateral support. In some embodiments, the conduit may taper towards the first lateral support, such that the width of the conduit as it approaches the second lateral support is wider than the width of the conduit near the first lateral support. In some embodiments, the heated towel rack may be configured with at least two lateral supports that comprise a first section and a second section. The first section may be proximal to the at least one forced air heating unit. The second section may be distal to the at least one forced air heating unit. The conduits of the plurality of cross bars in the second section may be larger than plurality of vents in the first section to evenly distribute the airflow through the towel rack. In some embodiments, the heated towel rack may include an attachable aroma therapy element comprising one or more of: a clip, a housing, at least one slot, and/or a scented compound. The scented compound may be positioned within the housing. The at least one slot may traverse through the housing. The attachable aroma therapy element may be configured to couple to a cross bar adjacent to a vent. The at least one slot may be operatively aligned with the vent in order to allow the scented compound to enter into the surrounding environment via the airflow directed out of the vent and therefore through the housing of the aroma therapy element. In some embodiments, the heated towel rack may be configured with the at least one cross bar having a cylindrical shape (profile). Alternatively, the heated towel rack may be configured with the at least one cross bar having a rectangular shape (profile). In some embodiments, the heated towel rack may be configured with a plurality of cross bars having similar or dissimilar shapes for each of the cross bars, where a portion of the cross bars may be differently shaped than another portion of the cross bars. ReferencingFIG.1throughFIG.5, a heated towel rack100is an apparatus for drying and/or warming towels. A towel102placed on the rack receives heated air forced through a plurality of vents that help dry and heat a towel to a comfortable temperature. The heated towel rack100is configured to be mounted or attached to a surface (for example a counter or a wall), but alternative configurations may be provided that allow the towel rack to be a standing structure on the ground. The attachment to a wall may comprise adhesive, physical connectors, screws, nails, slots, and/or other connecting elements. In other embodiments, the towel rack may be freestanding and may function without being attached to a surface or wall. Referring toFIG.2, the heated towel rack100comprises an at least two lateral supports202, a forced air heating unit210, and a plurality of cross bars212. The at least two lateral supports202are positioned parallel to one another and provide a support structure for the heated towel rack100. In some embodiments, the lateral supports202may not be aligned parallel and may form a “V” shape and/or “A” shape. In some embodiments, the at least two lateral supports may be individually referenced as a first lateral support220and a second lateral support222. In some embodiments, the towel rack100may only comprise a single lateral support. As shown inFIG.4, the at least two lateral supports202include a channel410that is in fluid communication with the forced air heating unit210and the plurality of cross bars212. The plurality of cross bars212are coupled between the at least two lateral supports202. Each cross bar of the plurality of cross bars212include a conduit408that is in fluid communication with the channel410of at least one lateral support of the at least two lateral supports202. Each cross bar of the plurality of cross bars212include at least one vent218that traverses into the conduit408. In some embodiments, the cross bar212may comprise a plurality of vents, while in other embodiments, the cross bar212may comprise a single vent218that may extend over a portion of the cross bar212. The vent(s)218act as an exhaust point for heated air from the forced air heating unit210. The forced air heating unit210generates heat and forces air through the channel410at least one of the lateral supports202and through the vents218by way of the conduit408.FIG.5illustrates an exemplary embodiment where the airflow may be directed only through the first lateral support220, while in other embodiments the airflow could be present in (or directed through) the second lateral support222and/or both the first lateral support220and the second lateral support222. The forced air heating unit210forces heated air through the heated towel rack100. In some configurations, the forced air heating unit210may comprise a fan406and a heating element404. The fan406creates the air movement for forcing or directing heated air through the channel410of a lateral support of the at least two lateral supports202. The heating element404generates heat raising the temperature of the surrounding air that is forced through the heated towel rack100. In some configurations, the fan406may be positioned between the heating element404and the channel410. In alternative configurations, the heating element404may be positioned between the fan406and the channel410. As shown inFIG.2, the forced air heating unit210may be operated utilizing a controller204communicating with a user device208by way of a wireless communication module206. A user may operate a user interface through the user device208to communicate control signals for changing the temperature and volume of air being pushed out through the plurality of vents218. The control signals would be received by the controller204through a wireless communication module206to control the temperature settings of the heating element404and the speed of the fan406. The wireless communication module206may communicate wirelessly with the user device208through any wireless communications technology including, but not limited to WiFi, near field communications (NFC), Bluetooth, mobile communications standards (e.g., Long Term Evolution (LTE), etc.,), and etc. In some configurations, the controller204may be accomplished by an electro-mechanical switch that turns the device on/off. The electro-mechanical switch may additionally incorporate a timer mechanism and/or a temperature sensor to control when the forced air heating unit210turns on or off. In some embodiments, the controller204may be operated via a remote control configured to communicate with the controller204via a wireless connection, such as infrared (IR), radio frequency (RF), or another wireless connection. In some embodiments, the controller204may be operated via manual manipulation and/or remote manipulation using any of the above described methods. In some embodiments, the controller204may comprise an input for the user to control the temperature of the air that is directed into the towel rack100via the forced air heating unit210. In some embodiments, the heating element404may be optionally activated or not activated with the fan406, depending on if the user wishes for the air directed out of the vents218to be heated or room temperature. In some embodiments, the heating element404may comprise multiple heat settings, where a user may choose one of a plurality of heat settings via the controller204and/or communication with the controller204. In some embodiments, the towel rack100may comprise a power source209configured to power the other elements of the towel rack100. For example, the power source209may comprise battery power, where one or more battery may be connected to a part of the towel rack100and in communication with the controller204and/or the forced air heating unit210. The power source209may also comprise corded, plug-in, or hard-wired power, where a cord may be connected to a part of the towel rack100and in communication with the controller204and/or the forced air heating unit210. In some configurations, more than one forced air heating unit210may be utilized in the heated towel rack. In a two unit arrangement, one forced air heating unit may be positioned on the lower portion of one lateral support, while the other forced air heating unit may be positioned the opposite end of the neighboring lateral support. Alternatively, one or more fans may be positioned on (or within) one or more support cross bar (which may be parallel to cross bars and attached to the lateral supports). In some embodiments, the towel rack may comprise two or more fans positioned on the support cross bars, where each of the multiple fans may direct airflow to only a portion of the cross bars and vents. For example, a first fan may provide airflow to an upper portion of the towel rack (and may be positioned on the upper portion of the towel rack), and a second fan may provide airflow to a lower portion of the towel rack (and may be position on the lower portion of the towel rack). In some configurations, the forced air heating unit210may include more than one heating element404. In some embodiments, the heating element(s)404may be positioned within the conduit408and/or within the channel410and may be utilized in addition to or as an alternative to the single heating unit configurations that have been previously described. In some embodiments, the fan406of the forced air heating unit210, and/or the entire forced air heating unit210, may be positioned anywhere on the towel rack100that is in fluid communication with the channel410, the conduit408, and/or the vents218. For example, the forced air heating unit210may be positioned on one of the support cross bars (described above), wherein the support cross bar(s) may comprise a channel within the support cross bar to provide fluid communication between the forced air heating unit210and the rest of the towel rack (i.e., the conduit, channels, and/or vents). In the example shown inFIG.2throughFIG.5, the heated towel rack100is configured with a single forced air heating unit210positioned on the lower portion of a lateral support. The region proximal to the forced air heating unit210is considered the first section214, while the region distal to the forced air heating unit210is considered the second section216. Similarly, the lateral support coupled to the forced air heating unit210is considered the first lateral support220, while the other lateral support is considered the second lateral support222. To help improve airflow from the forced air heating unit210through the channel410and subsequently the conduit408of the plurality of cross bars212, the conduit408of the plurality of cross bars212in the second section216may be larger than the conduit408in the first section214. Additionally, the plurality of vents218in the second section216may be larger than the plurality of vents218in the first section214. Through changing the width of either, or in combination, the plurality of vents218of the conduit408, the flow rate and temperature of heated air through the plurality of vents218may be consistent across all of the plurality of vents218. In some embodiments, the number of vents218may be different in the first section214and the second section216to provide consistent airflow to all of the vents218. In some embodiments, one or more of the cross bars212may comprise vents218on the back side of the cross bar212. In some embodiments, one or more of the cross bars212may comprise vents218on the front side and/or the back side of the cross bar212. In some embodiments, one or more of the cross bars212may not comprise vents218while other cross bars212may comprise vents218. Also, in some embodiments, some cross bars may comprise a greater number of vents than other cross bars. The heated towel rack100may also incorporate at least one stopper402to help airflow through the conduit408of the plurality of cross bars212. A stopper402is obstructively positioned within a cross bar212on the end of the cross bar212proximal to the second lateral support222. In some embodiments, any number of the cross bars212may comprise a stopper402. In some embodiments, one or more of the cross bars212may not comprise a stopper to allow for fluid communication between the channels410of the lateral supports220and222. In some configurations, more than one forced air heating unit210may be incorporated into a heated towel rack, the stopper402may not be needed in these configurations. In some configurations, the stopper402may be utilized to block portions of the channel410within the lateral support that do not interface with the conduit408. In some configurations, the conduit408may taper such that the width of the conduit408towards the second lateral support222is larger than the width of the conduit408proximal to the first lateral support220. In some embodiments, one or more elements of the towel rack100may comprise a metal material. In some embodiments, one or more elements of the towel rack100may comprise a plastic material, such as a thermoplastic, a polymer, and/or another plastic material. In some embodiments, one or more elements of the towel rack100may comprise a ceramic material. The material may be selected to prevent damage from heating by the heating elements of the forced air heating unit. In some embodiments, the towel rack100may comprise snap fit components, wherein the towel rack100may ship in multiple pieces or components which may then be assembled by a customer. In some embodiments, a front surface or panel (i.e., that faces away from the wall when the towel rack100is install onto a wall) may be configured to be replaceable and may comprise a variety of colors or designs. In some embodiments, additional front surfaces or panels may be sold separately from the towel rack100. This may be useful for a user who has installed the towel rack100in their bathroom or other room, and then changes the decorations or design of the room, and then wish to change the appearance of the towel rack100to coordinate with the new design. In some embodiments, the towel rack100may be sized to fit or accommodate a particular size of towel or other garment. For example, the towel rack100may be sized to fit a bath sheet, a body towel, a hand towel, a washcloth, a robe, or another garment. ReferencingFIG.6throughFIG.8, an attachable aroma therapy element600may couple over at least one vent218on a cross bar212of the heated towel rack100allowing a scented compound to be released with the heated air that exits the vent218. As shown inFIG.8, the attachable aroma therapy element600comprises a plurality of slots802, a housing804, and a clip806. The plurality of slots802traverse through the housing804creating a passage for heated air to exit when the attachable aroma therapy element600is placed over a vent218. In other words, the slots802may extend through to the back surface of the vent218. The housing804holds the scented compound in place allowing heated air from the vent218to pass through the plurality of slots802and carrying the scented compound into the surrounding space. The scented compound may be configured as a disposable insert. The clip806functions as the attachment mechanism for securing the attachable aroma therapy element600to the cross bar212. The clip806may couple to the cross bar212adjacent to the vent218to allow the plurality of slots802to align with the vent218. ReferencingFIG.9, a heated towel rack900is an alternative configuration of the heated towel rack100(as shown inFIG.1) with the plurality of cross bars912being rectangularly shaped such that they have a rectangular profile. The heated towel rack900comprises a forced air heating unit210, at least two lateral supports202, and a plurality of cross bars912. In the heated towel rack100shown inFIG.1, the plurality of cross bars212are generally cylindrical in shape with the plurality of vents218having a semi elliptical profile. In the heated towel rack900, the plurality of cross bars912of the heated towel rack900are rectangular in shape. The plurality of vents218of the plurality of cross bars912may have a rectangular profile. In some configurations, the plurality of vents218may have any shape profile (e.g., elliptical, tear drop, etc.,) to vent the forced heated air. The term “wireless communication” in this context refers to the transfer of information between two or more points that are not connected by an electrical conductor. Common wireless technologies use electromagnetic wireless telecommunications, such as radio. With radio waves distances can be short, such as a few meters for television, or as far as thousands or even millions of kilometers for deep-space radio communications. Wireless communication encompasses various types of fixed, mobile, and portable applications, including two-way radios, cellular telephones, personal digital assistants (PDAs), and wireless networking. Other examples of applications of radio wireless technology include GPS units, garage door openers, wireless computer mice, keyboards and headsets, headphones, radio receivers, satellite television, broadcast television and cordless telephones. Less common methods of achieving wireless communications include the use of light, sound, magnetic, or electric fields. The term “user interface” in this context refers to logic to receive signals from device inputs such as a mouse, keyboard, or microphone, and to correlate those inputs with visual features rendered on an optical display. A user interface determines how a human operator interacts with and controls a device. User interfaces are comprised of elements with which the human operator interacts to affect device behavior. Examples of user interface elements are (1) command language (text): the operator inputs program-specific instructions or codes into the device, (2) menus: the operator selects elements from displayed lists, (3) buttons: the operator selects (typically by clicking the mouse cursor on) defined areas of the display. Having described various devices and methods herein, exemplary embodiments or aspects can include, but are not limited to: In a first embodiment, a heated towel rack may comprise at least one lateral support; at least one forced air heating unit in fluid communication with a channel within the lateral support; at least one cross bar coupled to the at least one lateral support; wherein the at least one cross bar comprises at least one vent that traverses into a conduit within the cross bar; and wherein the channel of the lateral support is in fluid communication with the at least one vent by way of the conduit of the cross bar. A second embodiment can include the heated towel rack of the first embodiment, comprising a plurality of lateral supports. A third embodiment can include the heated towel rack of the first or second embodiments, comprising a plurality of vents. A fourth embodiment can include the heated towel rack of any of the first through third embodiments, wherein the at least one forced air heating unit comprises at least one heating element, a fan, and a controller, and wherein the controller is operatively coupled to the at least one heating element and the fan to control air temperature and flow through the plurality of vents. A fifth embodiment can include the heated towel rack of any of the first through fourth embodiments, further comprising a first lateral support and a second lateral support, wherein the at least one forced air heating unit is coupled to the first lateral support. A sixth embodiment can include the heated towel rack of the fifth embodiment, wherein at least one stopper is obstructively positioned within the conduit proximal to the second lateral support. A seventh embodiment can include the heated towel rack of the fifth or sixth embodiment, comprising a plurality of cross bars and further comprising a plurality of stoppers obstructively positioned with conduits of each of the plurality of cross bars proximal to the second lateral support. In some embodiments, the conduit tapers towards the first lateral support. An eighth embodiment can include the heated towel rack of any of the first through seventh embodiments, wherein the at least two lateral supports comprises a first section and a second section; wherein the first section is proximal to the at least one forced air heating unit; wherein the second section is distal to the at least one forced air heating unit; and wherein a conduit of a cross bar in the second section is larger than a conduit of a cross bar in the first section. A ninth embodiment can include the heated towel rack of any of the first through eighth embodiments, further comprising an attachable aroma therapy element comprising a clip, a housing, a plurality of slots, and a scented compound, wherein the scented compound is positioned within the housing, wherein the plurality of slots traverse the housing, wherein the attachable aroma therapy element being coupled to the cross bar adjacent to a vent of the plurality of vents by way of the clip, and wherein the plurality of slots are operatively aligned with the vent. A tenth embodiment can include the heated towel rack of any of the first through eighth embodiments, comprising a plurality of cross bars. In some embodiments, the plurality of cross bars are cylindrically shaped. In some embodiments, the plurality of cross bars are rectangularly shaped. In some embodiments, at least two of the plurality of cross bars comprise at least one vent. In an eleventh embodiment, a method for assembling a towel drying rack may comprise connecting one or more lateral supports to a plurality of cross bars; fluidly connecting a channel within at least one of the lateral supports to conduit within each of the plurality of cross bars; fluidly connecting the conduit with at least one vent formed into the cross bars, wherein the at least one vent is configured to direct airflow out of the towel drying rack; and fluidly connecting a forced air unit to at least one of the channel and the conduit. A twelfth embodiment can include the method of the eleventh embodiment, further comprising directing airflow, by the forced air unit, into the channel within the at least one lateral support; directing airflow from the channel into the plurality of conduits positioned within the plurality of cross bars attached to the lateral support element; and directing airflow from the conduits out of the at least one vent in the cross bars toward a towel or other garment. A thirteenth embodiment can include the method of any of the eleventh or twelfth embodiments, further comprising fluidly connecting one or more heating elements to one or more of the forced air unit, the conduit, and the channel. A fourteenth embodiment can include the method of the thirteenth embodiment, further comprising heating airflow generated by the forced air unit before the airflow exits the at least one vent of the cross bars. A fifteenth embodiment can include the method of any of the eleventh through fourteenth embodiments, further comprising: connecting a controller to one or more of the elements of the towel rack; and manually or remotely controlling the operation of the towel rack via the controller. A sixteenth embodiment can include the method of any of the eleventh through fifteenth embodiments, further comprising attaching one or more aroma therapy element over one or more of the vents of the cross bars. In a seventeenth embodiment, a garment drying rack may comprise at least one lateral support comprising a channel within the interior of the lateral support; at least one forced air unit in fluid communication with the channel within the lateral support configured to generate airflow into the channel; at least one cross bar comprising a conduit positioned within the interior of the cross bar, wherein the conduit is in fluid communication with the channel; and a plurality of vents in fluid communication with the conduit, the channel being in fluid communication with the plurality of vents by way of the conduit. An eighteenth embodiment can include the garment drying rack of the seventeenth embodiment, further comprising one or more heating elements in fluid communication with one or more of the forced air unit, the conduit, and the channel, the heating elements configured to heat the airflow before it exits the vents. A nineteenth embodiment can include the garment drying rack of the seventeenth or eighteenth embodiments, further comprising at least one aroma therapy element positioned over at least one of the vents configured to provide a scent that is spread via the airflow exiting the vent. A twentieth embodiment can include the garment drying rack of any of the seventeenth through nineteenth embodiments, wherein the rack is sized to fit a particular garment to be dried. In some embodiments, the garment drying rack may comprise a first cross bar, a second cross bar, and a third cross bar. In some embodiments, the garment drying rack may comprise a first vent, a second vent, and a third vent.

11857121

DETAILED DESCRIPTION Several aspects of the disclosure are described below. It should be understood that numerous specific details, relationships, and methods are set forth to provide a full understanding of the disclosure. One having ordinary skill in the relevant art, however, will readily recognize that the invention disclosed can be practiced without one or more of the specific details or practiced with other methods/protocols. The present disclosure is not limited by the illustrated ordering of acts or events, as some acts may occur in different orders and/or concurrently with other acts or events. Furthermore, not all illustrated acts, steps, or events are required to implement a methodology in accordance with the present disclosure. Many of the techniques and procedures described, or referenced herein, are well understood and commonly employed using conventional methodology by those skilled in the art. Unless otherwise defined, all terms of art, notations and other scientific terms or terminology used herein are intended to have the meanings commonly understood by those of skill in the art to which this disclosure pertains. In some cases, terms with commonly understood meanings are defined herein for clarity and/or for ready reference, and the inclusion of such definitions herein should not necessarily be construed to represent a substantial difference over what is generally understood in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and/or as otherwise defined herein. The following detailed description and the appended drawings describe and illustrate exemplary embodiments of the disclosure solely for the purpose of enabling one of ordinary skill in the relevant art to make and use the invention. As such, the detailed description and illustration of these embodiments are purely exemplary in nature and are in no way intended to limit the scope of the disclosure, or its protection, in any manner. It should also be understood that the drawings are not to scale and in certain instances details have been omitted, which are not necessary for an understanding of the present invention, such as conventional details of fabrication and assembly. Embodiments of a paper dispenser for dispensing paper provided on a roll (e.g., a paper roll), in accordance with the disclosure, may include a cylindrical housing. The cylindrical housing may have an inner surface defining a compartment therein, the compartment dimensioned to receive the roll, an outer surface defined at an opposing surface to the inner surface, first and second longitudinal ends, the roll insertable into the compartment through either the first or second longitudinal end, and a slot provided between the inner and outer surface and extending longitudinally towards the first and second longitudinal ends. The cylindrical housing may also have first and second end walls, each end wall removably provided proximate to one of the first and second longitudinal ends. In one embodiment, the slot may begin at the first longitudinal end and terminate at the second longitudinal end. The end walls may have an outer end wall surface and an inner end wall surface, and an aperture extending between the outer end wall surface and inner end wall surface to receive a rod to support the roll; the rod to support the roll may be flexible as set forth herein. The first and second end walls may be press fit to one of the first and second longitudinal ends. The end walls may include a lip protruding from the inner end wall surface. The lip may have approximately the same diameter as the inner surface of the cylindrical housing and the outer end wall surface may have approximately the same diameter as the outer surface of the cylindrical housing. The paper dispenser may have at least one layer of absorptive material to absorb and disperse a fragrance, the layer of absorptive material provided on at least one of the end walls. In another embodiment, the layer of absorptive material is provided on the outer surface of the cylindrical housing. The paper dispenser may have at least one decorative layer provided on the outer surface of the housing. In another embodiment, the at least one decorative layer is provided on at least one end wall. In a method embodiment for dispensing paper provided on a roll from a paper dispenser, the method may include the step of inserting the roll into a cylindrical housing having first and second longitudinal ends, an inner surface defining a compartment therein, the compartment dimensioned to receive the roll, an outer surface defined at an opposing surface to the inner surface, and a slot provided between the inner and outer surface and extending longitudinally towards the first and second longitudinal ends. The method may also include the steps of securing the first and second end walls to the cylindrical housing proximate the first and second longitudinal ends, and dispensing paper from the roll through the slot in the cylindrical housing. In one method embodiment, the first and second end walls may be press fit to one of the first or second longitudinal ends. The roll may be inserted into the compartment through either the first or second longitudinal ends. A rod to support the roll may be inserted thorough an aperture in one of the first or second end walls; in some implementations described below, the rod to support the roll may be flexible such that insertion of opposing ends of the rod into support structures in a roll holder cause the rod to flex or bow along a longitudinal axis. In one method embodiment, a decorative surface may be provided on the outer surface of the cylindrical housing. In another method embodiment the decorative surface may be provided on at least one of the end walls. The method may also include the step of storing a fragrance in at least one layer of absorptive material provided on the outer surface of the cylindrical housing. In another method embodiment, the fragrance is stored in at least one layer of absorptive material provided on at least one of the end walls. With reference now toFIGS.1-5, an embodiment of a paper dispenser for dispensing paper provided on a roll10is provided in accordance with the disclosure. The paper dispenser10may include a cylindrical housing100and first and second end walls200. The cylindrical housing100has an outer surface110, an inner surface120, a first longitudinal end140, and a second longitudinal end150. The inner surface120defines a compartment130dimensioned to receive a roll, such as a roll of toilet paper or paper towels. However, it may be appreciated that the compartment130may receive other types of paper not on a roll, such as tissue paper. Accordingly, the cylindrical housing100may be of different diameters and lengths to support the size of the paper product to be dispensed. The cylindrical housing100may be substantially constructed from metal, plastic, or any other known or to be developed material suitable for protecting the roll. The first and second longitudinal ends140,150are open such that the roll may be inserted into the compartment130through one of the longitudinal ends140,150. The cylindrical housing100also has a slot160between the outer surface110and the inner surface120. As those skilled in the art will appreciate, paper may be dispensed through the slot160from the roll that is housed in the compartment130. As shown inFIG.1, the slot160extends longitudinally from the first longitudinal end140to the second longitudinal end150. However, in another embodiment, shown inFIG.2A, the slot160A extends only a portion of the length of the outer surface110. As those skilled in the art will appreciate, the slot160A may be longer or shorter to allow the dispensing of various sizes of paper while minimizing the amount of exposure to the roll. As may be appreciated, the cylindrical housing100may be operated in a vertical or horizontal position and may hold one or more rolls of toilet paper. A decorative layer170may be provided on the cylindrical housing100. As shown inFIG.1, the decorative layer170is an image provided on the outer surface110. However, in another embodiment, the decorative layer170is a separate layer, such as a wrap, covering the entire outer surface110. In yet another embodiment, the decorative layer170may be provided on the end walls200. The decorative layer170may be substantially constructed from a fabric, polymers, metal, or any other known or to be developed material suitable for displaying a design. The decorative layer170may also incorporate other decorative objects, such as beads, jewels, appliques, stickers, and the like. The decorative layer170may be adhered to the outer surface using glue, hook and loop fasteners, or other methods known to those skilled in the art or to be developed. The decorative layer170may be removable from the outer surface110or end walls200to allow a user to change the decorations by adhering other types of wraps (e.g., holiday, personalized, photo, themed etc.) In yet another embodiment, the decorative layer170may also be printed onto the outer surface110or end walls200. As shown inFIG.1, the first and second end walls200have an outer end wall surface210, an inner end wall surface220and the first and second end walls200may be removably provided proximate to the first and second longitudinal ends140,150, respectively. As those skilled in the art will appreciate, the end walls200can be removed to allow the roll to be inserted into the compartment130and attached afterwards to enclose the openings at the first and second longitudinal ends140,150. The end walls200may be cylindrical and have substantially the same diameter as the outer surface110of the cylindrical housing100. However, other dimensions and geometries are contemplated. In one embodiment, a lip230may protrude from the inner end wall surface220of at least one of the first and second end walls200. The lip230may have approximately the same diameter as the inner surface120of the cylindrical housing110such that the end walls200may be press fit to the cylindrical housing110. However, in other embodiments, the end walls200are connected to the cylindrical housing110using other connection methods and devices, such as hook-and-loop fasteners, latches, nuts and bolts, ball joints, and the like. At least one of the first and second end walls200may also include an aperture240. A conventional paper rod or holder may be inserted into the roll in the compartment130through the aperture240. Alternatively, a flexible rod may be inserted through aperture; engaging each end of such a flexible rod into a paper roll holder may cause the rod to flex or bow, moving cylindrical housing110further away from the holder than would be the case if a rigid paper rod were used. As shown inFIG.1, the aperture240is cylindrical in shape to accommodate a cylindrical paper rod or holder, and it may be dimensioned to have a sufficient diameter to accommodate flexure of a flexible rod. However, the aperture240may be provided in other dimensions and geometries. In another embodiment, paper, such as tissues, may be dispensed through the aperture240. The paper dispenser10, may also include a layer of absorptive material250to absorb and dispense fragrance. The layer of absorptive material250may be a porous material such as felt, cotton, wool, or other fabric capable of absorbing a scented liquid. As shown inFIG.1, the layer of absorptive material250is provided on the outer end wall surface210. In another embodiment, the layer of absorptive material250is provided on the outer surface100of the cylindrical housing100. A method for dispensing paper provided on a roll from a paper dispenser is now described. In one embodiment, the method may include the step of inserting the roll into the compartment130of the cylindrical housing110through one of the longitudinal ends140,150. If attached, the end walls200may first be removed. The method may also include attaching the first and second end walls200to the cylindrical housing100proximate the first and second longitudinal ends140,150. The paper from the roll may be dispensed through the slot160in the cylindrical housing100. In one embodiment, the first and second end walls200may be press fit into one of the first and second longitudinal ends140,150. However, other methods of attachment are possible. A rod or holder (which may be rigid or flexible, for example) to support the roll may be inserted through the aperture240in one of the first or second end walls200. The decorative layer170may be provided on the outer surface110of the cylindrical housing100. However, in another method embodiment, the decorative layer170may be provided on at least one of the end walls200. Fragrance may be stored in the least one layer of absorptive material250. The at least one layer of absorptive material250may be provided on the outer surface110of the cylindrical housing100. In another embodiment, fragrance is stored in the layer of absorptive material250provided on at least one of the end walls200. Turning now toFIGS.6A through7, it is noted thatFIG.6Aillustrates a front perspective view andFIG.6Billustrates a side view of one implementation of a supporting rod for use in connection with the paper dispenser of the present disclosure, andFIG.7illustrates an exploded view of the paper dispenser ofFIG.1including an illumination component. As indicated inFIG.6A, a holder structure602is typically constructed to incorporate or comprise depressions, indentations, or detent mechanisms (reference numeral603) that are sized and dimensioned to engage ends of a spring-loaded or tension-activated rod that is operative to secure a roll of paper as is generally known in the art. Specifically, structure602(usually fabricated of metal or ceramic, for example, as a design choice or for aesthetic reasons) may be attached to a wall, cabinet side, or other support surface, and a rod may be attached and secured at detent mechanisms603such that a roll of paper (not illustrated inFIG.6A) may be supported by and rotate around the rod during dispensing operations. As will be appreciated by those of skill in the art, conventional rods deployed for this purpose are generally rigid, meaning that they describe a substantially linear path between detent mechanisms603, which may present challenges when a roll of paper that is intended to be supported by the rod exceeds a particular radius. In a departure from conventional technologies, however, a flexible rod (reference numeral699) may be employed in lieu of a typical rigid rod. In that regard, a longitudinal axis of flexible rod699may be greater than the distance between detent mechanisms603; as a result, engaging alternate ends of flexible rod699with opposing detent mechanisms603may generally cause flexible rod699to flex or bow away from structure602, thus providing an increased distance between a longitudinal axis of the paper roll and a face of structure602; this increased distance is referred to as an “offset,” and is best illustrated at reference numeral690inFIG.6B. This offset feature, enabled by flexible rod699, facilitates paper dispenser10accommodating larger rolls of paper than would otherwise have been possible if a rigid rod were used instead of flexible rod699. As a practical matter, flexible rod699may be constructed of rubber, plastic, fiberglass, carbon fiber or other laminates, textiles or fibrous materials such as bamboo or hemp, or any other pliable material having sufficient malleability and resistance under compression to create offset690when opposite ends of flexible rod699are engaged with opposing detent mechanisms603. In that regard, it may be desirable in some instances to select a material and a length of flexible rod699as functions of structure602, in general, and as a function of the distance between detent mechanisms603, in particular. As noted above, it will be appreciated that conventional paper support rods are spring-loaded and rigid, such that they do not allow for flexibility with respect to large rolls of toilet paper (or other types of paper), which can be problematic (i.e., such conventional rods do not allow for offset690as illustrated inFIG.6B). Such conventional rods are also limited in color choices, style, and décor, whereas the artistic or aesthetic features of a flexible rod699may be limited only by the nature and structural characteristics of the flexible material used in its construction. Furthermore, over time, conventional spring-loaded rods may malfunction (e.g., due to deterioration of the operative spring or failures in the telescoping housings that contain the spring), and need to be replaced; a flexible rod699, on the other hand, may accommodate a variety of paper roll sizes or diameters, may generally be constructed to fit all or most standard paper holders (such as structure602), and, due to its one-piece design having no moving parts, may significantly reduce or minimize some of the risks of malfunction over its useful life expectancy. In some commercial implementations, flexible rod699may embody or comprise various decorative or functional options such as, but not limited to: fabrication using glow-in-the-dark or bioluminescent materials; independently illuminated versions (such as are described below); decoration or encrustation using colored minerals, rhinestones, beads, crystals, gemstones, and the like; and decorations or other festoonery to match the same, if any, as may be deployed with respect to outer surface110, to provide a uniform or continuous decorative motif. As indicated inFIG.6B, flexible rod699may engage detent mechanisms603in structure602; as a consequence of the length and pliant nature of flexible rod699, engagement of the ends of flexible rod699with detent mechanisms603may generally cause a flexure or bow in flexible rod699away from structure602. In that regard, due to the aforementioned pliancy of flexible rod699, an offset (depicted generally, though not to scale, at reference numeral690) may be created that represents an increase in a distance from a centerline of the paper roll to the centerline of detent mechanisms603(and thus, to a bearing surface of structure602). An effective mechanical offset to allow for a radius of a paper roll, such as offset690, may allow structure602to handle a roll of paper that is larger than a roll that it was designed to accommodate in the first place. As indicated inFIG.7, an illumination component710may be disposed in one or more of various locations in connection with dispenser10. By way of example, illumination component710may be attached to, adhered to, incorporated into, or integrated with either inner surface120, inner end wall surface220, or both (or a combination of same) inside of compartment130. Both of these implementations are illustrated inFIG.7, though it is contemplated that these not be utilized simultaneously, and it will also be appreciated that any of various implementations may be employed as a design choice, depending upon the size of the roll of paper to be accommodated in compartment130, whether electronics and sensors are deployed in connection with illumination component710, or a combination of these and a variety of other factors. In some implementations, illumination component710may generally comprise a light source790and a battery (not shown) to power same, and may optionally comprise a sensor780and attendant supporting electronics or data processing resources. In any event, as contemplated by the subject matter disclosed herein, illumination component710comprising light source790may be disposed (at least partially) inside compartment130and may be operative selectively to provide light (from inside compartment130) to an exterior of compartment130via slot160, apertures240, or both. As noted above, aspects or elements of illumination component710may be attached to, adhered to, incorporated into, or integrated with inner surface120, inner end wall surface220, or both. In some implementations, illumination component710, or portions thereof, may be welded, braised, soldered, affixed via adhesives, screws, bolts, rivets, or other mechanical fasteners, or otherwise rigidly attached to an appropriate or desired portion of compartment130or, optionally, flexible rod699. In some circumstances, it may be desirable to provide a user of paper dispenser10with access to certain functionality of illumination component710, so a power switch or button (not shown inFIG.7), for instance, may be provided exterior to compartment130(such as on outer surface110or on outer end wall surface210) for convenient access; alternatively, illumination component710may be provided with a wireless transceiver (such as a Bluetooth™ or other near-field communications (NFC), wireless, or cellular transceiver) capable of data communications without a wired connection, such that operation of illumination component710may be controlled via a remote, wireless device. Additionally or alternatively, in some situations, it may be desirable that illumination component710(or at least some components thereof) may be removable from compartment130, for example, to facilitate replacement of failed incandescent light bulbs, depleted batteries, and the like. Further, it may be desirable that sensor780be employed exterior to compartment130, and so necessary electrical or data transmission conduits between sensor780and other elements of illumination component710may be disposed on opposing sides of cylindrical housing110or first and second end walls200, as the case may be. Electrical power connections, data buses, and other electronic infrastructure have been omitted fromFIG.7for clarity, though it is noted that certain types of wireless transceivers (such as those mentioned above) may be most functional if deployed exterior to compartment130, such as on outer surface110or on outer end wall surface210. Other elements that are well-known in the art, such as plugs, inputs, or other interfaces for enabling battery charging or for programming of electronics at illumination component710are also omitted fromFIG.7for clarity. In some implementations, illumination component710may be embodied in or comprise a printed circuit board including sufficient control circuitry and other attendant electronics to regulate, manipulate, or otherwise to control operation of light source790as set forth herein. In that regard, illumination component710may comprise control circuitry (operative under software, for example, or otherwise in accordance with appropriate computer-readable instruction sets) selectively to power light source790, for instance, as a function of time of day, or responsive to a level of ambient light or other environmental data perceived by sensor780. Specifically, illumination component710may comprise a timer, or have access to a remote source of universal time, such that light source790may be selectively activated as a function of time of day in a local time zone. Additionally or alternatively, control circuitry at illumination component710may be employed selectively to activate light source790as a function of input from sensor780(which may be, for example, a motion sensor, a light sensor, an infra-red or heat sensor, a pressure sensor, or the like). As noted above, light source790may be powered by a battery, an appropriately configured capacitor, or other power source (not illustrated inFIG.7), including, if desired, a source external to dispenser10(such as an external alternating current outlet). Such power sources are generally known in the art, however, and the present disclosure is not intended to be limited by the nature or operational characteristics of the power supply employed to provide operating electrical power to light source790. Light source790may be embodied in or comprise an incandescent light bulb, for example, sized and dimensioned for implementation inside of compartment130; additionally or alternatively, light source790may be a light emitting diode (LED), an organic LED (OLED), or other semiconductor-based component capable of radiating light in a portion of the electromagnetic spectrum that is visible to the human eye. One or more such light sources790may be implemented in a linear arrangement, a two-dimensional array, or other configuration, as desired to produce or to provide a desired or required amount of light that is cast from inside compartment130. For example, in one implementation illustrated near the center ofFIG.7, illumination component710is depicted as comprising a plurality of such light sources790, which may be a plurality of incandescent bulbs or LEDs, depending upon a variety of variables, including desired or required power draw, form factor or other dimensional considerations, heat dissipation characteristics, or a combination of these and other factors. In some instances, a light source790implemented as a strip of LEDs may provide light (e.g., to be provided via slot160, apertures240, or both) that is suitable for “nightlight” purposes or for a pleasing or desirable aesthetic effect. Sensor780may be as simple as a timer, for instance, which may be synchronized with an external time source or entirely independent and running on a local oscillator. Additionally or alternatively, sensor780may be a motion sensor, an aural sensor, a heat or infra-red sensor, a pressure sensor, or an ambient light sensor. For example, sensor780may detect the presence of a person in a room, or the proximity of that person to dispenser10, and control circuitry elements of illumination component710may then active light source790responsive to input from sensor780. In one implementation, for instance, sensor780may be operable to detect a level of ambient light or sound in a room in which dispenser10is deployed, and illumination component710may be programmed to activate light source790responsive to a level of ambient light or sound, as the case may be, in the room—as a night light, for example, or as a safety feature in hospitals, other medical facilities, schools, and the like. As noted above, in circumstances in which sensor780may acquire data or perceive conditions exterior to compartment130, it may be desirable to employ sensor780on outer surface110or on outer end wall surface210, as opposed to a surface that is interior to compartment130, depending upon the operational characteristics of sensor780and the extent to which alteration of structural components of compartment are to be tolerated. The descriptions set forth above are meant to be illustrative and not limiting, and persons of skill in the art will recognize that various common and known deviations from the above described structures are considered to be within the scope of the disclosed concepts described herein. The invention illustratively disclosed herein suitably may be practiced in the absence of any element which is not specifically disclosed herein. The invention illustratively disclosed herein suitably may also be practiced in the absence of any element which is not specifically disclosed herein and that does not materially affect the basic and novel characteristics of the claimed invention.

11857122

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which may be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed structure Referring to the drawings in more detail, the reference number1generally designates an embodiment of a modular portable toilet apparatus with a rotary agitator which embodies the present invention. The illustrated apparatus1includes a frame unit4, a toilet unit6, a bowl unit8(FIG.10), an agitator unit10(FIG.7), a power unit12(FIGS.12-14), and a seat unit14(FIG.15). In general, the bowl unit8, agitator unit10, and the power unit12, are positioned within or supported by the toilet unit6which is secured within the frame unit4by the seat unit14. Referring toFIGS.1and2, the illustrated frame unit4is a compact frame unit17and includes left and right hand side rails18and front and rear end rails20which are joined to form a rectangular upper frame assembly22supported by a frame riser24including vertically oriented legs26joined to the upper frame22, as at junctions of the side rails18and end rails20. The illustrated frame riser24has a length to enable the toilet unit6to be supported above a support surface, such as a floor or ground surface, for stability of the apparatus1. The illustrated rails18and20and the legs26are square tubular metal members, such as of steel; however it is foreseen that other cross sectional shapes and materials could be used for the components of the frame unit17. It is foreseen that the length of the legs26could be adjustable to enable positioning the apparatus1at a desired height above a support surface. Referring toFIG.3, each of the illustrated side rails18has a seat unit hinge plate28secured to an exterior surface thereof, as by welding. The hinge plate28has rearwardly open seat hinge pivot slot30at a rear end of the hinge plate28and a rear liner bag hook32for a purpose which will be described further below. Positioned rearward of the hinge plate28, a threaded retainer bolt35extends upwardly from each side rail18. The bolts35receive threaded retainer nuts38(FIGS.1and2) to removably secure the toilet unit6within the frame unit17by engagement with the power unit12and the seat unit14. The toilet unit6generally includes the bowl unit8, the agitator unit10, and the power unit12supported within a container tub or housing43(FIGS.4and5). The illustrated tub43includes a lower wall45(FIG.7), right and left side walls47, and front and rear walls49extending angularly upwardly from the lower wall45. Upper ends51of the walls47and49have a mounting flange53extending outwardly therefrom. The mounting flange53engages upper surfaces of the side rails18and end rails20of frame unit17when the toilet unit6is secured to the frame unit17. Side sections of the mounting flange53have laterally aligned mounting holes55formed therein to receive the retainer bolts35therethrough to enable securing the toilet unit6to the frame unit17. The container tub43is preferably formed of a fluid impervious material such as a relatively rigid polymer. Inner surfaces of the side walls47have bowl unit support structures58extending inwardly therefrom to support the bowl unit8when installed within the tub43. The illustrated bowl unit support structures58are bowl unit support bosses. Front bag hook members60(FIG.7) are positioned at the junctions of the side walls47with the front end wall49. The illustrated front bag hooks60extend above the surface of the mounting flange53and are supported by front hook support blocks62secured to inner surfaces of the tub43. A rear end wall64of the tub43is provided with a tub exhaust opening66, for a purpose which will be described below. Referring toFIGS.6,10, and11, the illustrated bowl unit8includes a bowl support wall or plate75having a flexible waste support bowl member or bowl77secured thereto. The wall75has a depending bowl support collar79depending therefrom and defining a bowl opening81through the wall75. The bowl77may be secured to an external surface of the collar79by fasteners83, such as bolts and nuts. A front end of the wall75has a section85(FIG.10) sloped downwardly toward the bowl unit8to facilitate flow of fluids toward the bowl unit8from the tub43. At a rear end of the wall75, a partition wall or partition87extends upwardly from the wall75. The partition87may be an L-shaped member with a lower leg joined to the wall75. The partition87extends the full width of the wall75. The partition87forms a guide for placing a lower part of the power unit12in the tub43. At a rear end of the wall75, an agitator shaft opening89is formed through the wall75, as will be described below. The wall75is dimensioned such that when the wall75is placed within the tub43in contact with the support bosses58, the wall75does not form a gas seal with the walls45and47, such that gases are enabled to flow therebetween. The bowl member77is dimensioned such that it does not form a gas seal with the collar79for a similar purpose. The purpose for these relative dimensions is to enable air to be exhausted from an upper chamber92(FIG.9) of the tub43. Referring toFIG.11, the apparatus1is preferably used with a disposable sanitary liner bag94which covers inner surfaces of the upper chamber92of the container tub43and upper surfaces of the bowl support wall75and the bowl77. The bag94is restrained by the front bag hooks60(FIG.7) and the rear bag hooks32(FIG.3). When air is exhausted from the upper chamber92and a lower container tub chamber96below the bowl unit wall75, the liner bag94is drawn into close covering relation with the tub surfaces of the upper chamber92, the bowl support wall75, and the bowl77. The liner bag94may be of a type which is commercially available for lining portable toilets. The liner bag94is placed in the apparatus1before use and thereafter removed and disposed of with waste and reagent sealed therein. The illustrated bowl member77has a rounded bowl shape and may be formed of a flexible polymer material able to withstand repeated flexure by contact of components of the agitator unit10without cracking, tearing, or otherwise failing. The material forming the bowl77is preferably an elastomeric material or a viscoelastic material and may be a rubber material. The rubber material may be a natural rubber or a synthetic rubber, such as a silicone or a neoprene rubber. The material forming the bowl77preferably may have a Shore durometer in a range of 5 to 80, and preferably a Shore durometer of about 35. Referring toFIGS.7-9, the illustrated agitator unit10includes an agitator rotor100supporting a pair of diametrically opposed, angularly inclined agitator rollers102. The rotor100is formed by an agitator bar104having roller support shafts106extending upwardly and outwardly therefrom. The rollers102are rotatably mounted and retained on the shafts106and are freely rotatable thereon. The illustrated rotor100includes a driven gear108having the agitator bar104secured thereto. The rotor100is rotatably mounted on an upstanding rotor shaft110which is supported by an elongated agitator support plate112secured to the lower wall45of the container tub43. In the illustrated agitator unit10, a retainer clip114removably retains the rotor100on the rotor shaft110to enable removal of the rotor100and rollers102from the toilet unit6, as for cleaning. As shown inFIG.7, the support plate112is angled from a left rear corner formed by a rear end wall49and a left side wall47(seeFIG.4) of the container tub43and has the rotor shaft110along a front to back center line of the tub43. Such orientation of the rotor shaft110positions the agitator rollers102to contact a lower surface of the bowl member77press it upward a short distance, such as about one inch (about 2.5 cm). When the agitator rotor100is rotated, the agitator rollers102move contents of the bowl77upwardly and in a rotating pattern to mix a reagent and waste in the lined bowl77. Since the agitator rollers102make rolling contact with the lower surface of the bowl77, minimal friction is generated therebetween. At an opposite end of the support plate112from the agitator shaft110, an upstanding agitator drive shaft117is rotatably supported on the plate112in horizontally spaced relation to the rotor shaft110. A lower end of the drive shaft117has a drive gear119secured thereto. The drive gear119is drivingly engaged with the driven gear108on the rotor shaft110by an agitator drive belt121such that rotation of the drive shaft117causes rotation of the rotor100and, thus, the agitator rollers102. The illustrated drive gear119and driven gear108are toothed, as is an inner surface of the belt121. It is also foreseen that smooth gears119and108and a belt121with a smooth inner surface could also be employed in the apparatus1or that a series of gears could be utilized to rotate between shaft117and rollers102without a belt like belt121. An upper end surface of the drive shaft117has a non-round drive socket123formed therein, as will be described further below. Referring toFIGS.12-14and16, the power unit12includes a closed power unit housing130having an agitator motor132(FIG.16) which drives the agitator unit10mounted therein. The power unit housing130has an upper mounting flange134extending outwardly therefrom which overlays the mounting flange53of the container tub43when installed in the frame4. Side areas of the flange134are provided with laterally aligned mounting holes136to receive the mounting bolts35therethrough when the power unit12is positioned in the frame4. The illustrated power unit12has a square tubular support member138extending across an upper end of a front wall140of the power unit housing130. The housing130is shaped so that the front wall140loosely contacts the bowl unit partition87(FIG.10) when the power unit12is positioned in the frame4. As illustrated inFIG.12, the power unit12may have a container opener hook142extending therefrom for use in opening a reagent container assembly144(FIG.20), as will be described further below. A lower wall146of the power unit housing130has a motor shaft opening148which is aligned with a motor shaft150of the agitator motor132. The power unit12is configured so that the motor shaft150aligns with the agitator drive shaft117of the agitator unit10when the power unit12is positioned in the frame4. The motor shaft150has a non-round drive projection151which is inserted into the non-round drive socket123of the agitator drive shaft117when the power unit12is positioned in the frame4, whereby the agitator drive117is rotated when the agitator motor132is activated. The lower wall146of the power unit housing130is provided with a plurality of exhaust fan intake openings152. A rear wall154(FIG.13) of the illustrated power unit housing130has an exhaust opening156. The power unit12is provided with an exhaust fan158(FIGS.8and16) which is driven by an exhaust fan motor160. The power unit12is configured so that the exhaust fan158draws air in through the intake openings152and the motor shaft opening148and exhausts air through the exhaust opening156. Drawing air into the intake openings152and motor shaft opening148draws air from the lower chamber96and the upper chamber92of the container tub43, causing the liner bag94to be drawn into close contact with the walls of the upper chamber92and upper surfaces of the bowl support wall75and the bowl77. Referring toFIG.15, the illustrated seat unit14of the apparatus1includes a toilet seat165which is hingedly connected to a cover member or cover167. The illustrated toilet seat165has a toilet seat opening170therethrough which is positioned to align with the bowl member77of the bowl unit8. The seat165and cover167are connected by laterally spaced hinge assemblies172. Each hinge assembly172includes a seat leg174and a cover leg176which are pivotally connected by a hinge pin178. The hinge pins178are co-linear to form a pivot axis of the seat unit14. The hinge pins178extend laterally outward to enable engagement thereof with the hinge pivot slots30of the seat hinge plates28of the frame unit4. The seat unit14is positioned in the upper frame assembly22of the frame unit4upon the mounting flange53of the container tub43and is retained in place by the retainer nuts38received on the retainer bolts35. When the seat unit14is secured to the frame unit4, both the cover167and the seat165may be pivoted to an obtuse angle by contact with the retainer nuts38. This position enables a liner bag94in the upper chamber92by hooking the bag to the rear bag hooks32and the front bag hooks60. The seat165can then be pivoted to use position in contact with the mounting flange53of the container tub43. An under side surface of the seat165is provided with front hook recesses (not shown) aligned with the front bag hooks60. The seat unit14may be closed by pivoting the cover167into covering relation with the seat165. The cover167may be provided with a retainer receiver182for cooperation with a resilient loop184(FIG.1). FIG.20illustrates a reagent container assembly or container144which contains a reagent or components of a reagent for treating waste in the lined bowl77of the apparatus1. The illustrated container144includes a pair of elongated tubular container members or tubes190having end stoppers192which releasably seal ends of the tubes190. The stoppers192position the tubes190is substantially parallel relation. The tubes190may contain two components of the treating reagent which, when mixed, form an effective treatment for the waste. The tubes190may contain a granular soap and an oxidizer which are mixed to form the reagent. The stoppers192are configured for use with the opener hook142(FIG.12) on the power unit12to remove one of the stoppers. The container144may be positioned to engage a stopper192with the hook142and pulled to release the materials in both the tubes190into the lined bowl77. Components of the container144are preferably formed of biodegradable materials, such that the empty tubes192and remaining stopper192may be simply dropped into the lined bowl77. FIGS.18and19illustrate a modified embodiment195of the frame unit4of the apparatus1. The frame unit195is referred to as a bedside frame and is made to accommodate the needs of a person with limited mobility at home, a care facility, or the like. The illustrated bedside frame unit195includes an upper support frame197including laterally spaced side rails199and front and back end rails201which are joined to form the upper frame197. Ends of the end rails201extend past the side rails199to form a wider upper frame197than the upper frame22. The upper frame197is supported above a floor by a pair of frame risers203joined to opposite ends of the end rails201. Each frame riser203is an inverted U-shaped member and includes an upper arm rest support205with a pair of legs207depending therefrom. The arm rest supports205may have cushioned arm rest pads209secured thereto. The illustrated risers203are formed of circular cross section tubular members with transitions between the arm rest supports205and the legs207being rounded. The side rails199and end rails201are spaced apart the same distances as the corresponding side rails18and end rails20of the compact frame unit17. Additionally, the side rails199are provided with the retainer bolts35and seat hinge plates28in locations corresponding to their locations on the side rails18of the compact frame unit17. Thus, the toilet unit6can be received and supported in the bedside frame unit195and retained by installation of the seat unit14with the retainer nuts38. The lengths of the legs207may be adjustable to place the toilet unit6at a comfortable height for the user. As shown inFIG.19, lower end sections211of the illustrated legs207telescope onto the legs207. Each leg lower section211is provided with a series of vertically spaced holes213which can be engaged by a retainer pin215resiliently urged outward. The pin215may be pressed inwardly as the lower section211is telescoped along the leg207to a selected leg length. Referring toFIG.16, the power unit12includes the agitator motor132, the exhaust fan motor160, and the exhaust fan158. The power unit12also includes an operator switch225to activate the motors132and160by connecting them to a power source227. The power source227is preferably a direct current (DC) power source at a selected voltage, such as 12 volts for typical use or 24 volts for use in many semi-trailer tractors. The source may be a rechargeable battery or a power supply which converts alternating current (AC) line voltage into direct current. It is foreseen that the motors132and160could simply be operated simultaneously by operation of the operator switch225. However, in the apparatus1, the motors132and160may be controlled by timer logic circuitry or timer logic229to be activated at different running times. Referring toFIG.17, the timer logic229causes the exhaust fan motor160to be activated at step232of a timer logic program230, when the operator switch225is actuated, causing a delay timer to be started at step233. The delay may, for example, be about 30 seconds. When the delay timer times out at step234, the agitator motor132is activated at step235, causing a run timer to be started at step236. The run time may, for example, be about 30 minutes. The exhaust fan motor160continues to run. When the run timer times out at step237, the exhaust fan motor160and the agitator motor132are deactivated at step238. The timer logic229could be programmed in such a manner that actuating the operator switch235during the process could cause the logic229to advance directly to step238to deactivate the motors160and132. In use of the apparatus1, the cover167and seat165are folded up, and liner bag94opened into the upper chamber92of the container tub43and hooked onto the rear bag hooks32and the front bag hooks60. The operator switch225is actuated to cause activation of the exhaust fan158, causing the bag94to be drawn into contact with the walls of the upper chamber92and upper surfaces of the bowl unit8and the bowl77. After a delay interval as controlled by the timer logic229, the agitator motor132is activated, causing the agitator rollers102to rotate in contact with the lower surface of the bowl77, without tangling the portion of the bag94within the bowl77. When the agitator motor132has been activated, the reagent container assembly144may be opened by drawing one of the stoppers192against the opener hook142to cause the reagent in the tubes190to pour into the lined bowl77. The seat165may then be folded down into contact with the mounting flange53of the container tub43for use of the apparatus1. Thereafter, the cover167may be folded over the seat165while the agitator unit10continues to mix contents of the lined bowl77until the timer logic229causes deactivation of the exhaust fan158and the agitator motor132. Later, the liner bag94can be removed, sealed, and disposed of in a sanitary manner. It is to be understood that while certain forms of the present invention have been illustrated and described herein, it is not to be limited to the specific forms or arrangement of parts described and shown.

11857123

DETAILED DESCRIPTION The innovation is now described with reference to the drawings, wherein like reference numerals are used to refer to like elements throughout. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding thereof. It may be evident, however, that the innovation can be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate a description thereof. Various embodiments are discussed hereinafter. It should be noted that the figures are described only to facilitate the description of the embodiments. They do not intend as an exhaustive description of the invention or do not limit the scope of the invention. Additionally, an illustrated embodiment need not have all the aspects or advantages shown. Thus, in other embodiments, any of the features described herein from different embodiments may be combined. The present invention, in one exemplary embodiment, is a portable disposable toilet system designed for use in a vehicle to provide a hygienic and safe environment for occupants to use the restroom while on the go. The invention is comprised of an outer shell of lightweight cardboard that includes a wax liner to keep a liquid product from leaking. It is a one use product with an approximately 20-24 ounce maximum fill of liquid or solid waste limit. The top of the box pulls open and when the top is popped open the front part becomes a guard for an individual's genitals and also helps in the aiming process. There is a limit line for each box that is clearly marked. Inside the box are chemicals designed to be organic, sustainable, absorbent, sanitizing, and deodorizing. The chemicals pull water out of the waste making it inert and a non-biohazard material that can be disposed of in any garbage receptacle. It can also be buried if needed. Once the user has relieved themselves, wiped, and placed the wiping material into the box, the box is shaken vigorously for five seconds to contain and mix the contents. The box is sealed so that it will not leak and will not smell. The box then goes into a biodegradable plastic bag, and the bag is sealed for disposal in a garbage receptacle. The system comes with four large wax lined paper sheets. It also comes with a booster seat system as part of the kit. There are lightweight, weight bearing U-shaped rings. Different sized rings can be used for different sized individuals. They are generally rectangular in shape and lightweight. The portable disposable toilet system is a waterless, odorless, germ free, contact free system that allows for privacy and portability. The system is user friendly and does not expire prior to use. The portable disposable toilet system typically holds up to 24 ounces of human waste (liquid or solid) at one time. Referring initially to the drawings,FIGS.1-10illustrate a disposable portable toilet system100. As illustrated inFIG.1, the disposable portable toilet system100is constructed with a combination of disposable and reusable components. The disposable components are biodegradable in construction. The disposable portable toilet system100is designed to safely collect and convert human excreta into inert non-biohazard material for safe and easy disposal. The disposable portable toilet system100comprises a waste collection component110, a chemical component140, and a seat component150. The waste collection component110is typically constructed from biodegradable materials. As illustrated inFIGS.2-4, the waste collection component110comprises an outer shell112, an inner liner128, and a waste collection area126. The outer shell110is configured in a generally rectangular shape that is open at the top. The outer shell110may be manufactured from recycled cardboard or similar rigid biodegradable material. The outer shell110comprises a base114, a front end wall116, a back end wall118, and a pair of sidewalls120connecting the front and back end walls116and118. The back end wall118is taller than the front end wall116. The pair of side walls120are sloped from front to back at the top. In one embodiment, the pair of side walls120are sloped approximately five degrees downward from front to back. The outer shell110is open at the top. The outer shell110further comprises a top rim122. The top rim122extends around the open top of the outer shell110. The opening may be shaped similar to the opening in a traditional bed pan or may be of any geometric configuration. The top rim122may comprise a gasket or similar sealing element (not shown). The inner liner128forms a water-proof layer that coats an inside of the outer shell110and defines the waste collection area126within. The inner liner128may be manufactured from an organic wax or similar water-proof material. A fill line (not shown) may be formed or added to the inner liner128to indicate a capacity of the waste collection area126. The waste collection component110further comprises a hinged lid130. The hinged lid130comprises a lid liner132and a front lip134. The lid liner132may be manufactured from the organic wax or similar water-proof material used for the inner liner128of the waste collection component110. The hinged lid130is attachable to the front end wall116of the outer shell112. The hinged lid130opens upward and away from the waste collection area126to act as a privacy shield and barrier when open. The hinged lid130covers the open top of the outer shell112when closed effectively sealing the waste collection container110. The hinged lid130may comprise a sealing element or gasket (not shown) to engage the top rim122of the outer shell112to form a water-tight seal. The front lip134engages the front end wall116and may be secured with a fastening mechanism or adhesive. The chemical component140is positional within the waste collection area126of the waste collection component110prior to use. The chemical component130is formulated to sanitize, solidify, and absorb human excreta deposited within the waste collection area126. The chemical component140comprises a sanitizing agent, a solidifying agent, and an absorbent. A mixture of the sanitizing agent, solidifying agent, and absorbent is retained in a water soluble pouch142. The sanitizing agent is typically a salt based sanitizing agent. One preferred composition of the sanitizing agent is a metal oxide mixture of sodium, potassium, calcium, aluminum, iron, and silicon elements. One preferred formulation of the sanitizing agent is 53.04% sodium, 23.2% potassium, 11.8% calcium, 6.64% aluminum, 3.81% iron, and 2.51% silicon 2.51%. The sanitizing agent is formulated to sanitize the excreta. The solidifying agent is a mixture of calcium, silica, alumina, and iron. One preferred formulation of the solidifying agent is a Portland cement comprising a mixture of approximately 67.54% tricalcium silicate (Ca3SiO5), 28.13% dicalcium silicate (Ca2SiO4), 3.11% tricalcium aluminate (Ca3Al2O5), and 1.2% calcium aluminoferrite (Ca4AInFe2-nO7). The calcium is typically derived from limestone, marl, or chalk, while silica, alumina and iron come from the sands, clays and iron ore sources. The solidifying agent is formulated to remove water from and solidify liquid excreta. The absorbent is typically an organic biodegradable litter derived from plant material. Biodegradable litters are typically made from various plant resources, including pine wood pellets, recycled newspaper, clumping sawdust, Brazilian cassava, corn, wheat, walnuts, barley, soy pulp and dried orange peel. The biodegradable litter may be a cat litter. The absorbent is formulated to remove water from and solidify liquid excreta. In one embodiment, the chemical component is formulated with a ratio of one part of the sanitizing agent, one part of the solidifying agent, and four parts of the absorbent. By weight, the chemical component may be approximately 28.35 grams (salt based sanitizing agent, approximately 28.35 grams (solidifying agent), and approximately 113.4 grams (absorbent). In one example, the chemical component may be approximately six ounces and formulated as follows: one ounce of Smelleze® Blood and waste sanitizer absorbent (salt based sanitizing agent), one ounce of Portland Lyme (solidifying agent), and four ounces of organic Kitty litter. This is not meant as a limitation as a ratio of the formulation components may vary depending on the needs of the user. The water soluble pouch142is positional within the waste collection area126of the waste collection component110. The water soluble pouch142is constructed to release the retained chemical component140when the waste collection component110is shaken. Once released, the chemical component140interacts with the human excreta to convert it into safe non-biohazard material for traditional disposal. As illustrated inFIGS.5-8, the seat component150is configured to partially surround the waste collection component110. The seat component150is reusable and is constructed to support the weight of a user and function as a seat. The seat component150may be constructed from, a plastic, a compressed foam-degradable cardboard, a honeycomb form molded pulp, or a similar more durable material. The seat component150comprises a back152and a pair of legs154. The seat component150is substantially u-shaped and is configured to accept and retain the waste collection component110in a waste collection component receiving area156between the pair of legs154and abutting the back152. The seat component150is removable and separable from the waste collection component110when not in use. The seat component150is sloped approximately five degrees downward from front to back. This is advantageous as it matches the slope for most vehicle seats and the slope of the waste collection component110. When in place, the back end wall118of the waste collection component110abuts the back152of the seat component150and the pair of sidewalls120abut an inside of each of the respective pair of legs154. As illustrated inFIG.9, the disposal portable toilet system100may further comprise a biodegradable disposal bag160. The biodegradable disposal bag160is configured to retaining the waste collection component110once used and sealed with the hinged lid130. The waste collection component110is removed from the seat component150and placed within the biodegradable disposal bag160. The biodegradable disposal bag160is then sealed to encapsulate the waste collection component110for further disposal. As illustrated inFIG.10, the disposal portable toilet system100may further comprise a plurality of water-proof sheet barriers170. The water-proof sheet barriers170may be plastic lined large sheets that are opaque for privacy. The water-proof sheet barriers170are reusable and may be used to drape the user or be positioned under the waste collection component110and the reusable u-shaped seat component150to protect an interior of a vehicle. The disposal portable toilet system100may further comprise a plurality of a plurality of disposable wipes180. The disposable wipes180may be sheets of bamboo paper or similar water soluble paper film for wiping the person's body parts. The disposable wipes180may positioned in a pouch or pocket attachable to the waste collection component110or the seat component150. The disposal portable toilet system100may further comprise a personal sanitizing agent190. The personal sanitizing agent190may be a hand sanitizer liquid or wipes positioned in a pocket attachable to the waste collection component110or the seat component150. To use the disposable portable toilet system100, the user slides the waste collection component110into the waste collection component retaining area156of the seat component150. The lid130of the waste collection component110is lifted for privacy. Once used, the lid130and the front lip134is closed to seal the excreta within the waste collection area126. The seat component150may then be removed for reuse. Next, the user shakes the sealed waste collection component110to breach the water soluble pouch142releasing the chemical component140to mix with and neutralize the excreta for approximately five to ten seconds. Finally, the entire waste collection component110is placed in the biodegradable disposable bag160and disposed of without the need for further treatment of the excreta. As the waste is solid and sanitized, the waste collection component110can be disposed of in any trash receptacle as it is illegal to throw untreated human waste into a trash container. Notwithstanding the forgoing, the disposable portable toilet system100can be any suitable size, shape, and configuration as is known in the art without affecting the overall concept of the invention, provided that it accomplishes the above stated objectives. One of ordinary skill in the art will appreciate that the shape and size of the disposable portable toilet system100and its various components, as show in the FIGS. are for illustrative purposes only, and that many other shapes and sizes of the disposable portable toilet system100are well within the scope of the present disclosure. Although dimensions of the disposable portable toilet system100and its components (i.e., length, width, and height) are important design parameters for good performance, the disposable portable toilet system100and its various components may be any shape or size that ensures optimal performance during use and/or that suits user need and/or preference. As such, the disposable portable toilet system100may be comprised of sizing/shaping that is appropriate and specific in regard to whatever the disposable portable toilet system100is designed to be applied. What has been described above includes examples of the claimed subject matter. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the claimed subject matter, but one of ordinary skill in the art may recognize that many further combinations and permutations of the claimed subject matter are possible. Accordingly, the claimed subject matter is intended to embrace all such alterations, modifications and variations that fall within the spirit and scope of the appended claims. Furthermore, to the extent that the term “includes” is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term “comprising” as “comprising” is interpreted when employed as a transitional word in a claim.

11857124

DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT Turning to the drawings, the preferred embodiment is illustrated and described by reference characters that denote similar elements throughout the several views of the instant invention. The present invention provides a hair discard device10consisting of a base sheet12that has a front side14A and a back side14B. The back side14B of the base sheet12would have a removable cover18that would reveal the pressure sensitive adhesive applied to the base sheet12. This back side14B of the base sheet12attaches to a shower wall30. Attached to the base sheet12is a plurality of individual disposable sheets16to collect discarded hair. Each individual, disposable sheet16has a front side26A and a back side26B. The front side26A of each individual, disposable sheet16as well as the base sheet12is covered substantially with pressure sensitive adhesive on to which discarded hair can adhere and collect. Along the bottom or other portion of each individual, disposable sheet16is a band24or other defined area that does not contain adhesive. These bands24on each individual disposable sheet16as well as the base sheet12allows for the easy separation of each individual disposable sheet16from the next adjacent sheet16since it does not contain any adhesive. This allows for a sleek look wherein the device does not have any extruding tabs extending outward therefrom in order to separate the individual disposable sheets16. Each individual, disposable sheet16stacked in the device10, due to the adhesive coating on the front side26A allows a user to easily place the wet hair caught in their fingers while showering onto the top sticky sheet16for hair strand consolidation and safekeeping until removal. The adhesive disposed on the sticky sheet ensures the hair will not fall off the shower wall30, even if the hair dries after the user has exited the shower30. Each individual disposable sheet16may be easily removed off of the pad through grasping of the non-adhesive band24when leaving the shower to prevent other shower users from seeing the unsightly hair. If hair is left on the sheet and not removed from the shower by mistake, the next user in the shower may quickly and easily dispose of the hair that is already consolidated on the front26A of the adhesive disposable sheet16before starting the showering process. Once an individual sheet16is removed, a new adhesive sheet16is revealed and ready for use until all of the sheets16in said device10have been used. When the device10does finally use the last adhesive disposable sheet which is the base sheet12, the device has now run out of adhesive sheets, and the base sheet12is then removed from the shower wall30and a new replacement device10containing multiple adhesive sheets16may be reattached to the shower wall. Having a device10with multiple adhesive sheets16attached thereto allows a user to utilize one device10for multiple uses of hair removal, without the need to completely replace the device10. The invention proactively prevents hair from getting in the shower drain, preventing odorous and unsightly clogs, and the need for expensive plumbing services and/or the use of strong chemicals. The unit is low profile and planar to the shower wall30, taking up minimal space and won't easily get inadvertently knocked down. The device10, the backing sheet12, the individual disposable sheets16and a protective front sheet can all be water resistant. The protective front sheet covers the individual disposable sheets16and can be designated as the “hair side” with some sort of indicia. Likewise, the protective base sheet12would include some sort of indicia to indicate that it is the “wall side”. Preferably, the device10and all its components could be substantially transparent once adhered to the shower wall30so that it blends in, save some small markings for trademarks and the indicia mentioned above as to which side is the hair side and which side is the wall side. The indicia will be on the protective front sheet and the protective backing18on the base sheet12, so that once these sheets are removed for use, the indicia will no longer exist on the device10itself or be visible on the shower wall30. The device should be compatible with common shower or bathtub finishes, given the water resistant adhesive on the base sheet12. The invention illustratively disclosed herein suitably may be practiced in the absence of any element which is not specifically disclosed herein. The discussion included in this patent is intended to serve as a basic description. The reader should be aware that the specific discussion may not explicitly describe all embodiments possible and alternatives are implicit. Also, this discussion may not fully explain the generic nature of the invention and may not explicitly show how each feature or element can actually be representative or equivalent elements. Again, these are implicitly included in this disclosure. Where the invention is described in device-oriented terminology, each element of the device implicitly performs a function. It should also be understood that a variety of changes may be made without departing from the essence of the invention. Such changes are also implicitly included in the description. These changes still fall within the scope of this invention. Further, each of the various elements of the invention and claims may also be achieved in a variety of manners. This disclosure should be understood to encompass each such variation, be it a variation of any apparatus embodiment, a method embodiment, or even merely a variation of any element of these. Particularly, it should be understood that as the disclosure relates to elements of the invention, the words for each element may be expressed by equivalent apparatus terms even if only the function or result is the same. Such equivalent, broader, or even more generic terms should be considered to be encompassed in the description of each element or action. Such terms can be substituted where desired to make explicit the implicitly broad coverage to which this invention is entitled. It should be understood that all actions mar be expressed as a means for taking that action or as an element which causes that action. Similarly, each physical element disclosed should be understood to encompass a disclosure of the action which that physical element facilitates. Such changes and alternative terms are to be understood to be explicitly included in the description.

11857125

DETAILED DESCRIPTION OF THE INVENTION The above-described drawing figures illustrate the invention, a liquid product dispenser for dispensing a liquid from a surface such as a counter-top. FIG.1is an exploded perspective view of a liquid product dispenser10according to one embodiment of the present invention. As shown inFIG.1, the product dispenser10includes a dispensing container20and a mounting device30for mounting the dispensing container20on a surface such as a counter-top. The mounting device30includes a locking housing32that includes a locking arm34that is shown, inFIG.1, in an open, unlocked position.FIG.2is a perspective view of the liquid product dispenser10ofFIG.1, illustrating the dispensing container20locked within the locking housing32, with the locking arm34shown in a closed, locked position, locking the dispensing container20within the locking housing32, thereby preventing unauthorized removal of the dispensing container20. As shown inFIGS.1-2, the dispensing container20is some form of container for containing and dispensing the liquid product. For purposes of this application, the term “container” is broadly defined to include any form of bottle, flask, bowl, receptacle, canister, cartridge, or other structure known in the art for containing and dispensing a liquid. The term “liquid product” is also broadly defined to include any form of liquid product, such as soap, lotion, shampoo, conditioner, or any other similar product known in the art. As best shown inFIG.1, the dispensing container20has a top end22and a bottom end24. The top end22may have a dispensing mechanism26(e.g., pump, or any other mechanism known in the art. The bottom end24includes an annular groove28adjacent a bottom end of the dispensing container20. For purposes of this application, the term “annular groove” is broadly defined to include any form of groove or grooves, ridge or ridges, posts or other forms of protrusions or recesses, or any other structure or structures that are formed or mounted at the bottom end of the container which can interlock with the mounting device30, as described below, so that the dispensing container20cannot be readily removed without physical damage to the mounting device30or the dispensing container20. As best shown inFIG.1, the mounting device30includes a locking housing32having a top structure34and a bottom structure separated by a locking arm34that is pivotally connected to the locking housing32via a pivot (e.g., any form of hinge), so that the locking arm34pivots between an open, unlocked position, and a closed, locked position. The locking arm34extends to a latch end38having a latch hole39. The latch hole39is used for locking the locking arm34in the closed, locked position, as discussed below. The locking housing32has an opening40in the top structure36that allows access to a container receiving space42that is sized and shaped to receive the bottom end24of the dispensing container20therein. When the bottom end24of the dispensing container20is placed within the container receiving space42, and the locking arm34is moved to the closed, locked position, the locking arm34engages the annular groove28of the dispensing container20to lock the dispensing container20within the locking housing32. As shown inFIG.1, in this embodiment the locking housing32further includes an adhesive sheet44(i.e., double sided adhesive tape, or other form of adhesive material, or other suitable mounting mechanism known in the art) bonded to a bottom surface of the bottom structure, for bonding the locking housing32to the counter-top. FIG.3an exploded perspective view of a second embodiment of the liquid product dispenser50.FIG.4is a perspective view of the liquid product dispenser50ofFIG.3, illustrating two dispensing containers52locked within a locking housing54, with a locking arm56shown in a closed, locked position. In the embodiment ofFIGS.3-4, the locking housing54of this embodiment may include two or more container receiving spaces58, and the locking arm56of this embodiment may have multiple shaped portions58for engaging the multiple containers52. FIG.5is a sectional view thereof taken along line5-5inFIG.1, illustrating a magnetic locking mechanism60for locking the locking arm34(shown inFIGS.1-2) in the closed, locked position. InFIG.5, the locking mechanism60is illustrated in a locked position.FIG.6is a sectional view similar toFIG.5, illustrating the magnetic locking mechanism60in an unlocked position. As shown inFIGS.5-6, in this embodiment the magnetic locking mechanism60includes a locking post62having a top end64and a bottom end66. The locking post62of this embodiment includes an annular flange66extending outwardly from the locking post, for supporting the locking post62in a lowered position (as shown inFIG.5). As shown inFIGS.5-6, the magnetic locking mechanism60includes a receiving chamber70in the locking housing32positioned above the latch end38of the locking arm34(shown inFIGS.1-2) when the locking arm34is in the closed, locked position. The receiving chamber70has an aperture72through a bottom wall74of the receiving chamber70, and the bottom end66of the locking post62extends through the aperture72of the receiving chamber70so that the locking post62extends through the latch hole39of the latch end38of the locking arm34when the locking arm34is in the closed, locked position. The locking post62is able to move freely within the receiving chamber70, so that an upwardly directed magnetic force supplied, for example, by a magnet80(shown inFIG.6) is able to lift the locking post62(made of ferromagnetic material) upwardly to unlock the locking arm34, wherein the bottom end66is disengaged from the latch hole39of the latch end38. The magnetic locking mechanism60of this embodiment does not include a spring, which is required in prior art devices, which reduces expenses, especially in time to assemble, which is greatly simplified by this improved design. The title of the present application, and the claims presented, do not limit what may be claimed in the future, based upon and supported by the present application. Furthermore, any features shown in any of the drawings may be combined with any features from any other drawings to form an invention which may be claimed. As used in this application, the words “a,” “an,” and “one” are defined to include one or more of the referenced item(s) unless specifically stated otherwise. The terms “approximately” and “about” are defined to mean+/−10%, unless otherwise stated. Also, the terms “have,” “include,” “contain,” and similar terms are defined to mean “comprising” unless specifically stated otherwise. Furthermore, the terminology used in the specification provided above is hereby defined to include similar and/or equivalent terms, and/or alternative embodiments that would be considered obvious to one skilled in the art given the teachings of the present patent application. While the invention has been described with reference to at least one particular embodiment, it is to be clearly understood that the invention is not limited to these embodiments, but rather the scope of the invention is defined by claims made to the invention.

11857126

DETAILED DESCRIPTION OF THE INVENTION Referring toFIG.1, one embodiment of a dispenser bottle10supported on a mounting assembly12according to this invention is shown. Further details of the mounting assembly12are also shown inFIGS.2-7Bwhich will aid in disclosure of this embodiment. The dispenser bottle10shown inFIG.1is exemplary and other dispensers maybe used within the scope of this invention. The dispenser bottle10includes a cylindrical sidewall14which terminates at an upper shoulder16proximate an upper end of the bottle10and at a lower bottom18at a lower end of the bottle10. The bottom18includes a socket20(seeFIG.11B-11C) which in this embodiment is centrally located on the bottom18and has a generally cupped, sunken and/or indented configuration. The shoulder16narrows to a neck22with an outwardly directed rim24. A mouth (not shown) of the bottle10is above the rim24and may have an outer thread (not shown) surrounding the mouth of the bottle10. The outer thread allows for the selective installation of a standard or other liquid pump assembly28on the bottle10. The pump assembly28may include an internally threaded flange30which mates with the outer thread proximate the mouth of the bottle10. The pump assembly28may have a stem32(seeFIG.10C) with an outer thread34to selectively enable and disable the pump assembly28by releasing from and mating with, respectively, an inner thread (not shown) on a bushing36extending upwardly from the flange30. The stem32is in communication with a dip tube (not shown) in the interior of the bottle10to draw the liquid from the bottle10through the dip tube and stem and out of a dispensing nozzle38in response to a downward pumping action as is common with many dispensers well-known in the art. One of ordinary skill in the art will appreciate that other bottle configurations and/or pump assemblies may be utilized within the scope of this invention. The mounting assembly12includes a generally disc shaped base40with an upturned peripheral lip42and a central projection44which is sized, shaped and/or configured to mate with the socket20in the bottom18of the bottle10(seeFIG.10B). The lip42surrounds an annular depression43which surrounds the projection44and may contain fluids dripping from the nozzle38or elsewhere. In one embodiment, the projection44is a smooth, symmetric mound culminating at an upper tip46and fits snuggly within the socket20to inhibit movement between the bottom18of the bottle10and the base40when mated therewith. A mounting hub48is formed on one side of the base40and a mounting bracket50extends upwardly from the hub48. The base40, mounting hub48and mounting bracket50may be integrally molded together in one embodiment of this invention. Mounting holes26may be provided in the mounting bracket50by which the mounting system12may be secured to a wall27or other surface by fasteners/anchors (not shown). A release mechanism may include a pin52and a release spring54captured in the hub48by a ring clip56seated in a groove58on the pin52. The release spring54is seated between a pair of downwardly depending arms60,62and surrounds the release pin52as shown inFIG.5. The pin52is mounted to translate through holes64,66in the arms60,62, respectively. The spring54biases the pin52to project from the hole66in the arm62and into an aperture68in a lower end of one of two slides70projecting rearwardly from a carriage member which in one embodiment is a carriage plate72coupled to the mounting bracket50. The carriage plate72has an arcuate shield74confronting the bottle10when seated on the base40. The carriage plate72and mounting bracket50, with the base40connected thereto, are coupled together to allow for vertical movement relative to each other. A notch76is formed in a bottom edge of the shield74to allow for the hub48to seat within the notch76when the mounting assembly12is in a retracted configuration as shown inFIGS.1,2, and4among others. The mounting bracket50may include a central longitudinal channel77which is adapted to receive a set screw79secured into the back of the carriage plate72to guide the vertical movement of the carriage plate72relative to the mounting bracket50. The release pin52projects into the aperture68to releasably retain the mounting assembly12in the retracted configuration. The slides70on the carriage plate72cooperate with a pair of rails78on the mounting bracket50to guide the movement of the carriage plate72relative to the mounting bracket50and base40to and from the retracted configuration. The rails78are both situated between the slides70with each rail78mounted against one of the slides70(seeFIG.7A). Each slide70has an inwardly oriented brace80at an upper end thereof. A pair of compression springs82are each compressed between one of the braces80and an abutment84having a lug86projecting upwardly into the interior of the associated compression spring82when the mounting assembly12is in the retracted configuration. The compression springs82bias the carriage plate72upwardly from the retracted configuration toward an extended configuration as shown inFIGS.10A-10Cat which each compression spring82disengages from the associated brace80on the slides70while remaining on the lug86and abutment84of the rail78. The shield74includes a slot88proximate an upper end thereof which is sized and configured to allow a retainer, which in one embodiment is a collar90to extend therethrough as shown inFIGS.1-4. The collar90has a pair of legs92each extending from a mounting plate94and joined together at an arcuate distal portion96. The mounting plate94is mounted to a backside of the shield74by mounting screws98and the legs92and arcuate distal portion96project through the slot88as shown inFIG.4. When the mounting assembly12is in the retracted configuration with the bottle10supported on the base40, the collar90captures and retains the neck22of the bottle10as shown inFIGS.1and13B. The combination of the collar90around the neck22and the projection44seated into the socket20at the bottom18of the bottle10, inhibits and/or prevents removal of the bottle10from the mounting assembly12when in the retracted configuration. As such, the mounting assembly12deters theft of the bottle10and its contents when in the retracted position thereby limiting the added expense and inconvenience of replacing a stolen bottle10. The bottle10cannot be pulled upwardly from the base40due to the collar90secured around the neck22and/or pump assembly28of the bottle10. Moreover, the bottom18of the bottle10cannot be pivoted, rotated or translated off of the base40due to the fit between the projection44inserted into the socket20on the bottom18of the bottle10which maintains the positional relationship between the bottle10and the base40. The bottle10may be conveniently removed from the mounting system12when in the extended configuration for replacement, cleaning, inspection or refilling of the bottle10. To convert the mounting system12from the retracted configuration to the extended configuration, an authorized user may insert a probe, key or other tool (not shown) in the direction of arrow A ofFIG.8Ainto the hub48and contact the release pin52and actuate the release mechanism. Continued insertion of the tool in the direction of arrow A against the pin52while translating the pin52against the bias of the release spring54and further into the hub48thereby removes the pin52from the aperture68in the slide70of the carriage plate72. When the tool is then removed, the compression springs82push the carriage plate72upwardly in the direction of arrows B inFIG.9A. Once the aperture68in the slide70is raised out of alignment with the axis of the release pin52, the release spring54extends the pin52to be positioned below and disengaged from the slide70. The interaction of the slides70and the respective rails78as well as the set screw79in the channel77guide the movement of the carriage plate vertically upward relative to the mounting bracket50and base40supporting the bottle10. Manual upward movement of the carriage plate72relative to the base40may be necessary beyond the extent of the compression springs82so that the collar90clears the nozzle38of the bottle10as shown inFIG.10Bresulting in the mounting system12in the extended configuration. The bottle10may then be easily removed and/or reinstalled from/onto the mounting system12as shown inFIG.10C. The mounting system12may be returned to the retracted configuration from the extended configuration with the bottle10supported on the base40as shown inFIGS.11A-11Baccording to one aspect of this invention. The carriage plate72is pushed downwardly in the direction of arrows C inFIG.11Aso that the collar90clears the nozzle38and approaches the neck22of the bottle10(FIG.11B). The orientation of the nozzle38may need to be adjusted for insertion into and through the collar90. Downward movement of the carriage plate72reengages the braces80on the rails78with the compression springs82. Continued downward movement of the carriage plate72compresses the springs82against the abutments84on the rails78until the lower end of the rail78proximate the release pin52engages the pin52. A tapered edge98(seeFIG.12) at the end of the rail78contacts a rounded end100of the pin52and urges the pin52into the hub48against the bias of the release spring54until the pin52is aligned with the aperture68in the rail78which allows the spring54to urge the pin52into the aperture68thereby releasable securing the mounting system12in the retracted position (seeFIGS.13A-13B). From the above disclosure of the general principles of this invention and the preceding detailed description of at least one embodiment, those skilled in the art will readily comprehend the various modifications to which this invention is susceptible. Therefore, we desire to be limited only by the scope of the following claims and equivalents thereof.

11857127

DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION Referring toFIGS.1-17, a touchless automatic personal hygiene product dispensing station apparatus20of a system and method of the invention is touchlessly automatically operable upon sensing presence of all or a portion of a person's hand22(FIG.2) along a predetermined elongate product dispensing path24(FIGS.1,2,8, and13), to immediately and rapidly dispense a small, discrete quantity of the liquid personal hygiene product, e.g., a typical quantity required to effectively sanitize or disinfect a person's hand, which may be as a non-limiting example, a fraction of one ounce of liquid, or a gel or foam, along the path24and onto the hand22for use by the person to sanitize his or her hands or perform some other personal hygiene function. By configuring the apparatus20of the invention to locate the hand sensing along the dispensing path24, including spaced substantially, e.g., a hand span or more from the dispensing outlet26, and then immediate activate dispensing the product, that is, within a fraction of a second of the hand22being sensed, there is increased likelihood that that the dispensed product will be at least largely dispensed onto the hand22before the hand is moved or removed. This combination of sensing along the elongate dispensing path24and immediately responsively dispensing, facilitates rapid repeated or successive sensing and dispensing, for instance for dispensing hand sanitizer or disinfectant to a succession of people, such as a line of school children, shoppers, concert goers, movie goers, sporting event ticket holders or players, airline, train, ferry or boat passengers, and the like, so that their movements are not significantly delayed by the sanitizing step and the persons are not inconvenienced. The greater likelihood of the sanitizer or other product reaching a user's hand, can be particularly important for children and other persons who may be fidgety, inattentive, or in a hurry, as well as persons not familiar with the dispenser who may have a tendency to waive their hand about under what appears to the be dispensing outlet, which often results in the dispensed product missing the hand. As an optional aspect of the invention, the apparatus20can be modular, to enable configuring to include one or more sensing/dispensing stations28at multiple positions, for instance, on opposite sides of the structure of the apparatus20or on four sides, and/or at different heights, for instance, one or more stations28at one height for younger elementary school age students, e.g., 30-32 inches or so, and one or more at another height or heights for older students and/or adults, e.g., 42-48 inches or so. In this latter regard, all or a portion of the apparatus20can be height adjustable, for instance, telescoping, for accommodating groups of people of different heights, at different times, seeFIG.17. As a non-limiting example, the apparatus20can have one or more sensing/dispensing stations at one height on a first or lower section of the structure, and one or more on an upper section that is telescoping in relation to the first section. As another modularity option, the sensing/dispensing stations28can be selectably attached to different locations on the structure, to accommodate different/changing applications, as explained below. As another optional aspect, one or more upstanding germ shields30or barriers can be removably or permanently installed on the structure between sensing/dispensing stations28, as shown inFIGS.13-16. As shown inFIG.17, as still another option, the structure of apparatus20can contain a trash receptacle30, and one or more accessory dispensers34, such as a glove dispenser, or a digital device36such as a tablet or graphical user interface (seeFIG.12), can be attached to the exterior, and provide an interface, such as a user login or visual image record, facial recognition, card reader, or the like, for a variety of purposes such as monitoring, contact tracing or the like. According to another aspect of the invention, the structure of the apparatus comprises a housing38that carries a reservoir40containing a first quantity of the liquid personal hygiene product, which will equate to a large number of quantities of the product to be individually dispensed onto user's hands. As non-limiting examples, the housing38can be of bent and/or stamped sheet metal, molded plastics, or wood, or other common building material, and can be constructed as an upstanding column, cylinder, panel, or box, having a height sufficient for locating one or more sensing/dispensing stations28at about the height of expected users' hands with the arm relaxed and palm facing up or down, or which can be easily reached by extending the arm, e.g., just lower than shoulder height. It is generally desired to have the reservoir40lower as opposed to above the dispensing outlet28, as it is contemplated that when full it will contain a gallon or more of the liquid hygiene product, which can weigh 8 pounds or more, and so, less lifting will be required, and the center of gravity of the structure will be an adequate distance lower than the sensing/dispensing station(s)28to reduce possibility of tipping of the structure. This larger quantity is contemplated to be advantageous as it will require less often refilling or replacement of the liquid personal hygiene product, particularly for large volume applications, e.g., schools, stores, airports, train stations, cruise ships, theaters, sports locations, and the like. The lower location also facilitates easier viewing of the dispensing outlet26. As non-limiting examples, the reservoir40can be a refillable cavity, or a removable tank, jug, bottle, or the like, supported on or in the lower region of the housing38. As another optional aspect, the housing38can be constructed to be stationary, e.g., attached or fixed to a wall, floor, or other structure, e.g., base or pedestal42; or it can be mobile, e.g., on wheels44, skids, etc, seeFIG.11. As another aspect, the apparatus20comprises at least one enclosed liquid path46(FIGS.5,7,9,10) extending upward from the interior cavity of the reservoir40to a pump48(FIGS.5,6,7,9) supported on the housing above the reservoir40. This liquid path46can be constructed of a material suitable for carrying the liquid personal hygiene product such as, but not limited to, tubing, such as metal or flexible plastics tubing, piping, or the like, capable of operation under partial vacuum. The liquid path46can comprise a single tube or pipe, that extends through the pump48in the instance of some peristaltic pumps having impeller lobes or rollers that compress flexible tubing while the impeller50(FIG.9) rotates, or it can connect to a suitable fitting on another style pump, such as a barbed, threaded, or quick connect fitting, to an inlet port in connection with an internal passage of the pump. The latter style of pump can accordingly have a discharge port with a suitable standard fitting for connection to a dispensing portion52or section of the liquid path46or conduit. As shown inFIGS.7and8, the dispensing portion52or section of the liquid path46leads to a dispensing outlet26from which the liquid personal hygiene product will be discharged or dispensed along a predetermined product dispensing path24at a selected location external to the housing38. Further in this regard, it is preferred that the dispensing outlet26will be configured such that the product dispensing path24, in addition to being elongate, will be relatively narrow in section, most preferably a thin stream, so as to reasonably be expected to land on a person's hand located anywhere within or along the dispensing path24, and not be wasted. A catch basin54for the dispensed product that fails to land on a hand can be located an appropriate distance below the dispensing outlet26, as shown, and comprises part of the dispensing station28. The basin can connect to a waste receptacle in the lower region of apparatus20, if desired. Further in the above regard, it is expected that for some applications where a high volume of users are expected during a very short interval of time, particularly, when hurried in school settings such as when entering the school or changing classes or at lunchtime or restroom breaks, transportation settings such as when embarking or disembarking aircraft or trains, at concerts and movies and sporting events, users, and particularly children, may not be attentive to the personal hygiene task. This has been observed to make it critical that hand sensing and liquid product dispensing occur reliably quickly, both for users individually, and successive users. In regard to the former, it has been found advantageous for the sensing to occur quickly and virtually immediately followed by dispensing. Regarding the latter, after dispensing to the hand of one user, the sensing device should be able to quickly distinguish the interval between normal movement and removal of a person's hand onto which product has been dispensed, and a successive user's hand entering the dispensing path. In this regard, it has been observed that users are often dissatisfied and dispensing quality reduced by known dispensing apparatus that take “too long”, e.g., a second or more, to sense presence of a hand, particularly another person's hand that enters the sensing region after the station has just dispensed product onto a predecessor's hand, and then actuate a pump, such as a piston pump, to cycle so as to draw a quantity of the hygiene product into the pump, then discharge it, which has been observed to take an additional second or more. To avoid dissatisfaction and meet the critical necessities for accurately sensing hands and rapidly dispensing the hygiene product to successive users, it has been found that an advantageous approach is to have a capacity to dispense a relatively large number of relatively small quantities of personal hygiene product in rapid succession, and to closely combine the sensing with the dispensing, that is, to perform the functions within essentially the same location, defined as anywhere along the length of the dispensing path24of the product within convenient reach by a user. To achieve the first capability, the pump48is selected and configured so as to be operable in a prolonged priming mode to generate a suction or partial vacuum condition in the enclosed liquid path46to draw the liquid personal hygiene product from the reservoir40to fill the enclosed liquid path46. This can also encompass filling all or part of the dispensing portion52or conduit extending from the pump48to the dispensing outlet26. The pump48also is configured to have a standby mode that maintains a sufficient portion of the suction or partial vacuum condition to hold the liquid personal hygiene product in the enclosed liquid path46, and the dispensing portion52or conduit, if that portion is to contain product. In this latter regard, this may be deemed further advantageous as product will be present immediately adjacent to the dispensing outlet26so that when the pump48is subsequently actuated to dispense product, a quantity of the product will be more quickly or immediately dispensed from the dispensing outlet26. Further in this regard, the dispensing portion52of the path46preferably advantageously has a capacity (internal volume) to hold one or more multiples of a discrete quantity of the product desired to be dispensed onto each hand, e.g., typically a fraction of an ounce (if the product is foamed so as to expand when dispensed to atmosphere, the quantity in the liquid state will be smaller and the foamed quantity greater). The overall enclosed liquid path46preferably has an internal volume equal to several multiples of the desired discrete quantity of the product, to be able to dispense a large number of discrete quantities of the product in rapid succession. As a pump48, a peristaltic pump is preferred, as it can be selected and constructed to have a self-priming capacity that allows the reservoir40to be located well below the pump48, and such that a relatively long enclosed liquid path46can be used to connect the two but importantly also hold a significant quantity of hygiene product awaiting dispensing. This is in part achieved by pinching closed the portion of the enclosed path46, e.g., rubber or plastic tube, by one or more lobes, rollers, or vanes of the peristaltic pump48when the pump48is not operating. The peristaltic pump48thus acts as a mechanical check valve to prevent back flow of the liquid product when the pump48is not actively pumping. The pinched closed condition also prevents back flow of vapor or gas through the pump48, which back flow would be required to replace the liquid product in the upper region of the enclosed path46on the upstream or supply side of the peristaltic pump48were the liquid product have a tendency to begin to drain back toward the reservoir when the pump is not operating. In this regard, if a low vapor pressure liquid product were to be selected for use under conditions where vaporization of the product within the enclosed path was to be expected, an additional mechanical check valve could be employed between the pump and the reservoir to prevent the back flow. Contributing to the maintaining of the liquid product in the enclosed liquid path46between the reservoir40and pump48, will be residual partial vacuum within the path, which will be trapped by the pinched state of the tube within the pump48when not operating, e.g., in the standby state or between dispensing individual quantities of the product, and possibly viscous friction between the liquid product and the walls of the tubing of the enclosed path, and capillarity. The pinched state of the enclosed path46and other conditions holding the liquid stationary will have the same effect on the liquid in the enclosed liquid path46between the pump and the dispensing outlet, and as an additional feature a P-type trap can be employed in that portion of the path46. An advantage found is that, as a result, a relatively low power pump can be used and will dispense product virtually upon activation. So with the peristaltic pump48desirably constructed such that the lobes or rollers thereof tightly pinch a tubular section carrying the liquid product closed to create a sealed condition between the inlet and outlet or discharge ends thereof when not operating, to hold the liquid product within the lengthy vertical enclosed liquid passage and optionally the dispensing end with the pump in standby, subsequent initiation of operation of the pump48from this state will result in immediate pumping of product from the pump48toward the dispensing outlet. As a non-limiting example, a peristaltic pump48having about a 1-2 inch diameter 3 lobe or roller impeller has been found to dispense a suitable discrete quantity of liquid product for hand sanitizing with a single revolution or less of pump operation. According to another aspect of the invention, an electrically powered control device56is connected in control of the pump48, e.g., via a wiring harness or the like, and to a power source58, which can be, as a non-limiting example, a battery pack carried on or in the housing, or a standard electrical outlet. The control device56can optionally additionally connect to one or more additional pumps48as shown, or each pump48can have its own control device56. Thus, for example, as shown with 2 pumps48, 2 control devices56can be employed, and for 4 pumps48, 4 control devices56can be employed. The control device56can be a processor operated device connected to a memory, or a simpler analogue device, in either event, it is operable responsive to an input, which can be, for example a manual switch, graphic user interface, timer, or the like, to power and operate the pump48in the prolonged mode to fill the enclosed liquid path46with product. The duration of the prolonged mode can be determined by activation of the switch, timer setting, or a programmed function if a digital processor and memory is employed. Addressing plumbing of multiple pumps48, for ease of modularity, it is contemplated that each pump48is individually plumbed to a common manifold60(FIGS.7and8) in connection with the reservoir40via branches of liquid path46from which the liquid product will be drawn. However, as an alternative, the pumps48can be individually plumbed between the reservoir40and their respective dispensing outlet26. As still another alternative, a single pump48operable to maintain a pressure head of the liquid product, in connection with the multiple dispensing outlets26via individual valves could be used. The control device56includes or interfaces or connects, e.g., via wires of a wiring harness, or a wireless or network connection, to a touchless sensor circuit62. The sensor circuit62includes a sensor64which can be of conventional construction and operation automatically operable in a sensing mode to sense presence of a person's hand22, and responsively output a signal or power to the control device56to actuate the pump48in a controlled momentary operating mode for dispensing the discrete quantity of product. As a preferred configuration and operation, the sensor64will periodically emit a signal within a predetermined elongate sensing region66(FIG.8) external to the sensor64, that will be reflected back to the sensor64by a person's hand22when present in the sensing region66. The control device56or the sensor circuit62can incorporate a timer, voltage regulator, potentiometer, or similar device, or can be programmed, to limit operation of the pump48to the desired momentary period, which can be optionally adjustable. The sensor64can similarly have one sampling rate, or a variable sampling rate, wherein the signal is emitted only periodically, e.g., two or more times a second, to save energy when there is little activity, and which rate increases when a hand or hands is/are initially sensed. The pump48can also be variable in operation, such as by being DC powered, and by regulating the voltage level, e.g., 12 volts DC plus or minus some number of volts. The sensor64is preferably located remotely of the control device56, in or on a dispensing spout68, in association with the dispensing outlet26. The sensor64is preferably positioned and configured such that the sensing region66is closely parallel to or coextensive with the associated elongate dispensing path24along which the liquid product will flow when dispensed. The sensor circuit62is automatically operable responsive to the sensed presence of a person's hand within the predetermined elongate sensing region to activate the pump48from its standby mode, momentarily to dispense the discrete quantity of the liquid personal hygiene product from the dispensing outlet26along the dispensing path24, then allow the pump48to deactivate and return to the standby mode. This can be programmed, or analogue controlled using a timer. As a suitable sensor64, a laser, infrared, radio, or ultrasonic signal emitter/receiver can be used as suitable for a particular application, it being desirable for the sensor64to have the capability to sense a hand22or hands within a sensing region66of several inches in length but having a relatively narrow width similar in width to or just smaller than, a representative hand span. The sensor64is preferably mounted so that the elongate sensing region66is coincident with or contains the dispensing path24of the dispensing outlet26, seeFIG.8A, so that a hand22when sensed will be in the dispensing path24. To accomplish this, the sensor64and associated circuit62is preferably located on a circuit board70(FIG.5also) that is mounted on or in the dispensing spout68in relation to the dispensing outlet26so as to be closely aligned with the dispensing path24. More particularly, the circuit board70will be mounted so that the sensor64faces down to position and orient the elongate sensing region66is coincident with or ensconces the dispensing path24such that the sensor64will sense the presence of a hand22or part of a hand when in the dispensing path24, including when spaced a hand span or more below the dispensing outlet26within the sensing region66. The dispensing outlet26can be retained on or jointly with, the circuit board70, and can pass through an opening72therein adjacent to the sensor64to achieve desired coincidence of the dispensing path24and the sensing region66. As a preferred embodiment, sensor64, will comprise a laser sensor having an emitter that emits a downward laser signal along a sensing region closely parallel to or coincident with the elongate downward extending dispensing path24, along substantially the length thereof, such that a hand that enters the dispensing path24anywhere along the length thereof, including a hand span or more below dispensing outlet26, will be sensed to initiate dispensing of the personal hygiene product along the dispensing path with a high likelihood of landing on the hand. An advantage of a laser signal include that it can have a focused beam that is similar in sectional extent to that of the dispensing path so as to be essentially coincident or closely beside the dispensing path, such that a hand must be correspondingly close or within the dispensing path to be sensed. Another advantage is that the laser sensor can have a tuned frequency range that allows the sensor to discriminate the reflected laser light from ambient light, e.g, indoor lighting and natural lighting including bright sunlight, as well as other directed lights, e.g., LED emitted light, that may be present. Another advantage is that the signal can be narrowly focused and thus not dispersed so that a hand will necessarily have to be very close to the dispensing path to be sensed. In this regard, the dispensing path is contemplated to be relatively narrow laterally and the sensing region will have a similarly narrower lateral extent, but be directly next to or beside the dispensing path, or be coincident with the dispensing path, to provide reasonable likelihood of sensing hands only within the dispensing path. Further in this regard, it is contemplated that a sensor employed can have 2 or more laser sensing elements or tubes that allow sensing direction of hand motion and the sensor circuitry would be operable to determine whether a hand is moving into the dispensing path or out of it, or both, in a back and forth or waving action, and thusly determine whether to dispense or not. This would apply to other types of sensors, including but not limited to infrared sensors, also. Further in regard to the dispensing stations28, it is desirable in terms of adaptability for various applications to have the capability to increase or decrease the number of dispensing stations, as well as their location and/or height. To provide this capability, the external surfaces of housing38can have alternative mounting locations for dispensing spouts68and catch basins54, and openings for passage of dispensing portions52of the enclosed liquid path46and wiring to the touchless sensor circuits62. This can comprise, for instance, keyhole openings having removable cover panels to allow installing spouts68and catch basins54, using machine or sheet metal screws or the like. The use of flexible tubing for the liquid path and wiring harnesses or wireless connections with the touchless sensor circuit provide easy modularity, and the panels that hold the control devices and pumps allow snap in or similar installation to enable quickly and easily configuring the apparatus and moving stations as desired. The dispensing outlet26can include a valve74(FIGS.8A,10) having a normally closed state and is openable by application of pressure generated by the pump against the liquid personal hygiene product76when located in the dispensing portion52, to dispense the discrete quantity of the product76in a narrower stream in at least one lateral dimension, e.g., a fan, and also to help contain the product76within portion52until dispensed. A rubbery duckbill valve74fitted to the end of flexible tubing used as portion52has been found to work well and can be oriented to best fit the dispensing line to the sensing region. As another advantage, a valve such as duckbill valve74will reduce evaporation of product76within dispensing portion52during long standby periods or storage. According to another preferred aspect, when the pump48is momentarily actuated to dispense the liquid product, at the same time a partial vacuum condition is created in the enclosed liquid path46sufficient to draw an amount of product from the reservoir40about equal to the discrete quantity of the liquid personal hygiene product dispensed, so that the liquid path46remains full and ready to dispense in rapid succession. In light of all the foregoing, it should thus be apparent to those skilled in the art that there has been shown and described a RAPID TOUCHLESS AUTOMATIC DISPENSING STATION APPARATUS, SYSTEM, AND METHOD according to the invention. However, it should also be apparent that, within the principles and scope of the invention, many changes are possible and contemplated, including in the details, materials, and arrangements of parts which have been described and illustrated to explain the nature of the invention. Thus, while the foregoing description and discussion addresses certain preferred embodiments or elements of the invention, it should further be understood that concepts of the invention, as based upon the foregoing description and discussion, may be readily incorporated into or employed in other embodiments and constructions without departing from the scope of the invention. Accordingly, the following claims are intended to protect the invention broadly as well as in the specific form shown, and all changes, modifications, variations, and other uses and applications which do not depart from the spirit and scope of the invention are deemed to be covered by the invention, which is limited only by the claims which follow.

11857128

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS With reference toFIGS.1-5, an automatic shower head according to a preferred embodiment of the present invention comprises: a body1and a shower scrubber2. The body1includes a casing111, a receiving cap112fitted with the casing111, a handle113, a first connection element115accommodated in the receiving cap112, a first water guide ring116defined between the receiving cap112and the first connection element115, and multiple spray bars117and a second water guide ring118which are arranged on an inner wall of the casing111, wherein the first connection element115is connected with the second water guide ring118in a ultrasonic welding manner so as to form a water conduit, the multiple spray bars117are accommodated in the water conduit, and at least one first seal ring114is retained on an inlet of the water conduit of the first connection element115and the second water guide ring118. Furthermore, the multiple spray bars117are in communication with the first water guide ring116, and the handle113is connected with an extension of the casing111so as to rub a user's back. The casing111also has a coupling loop119received therein. The shower scrubber2includes a panel211, a lid212, an accommodation sleeve213, a second seal ring214fixed on a center of a first surface of the lid212, and a rotation element215connected with the second seal ring214and fitted in a positioning orifice of the lid212, and a fixing plug216fitted in the rotation element215, wherein the second seal ring214is fitted in the rotation element215and the lid212, and the panel211is retained on the first side of the lid212, wherein the lid212is connected with the accommodation sleeve213in a ultrasonic welding manner, the lid212has a copper pin217, a waterproof sheet218, and a first circuit board219which are received on a peripheral side of the first surface of the lid212. In addition, the lid212has a gear seat220, a gear assembly221, a gear shaft222, a drive gear223, a holder224, a motor225, a battery226, a contact sheet227, and a second circuit board228which are arranged on a second side of the lid212in order. The holder224is fixed on an output end of the motor225, the drive gear223is inserted through the holder224to connect with the output end of the motor225, and the gear shaft222is fixed on a first side of the holder224. The gear assembly221is connected on an end of the gear shaft222, the holder224is fitted on a second side of the gear seat220, and the gear seat220is mounted on the second side of the lid212. The motor225, the battery226, the contact sheet227, and the second circuit board228are received in the accommodation sleeve213, and an indicator light229and a switch230are arranged on an outer wall of the accommodation sleeve213. The contact sheet227and the battery226are connected electrically, and the motor225, the second circuit board228, the indicator light229and the switch230are electrically connected with the battery226, wherein the switch230is a touch switch. The shower scrubber2is engaged in a center of the body1so as to scrubber and wash the user easily. The body1and the shower scrubber2are used solely, for example, the shower scrubber2is configured to scrubber, massage, exfoliate the user and wash a face of the user. Preferably, a head element is replaceable onto the automatic shower head. In operation of the shower scrubber2, the battery226is charged electrically so that the switch230is pressed to drive the motor225to actuate the drive gear223to rotate, such that the head element of the automatic shower head is driven by the driven gear223to revolve. Preferably, the switch230has different levels so as to adjust a rotation speed of the motor225by using the second circuit board228, and the shower scrubber2is engaged in the center of the body1so as to scrubber and wash the user easily. While the preferred embodiments of the invention have been set forth for the purpose of disclosure, modifications of the disclosed embodiments of the invention as well as other embodiments thereof may occur to those skilled in the art. The scope of the claims should not be limited by the preferred embodiments set forth in the examples, but should be given the broadest interpretation consistent with the description as a whole.

11857129

DETAILED DESCRIPTION OF THE INVENTION The present invention will now be described in detail with reference to a few embodiments thereof as illustrated in the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without some or all of these specific details. In other instances, well known process steps and/or structures have not been described in detail in order to not unnecessarily obscure the present invention. As understood herein, the term “robotic floor cleaning device” may be defined generally to include one or more autonomous or semi-autonomous devices having mobility, processing, and/or cleaning elements. For example, a robot or robotic floor cleaning device may comprise a casing or shell, a chassis including a set of non-propelling and/or propelling wheels, a motor to drive the propelling wheels, a cleaning apparatus, a processor and/or controller that processes and/or controls motors and other robotic autonomous or cleaning operations, power management, etc., and one or more clock or synchronizing devices. Generally, the present invention relates to robotic devices that clean surfaces, and more particularly, a controlled liquid releasing mechanism. The present invention proposes a robotic floor cleaning device that features a control mechanism for controlling the release of liquid for mopping purposes. Proposed invention secures that the release of liquid by the control mechanism is to be determined by the motion of the robotic surface cleaning device. In some embodiments the release of liquid by the control mechanism is determined by the rotary motion of one or more non-propelling wheels of the robotic floor cleaning device. A rotatable cylinder with at least one aperture for storing a limited quantity of liquid is connected to an outside member such as a non-propelling (non-driving) wheel of the robotic floor cleaning device. The cylinder is connected to the non-propelling wheel directly or via an axle or a gear mechanism such that cylinder rotation is controlled by the rotation of the wheel. More particularly, the axle turns the rotatable cylinder when the motion of the robotic surface cleaning device occurs. In some embodiments the axle turns the rotatable cylinder when the rotary motion of one or more non-propelling wheels of the robotic floor cleaning device occurs. The cylinder is within or adjacent to a liquid reservoir tank. There is a passage below the cylinder and between the cylinder and a drainage mechanism. Each time at least one aperture is exposed to the liquid within the reservoir tank, it fills with liquid. As the wheel turns, the connected cylinder is rotated until the aperture is adjacent to the passage. Upon exposure to the passage, the liquid will flow out of the aperture by means of gravity, pass through the passage, and enter the drainage mechanism, whereby the liquid is delivered onto the working surface. A “drainage mechanism,” as understood herein, may be defined generally to include a mechanism for dispersing liquid throughout a plane. For example, a drainage mechanism may include a hollow body with a perforated underside through which liquid may pass to surfaces below. As was mentioned above, the release of liquid by the control mechanism is determined by the motion of the robotic surface cleaning device and/or is determined for some embodiments by the rotary motion of one or more non-propelling wheels of the robotic surface cleaning device. In particular, the rotary motion of non-propelling wheels causes the rotary motion of the rotatable cylinder, which causes exposure of the cylinder's aperture filled with liquid to the passage connected to the drainage mechanism. The faster the non-propelling wheels rotates, the faster the cylinder turns, the faster the aperture releases liquid into the passage. Moreover, if the non-propelling wheels rotates, say, twice faster, the cylinder turns twice faster, and the aperture releases liquid into the passage twice faster. Furthermore, when the rotary motion of the non-propelling wheel halts, the cylinder stops turning, and the further release of liquid into the passage is stopped as well. It is worth meanwhile to note that speed of the robotic surface cleaning device is proportional to the rate of the rotary motion of the non-propelling wheels. The above reasoning explains that rapidity of the release of liquid into the passage and the drainage mechanism is proportional to the speed of the robotic surface cleaning device and/or is proportional for some embodiments to the rate of the rotary motion of one or more non-propelling wheels. Referring toFIG.1, a bottom view of a robotic floor cleaning device100is illustrated. Robotic floor cleaning device100is comprised of chassis101, non-propelling wheel102, motor103, mop module104, and propelling wheels106. Rotatable cylinder107is positioned inside mop module104and is connected to non-propelling wheel102by connecting outside member108that transfers rotational movement to the cylinder107. This connecting outside member may be comprised of an axle and/or gear mechanism. Referring toFIG.2A, a cross-sectional view of the mop module104is illustrated. In this embodiment, the rotatable cylinder107is positioned adjacent to the liquid reservoir201, however, other arrangements are possible. Mop module104is comprised of frame202, liquid reservoir201containing liquid203, a control mechanism comprising a combination of rotatable cylinder107with (aperture204, axle205), and passage206, and drainage mechanism207. In this position, liquid203fills aperture204and rotatable cylinder107is blocking liquid from escaping reservoir201. As axle205turns, cylinder107will be rotated in direction208and aperture204will be rotated toward passage206. Referring toFIG.2B, a cross-sectional view of mop module104after cylinder107has been rotated in direction208is illustrated. In this position, cylinder107is rotated so that aperture204is adjacent to passage206. In this position, liquid that had entered aperture204while it was previously adjacent to liquid203will flow downwards through passage206by means of gravity into drainage mechanism207, to be dispersed onto the working surface. Liquid203is only delivered to drainage mechanism207when cylinder107is rotating. Since rotation of cylinder107is controlled by rotation of axle205, liquid is no longer delivered to drainage mechanism207when axle205stops rotating. The arrangement of components may vary slightly from the example illustrated without departing from the scope of the invention. Referring toFIGS.3A and3B, a cross-sectional view of an embodiment of the present invention wherein the rotatable cylinder is provided within the reservoir (rather than adjacent to it) is illustrated. Referring toFIG.3A, mop module304is comprised of frame302, liquid reservoir301containing liquid303, a control mechanism comprising a combination of rotatable cylinder300(with aperture304, axle305), and passage306, and drainage mechanism307. In this position, liquid303fills aperture304and rotatable cylinder300is blocking liquid from escaping reservoir301. As axle305turns, cylinder300will be rotated in direction308and aperture304will be rotated toward passage306. Referring toFIG.3B, a cross-sectional view of mop module304after cylinder300has been rotated in direction308is illustrated. In this position, cylinder307is rotated so that aperture304is adjacent to passage306. In this position, liquid that had entered aperture304while it was previously adjacent to liquid303will flow downwards through passage306by means of gravity into drainage mechanism307, to be dispersed onto the working surface. Liquid303is only delivered to drainage mechanism307when cylinder300is rotating. Since rotation of cylinder300is controlled by rotation of axle305, liquid is no longer delivered to drainage mechanism307when axle305stops rotating. Referring toFIG.4, a top view of mop module404with non-propelling wheel400connected to rotatable cylinder403with aperture402by member401is illustrated. When the robotic floor cleaning device is operational, non-propelling wheel400rotates thereby transferring rotational motion to rotatable cylinder403by connecting member401. It should be understood that in some embodiments, a frame to hold the mop module components may be omitted, and the components thereof may be built directly into the robotic floor cleaning device. The size, number, and depth of apertures on the rotatable cylinder as well as the rotation speed of the rotatable cylinder may be modified to adjust the liquid flow rate from the reservoir. In some embodiments, a removable mop module comprising the elements described above may be provided as an attachment to a robotic floor cleaning device. That is, the frame and all components may be removed and replaced as desired by an operator. In some embodiments the liquid flow rate from said reservoir may be adjusted by adding additional cylinders having at least one aperture and corresponding passages.

11857130

DETAILED DESCRIPTION Exemplary embodiments according to the present disclosure will be described clearly and completely in accordance with the drawings. Nevertheless, it will be understood that the described embodiments are a part of the embodiments of the present disclosure, but not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work shall fall in the protection scope of the present disclosure. Note that all orientation words such as “forward, backward, up, down, left, right”, etc. are only used to explain the relative position relationships and movement of different components under a specific state (as shown in the drawings). When the specific state is changed, the orientation words are also changed accordingly. Furthermore, in the present disclosure, unless otherwise indicated, the terms “fixed”, “connected” and the like should be understood broadly, and maybe, for example, fixed connections, detachable connections, or integral connections; may also be mechanical or electrical connections; may also be direct connections or indirect connections via intervening structures; may also be inner communications or interaction relationships of two elements, which can be understood by those skilled in the art according to specific situations. In addition, it should be understood that terms such as “first” and “second” are used herein for purposes of description and are not intended to indicate or imply relative importance or significance or to imply the number of indicated technical features. Thus, the feature defined with “first” and “second” may indicate or imply to include one or more technical features. In addition, the words “and/or” means three parallel technical solutions, taking “A and/or B” as an example, including a technical solution A, a technical solution B, and a technical solution that meets both A and B. In addition, various technical solutions of different embodiments can be combined, based on knowledge of one having ordinary skill in the art. When there is conflict after combination of the technical solutions or the combination cannot be achieved, it can be understood that the combination of technical solutions does not exist, and it shall not fall within the scope of the present disclosure. A cleaning assembly is provided in the present disclosure, where a cleaning module200can be lifted. As shown inFIGS.1-3, in one or more embodiments of the present disclosure, the cleaning assembly includes a fixing mechanism100, a lifting shaft300, a lifting member400, an elastic member500, a moving member600, a first drive mechanism700and a cleaning module200. The fixing mechanism100is fixedly connected to the main body (not shown). Moreover, the lifting shaft300vertically penetrates through the fixing mechanism100and is configured to slide along an axial direction of the lifting shaft300relative to the fixing mechanism100. One end of the lifting shaft300is connected to the cleaning module200, and the other end is connected to the moving member600. Furthermore, the elastic member500is disposed between the lifting member400and the fixing mechanism100. One end of the elastic member500is connected to the lifting member400, and the other end of the elastic member500is connected to the fixing mechanism100or the main body. The elastic member500exerts a force away from the fixing mechanism100on the lifting member400. The lifting shaft300is connected to the moving member600by the lifting member400. In some instances, the moving member600includes an inclined surface620that is inclined with respect to a plane perpendicular to the lifting shaft300. The inclined surface620is configured to abut against the lifting member400and exerts a force on the lifting member400toward the fixing mechanism100, thereby urging the lifting member400to move close to or away from the fixing mechanism100. Furthermore, the first drive mechanism700is fixedly connected to the main body and connected to the moving member600by a transmission device. The first drive mechanism700is arranged to drive the moving member600to reciprocate, such that the position of the lifting member400on the inclined surface620, where the lifting member abuts against, changes, thereby changing a distance between the lifting member400and the fixing mechanism100and driving the lifting shaft300to slide along the axial direction of the lifting shaft300. The main body may include a shell of a cleaning apparatus, such as the shell of a cleaning robot, according to a further embodiment. In the foregoing embodiment, it is understandable that under the action of the elastic member500, the lifting member400has a tendency to move upward so as to abut against the moving member600. When the first drive mechanism700drives the moving member600to reciprocate, the lifting member400abuts against different heights of the moving member600, thereby adjusting the distance between the lifting member400and the fixing mechanism100. And meanwhile, the lifting shaft300is driven to reciprocate along the axial direction thereof, thereby lifting or lowering the cleaning module200. Consequently, the cleaning module200can be lowered during cleaning or lifted when the cleaning module200needs to be lifted. Thus, a vertical movement is driven by a horizontal movement by implementing the foregoing structure, which is stable and easy to control. Moreover, the space occupation in a vertical direction is reduced. In some exemplary embodiments, a cylindrical convex portion410is disposed on one side of the lifting member400towards the moving member600. The lifting member400abuts against the inclined surface620through the cylindrical convex portion410. The cylindrical convex portion410moves along the inclined surface620of the moving member600. Due to the shape of the cylindrical convex portion410, the abutment surface is small, thus facilitating the movement of the moving member600and taking into account the stability of the structure. In some instances, the first drive mechanism700includes a drive motor710and a gear720. An output shaft730is coupled to the drive motor710. The gear720is coupled to the output shaft730of the drive motor710. Furthermore, the moving member600includes a rack (not shown) engaged with the gear720. The drive motor710drives the moving member600to reciprocate through the gear720and the rack. In some variations, in order to facilitate the moving member600to operate with the gear720and the convex portion410, the rack and the inclined surface620are arranged at different sides of the moving member600respectively. In some examples, the transmission device configured to drive the moving member600may include the rack and the gear720. The transmission device may provide accurate control on the movement of the moving member600, so as to cause the movement of the lifting shaft300and the cleaning module200connected thereto. In some instances, the cleaning assembly includes a shaft sleeve110and a second drive mechanism800. The shaft sleeve110is disposed in the fixing mechanism100, and penetrated by the lifting shaft300. The shaft sleeve110is coupled to the lifting shaft300and is configured to cause the lifting shaft300to rotate. Meanwhile, the lifting shaft300is movable relative to the shaft sleeve110. Furthermore, the shaft sleeve110is in a transmission connection with the second drive mechanism800and driven by the second drive mechanism800to rotate so as to drive the lifting shaft300to rotate. In some variations, one end of the lifting shaft300is connected with the cleaning module200, and the other end is rotatably connected with the lifting member400. The shaft sleeve110is arranged inside the fixing mechanism100, and the lifting shaft300penetrates through the shaft sleeve110. In some examples, the shaft sleeve110is coupled to the lifting shaft300through a splined connection or a keyed connection. The shaft sleeve110is configured to cause the lifting shaft300to rotate. In some instances, the second drive mechanism800includes a motor and a gear transmission mechanism. The gear transmission mechanism is connected to the motor and driven by the motor for transmission. Furthermore, the gear transmission mechanism is connected to the rotation shaft sleeve110and drives the shaft sleeve110to rotate, thereby realizing that the shaft sleeve110is driven by the second drive mechanism800to rotate. Additionally and/or alternatively, based on the splined connection or keyed connection between the lifting shaft300and the shaft sleeve110, the lifting shaft300can slide relative to the shaft sleeve110, and the shaft sleeve110can also drive the lifting shaft300to rotate, so as to drive the cleaning module200to rotate, thereby cleaning the ground. In some variations, the second drive mechanism800and the first drive mechanism700are arranged on both sides of the lifting shaft300, which is convenient for arrangement and can make full use of the space on both sides of the lifting shaft300to reduce the space occupied by the cleaning assembly. In some examples, the lifting shaft300is rotatably connected with the lifting member400by a bearing310, which reduces friction when the lifting shaft300rotates and facilitates the lifting member400to lift the lifting shaft300. In some instances, the elastic member500is coaxially disposed outside the lifting shaft300. In some variations, a sliding direction of the lifting shaft300is along an expansion direction of the elastic member500, so as to make the lifting shaft300slide smoothly. In some examples, the elastic member500is stably fixed to reduce its radial deformation, so as to reduce a loss of elasticity and ensure that the elastic member500exerts sufficient force on the lifting member400along the axial direction of the lifting shaft300. The elastic member500may be a spring, a torsion spring, or other elastic members. In some instances, the elastic member500can also be disposed in other positions between the lifting member400and the fixing mechanism100. In some variations, the moving member600further includes a first abutment plane610and a second abutment plane630, which are both perpendicular to the lifting shaft300. In some examples, a distance between the first abutment plane610and the fixing mechanism100is different from that between the second abutment plane630and the fixing mechanism100. Further, the first abutment plane610and the second abutment plane630are connected by the inclined surface620. The lifting member400is configured to move along the first abutment plane610, the inclined surface620and the second abutment plane630, which exert a force on the lifting member400toward the fixing mechanism100. The first drive mechanism700drives the moving member600to reciprocate so that the lifting member400abuts against the first abutment plane610, the inclined surface620or the second abutment plane630. In some instances, after the cleaning module200is lifted or lowered, the lifting member400abuts against the first abutment plane610or the second abutment plane630respectively, so that the lifting member400more stably abuts against the moving member600. The inclined surface620ensures a smooth transition during lifting/lowering the cleaning module200. In some variations, more than two abutment planes may be utilized such that the cleaning module200may be stably and flexibly placed at different heights in various situations. As such, more than one inclined surfaces may be implemented between the abutment planes to ensure smooth transitions during the lifting and/or lowering processes. In some examples, the lifting shaft300is detachably connected to the cleaning module200, which facilitates cleaning, maintenance and replacement of the cleaning module200. In some instances, one end of the elastic member500abuts against the lifting member400and the other end of the elastic member500abuts against the fixing mechanism100. Thus, the elastic member500is easy to install or replace after its elasticity is reduced. In some variations, the cleaning assembly includes two or more lifting shafts300. All the lifting shafts300vertically penetrate through the fixing mechanism100. One end of each lifting shaft300is correspondingly connected with one cleaning module200, and the other end of each lifting shaft300is connected with a lifting member400. Therefore, all the cleaning modules200can be lifted simultaneously, which is convenient for controlling all the cleaning modules200simultaneously. Furthermore, multiple cleaning modules200can increase the cleaning area. Of course, only one set of lifting shaft300and cleaning module200is also possible. In some examples, the cleaning module200includes a cleaning turntable220with a mop, a brush and/or a dust suction joint. In some instances, the cleaning module200further includes a built-in pressure unit240, which can realize floating. For instance, the cleaning module200includes a cleaning turntable220, a cleaning member210, an adjustment assembly230, and the pressure unit240. One side of the cleaning turntable220is connected with a cleaning member210for cleaning the ground. Furthermore, the adjustment assembly230is disposed on one side of cleaning turntable220that is away from the cleaning member210. The adjustment assembly230is connected to the cleaning turntable220and may slide along the axial direction of the lifting shaft300. For example, the adjustment assembly230is in a keyed connection with the cleaning turntable220, and the adjustment assembly230is fixedly connected with a lower end of the lifting shaft300. Therefore, the lifting shaft300rotates to drive the adjustment assembly230and the cleaning turntable220to rotate. In some variations, the pressure unit240is disposed between the adjustment assembly230and the cleaning turntable220, and used to apply a force on the cleaning turntable220toward the ground. In some examples the pressure unit240may be a spring or the like. Thus, during cleaning of the ground by the cleaning module200, when the ground is relatively flat, the cleaning member210fits the ground better, and the cleaning effect is good. When the ground is uneven, the pressure unit240presses down the cleaning turntable220and the cleaning member210, thus improving fitting between the cleaning member210and the ground and ensuring a good cleaning effect. The cleaning member210can be a mop, a brush, a dust suction joint, and the like. In some instances, the cleaning module200, the fixing mechanism100, the lifting member400, the moving member600and the rack are all set parallel to the ground. Moreover, the lifting shaft300, the shaft sleeve110and the elastic member500are arranged perpendicular to the ground, and the lifting shaft300vertically penetrates through the fixing mechanism100. Furthermore, the lower end of the lifting shaft300is connected to the cleaning module200by a detachable structure, such as a buckle or a bolt, and the upper end of the lifting shaft300is connected with the lifting member400by a rotatable structure, such as a bearing310. In some variations, the elastic member500is coaxially disposed outside the lifting shaft300and sandwiched between the fixing mechanism100and the lifting member400, and a first end and a second end of the elastic member500abut against an upper surface of the fixing mechanism100and a lower surface of the lifting member400, respectively. Furthermore, the second drive mechanism800and the shaft sleeve110are arranged inside the fixing mechanism100, and the second drive mechanism800is connected to the shaft sleeve110in a transmission connection and drives the shaft sleeve110to rotate. In some examples, the lifting shaft300is coupled to the shaft sleeve110in a splined connection or a keyed connection. For instance, the connection between the lifting shaft300and the shaft sleeve110may allow the lifting shaft300to slide up and down relative to the rotation shaft sleeve110and drives the lifting shaft300to rotate. In some instances, the first abutment plane610, the inclined surface620and the second abutment plane630on the moving member600all face downward. In some variations, the lifting member400is perpendicular to the moving member600. Both ends of the lifting member400are connected to one moving member600and abut against the lower surface of the corresponding moving member600. In some instances, the output shaft730of the drive motor710is parallel to the lifting member400, and the rack is perpendicular to the lifting member400and fixed on the moving member600. In some variations, the rack is a straight rack extended along an extending direction of the moving member600, and the gear720is engaged with the rack on the moving member600. In some examples, the moving member600includes two racks, which are located at both ends of the lifting member400. The moving member600including the two racks are in a transmission connection with the output shaft730of the drive motor710. In some instances, the drive motor710are coupled to two output shafts730that extend in different directions, and each output shaft730is coupled to one gear720. The gear720rotates and causes the rack to drive the moving member600to reciprocate linearly in a direction perpendicular to the lifting shaft300, thereby urging an end of the lifting member400to move along the first abutment plane610, the inclined surface620, and the second abutment plane630of the moving member600. Thus, the vertical position of the lifting member400is controlled by the varying height of the first abutment plane610, the inclined surface620and the second abutment plane630of the moving member600, which forces the lifting member400down. As such, the cleaning assembly adjusts the distance between the lifting member400and the fixing mechanism100so as to lift the lifting shaft300and the cleaning module200. The cleaning assembly may include multiple cleaning modules200. In some variations, the multiple cleaning modules200are connected to multiple lifting shafts300and shaft sleeves110. For instance, each cleaning module200may be connected to a separate set of a lifting shaft300and a shaft sleeve110. Furthermore, the upper ends of all the lifting shafts300pass through the fixing mechanism100and are rotatably connected with the lifting member400. Each of the lifting shafts300is connected to the lifting member400by a corresponding bearing310, and is sleeved by a separate elastic member500to ensure the elasticity of the lifting member400. According to a further embodiment, a Cartesian coordinate system for a three-dimensional space may be established, in which an X axis is arranged along an extension direction of the moving member600, a Y axis is arranged along an extension direction of the lifting member400, and a Z axis is arranged along the axial direction of the lifting shaft300. In some examples, the moving member600and the inclined surface620thereof move linearly back and forth along the X axis, so that the lifting member400abuts against the moving member600at different positions that corresponds to different heights, so as to lift the lifting shaft300and the cleaning module200connected thereto. The cleaning apparatus provided by the present disclosure includes a main body (not shown) and the foregoing cleaning assembly in accordance with one or more embodiments. It is understood that the cleaning apparatus includes all the technical features of the foregoing cleaning assembly, so at least all the beneficial effects brought by the technical solutions of the foregoing cleaning assembly will be obtained, which will not be described here. In some examples, the cleaning apparatus can be a floor cleaning device such as a cleaning robot or a vacuum cleaner, and can also be a cleaning equipment used to clean walls, glass, ceilings, etc. The foregoing descriptions are merely exemplary embodiments of the present disclosure and are not intended to limit the patent scope of the present disclosure. Any equivalent structures made according to the description and the accompanying drawings of the present disclosure without departing from the idea of the present disclosure, or any equivalent structures applied in other relevant technical fields directly or indirectly are intended to be included in the patent protection scope of the present disclosure.

11857131

Certain terminology will be used in the following description for convenience in reference only, and will not be limiting. Said terminology will include the words specifically mentioned, derivatives thereof, and words of similar import. DETAILED DESCRIPTION FIG.1illustrates a schematic of a dish washing machine communication system10according to an aspect the present invention. The dish washing machine communication system10includes a dish washing machine12and communication device14. The dish washing machine12includes an integral communication system16for communication with the communication device14. The integral communication system16of the dish washing machine12and the communication device14are able to communicate text messages with each other employing SMS (short message service) over telephone, Internet and/or mobile device systems. For example, the communication device14can be a mobile or cell phone and the integral communication system16can include mobile or cell phone technology. The dish washing machine12includes a SIM card11that is in communication with the integral communication system16and a control system13of the dish washing machine12. The control system13also communicates information to the integral communication system16and provides instructions to display information on a display15of the dish washing machine12. In the illustrated example, the dish washing machine12can comprise any dish washing machine including typical components as well known to those skilled in the art. For example, the dish washing machine12could be the machine as set forth in U.S. Patent Application Publication No. 2018/0256001 entitled DISH WASHING MACHINE, the machine set forth in U.S. Patent Application Publication No. 2019/0307307 entitled DISH WASHING MACHINE WITH HEAT EXCHANGERS, or the machine as set forth in U.S. Patent Application Ser. No. 63/010,193 entitled DISH WASHING MACHINE WITH HEAT EXCHANGERS, the entire contents of all of which are hereby incorporated herein by reference. FIG.2represents an embodiment of the dish washing machine12that can be used in the dish washing machine communication system10. The dish washing machine12ofFIG.2can be the dish washing machine as disclosed in U.S. Patent Application Publication No. 2018/0256001 entitled DISH WASHING MACHINE and can function as such dish washing machine functions. The dish washing machine12can include an internal wash space compartment18for receiving dishes to be washed and15display. Upper rotating wash arms20and lower rotating wash arms22spray fluid onto the dishes within the internal wash space compartment18to clear and rinse the dishes. A booster heating tank24can accept water from a water supply26to heat the water before use. As is well known to those skilled in the art, during a wash cycle, the heater water from the booster heating tank24is sprayed through the upper rotating wash arms20and lower rotating wash arms22to fall into a wash tank28. Wash detergent from a wash detergent tank30is supplied to the wash tank28via a wash detergent line32. The water in the wash tank28with the wash detergent is then cycled over the dishes a certain number of times to wash the dishes (wash tank28to spray arms20,22to the wash tank28to the spray arms20,22etc.). After the wash cycle is complete, the wash tank28is emptied. A rinse aid from a rinse aid tank34is then supplied to the booster heating tank24via a rinse aid line36. As is well known to those skilled in the art, during a rinse cycle, the heater water from the booster heating tank24is sprayed through the upper rotating wash arms20and lower rotating wash arms22to fall into the wash tank28. The water in the wash tank28with the rinse aid is then cycled over the dishes a certain number of times to rinse the dishes (wash tank28to spray arms20,22to the wash tank28to the spray arms20,22etc.). While are particular dish washing machine12is shown, as outlined above, any dish washing machine could be employed. The illustrated dish washing machine communication system10allows the user of the communication device14to send text instructions employing SMS to the dish washing machine12to have the dish washing machine12perform certain functions. The text instructions employing SMS can be sent from the communication device14to have the dish washing machine12perform certain functions includes taking active steps. For example, as illustrated inFIG.1, text instructions employing SMS can instruct the SIM card11to disable and lock such that the control system13of the dish washing machine12is not able to function (e.g., texting “STOP” from the communication device14to the integral communication system16). Likewise, text instructions employing SMS can instruct the SIM card11to enable such that the control system13of the dish washing machine12is able to function (e.g., texting “START”). The text instructions employing SMS can instruct the control system13of the dish washing machine12to perform certain actions or preset functions. For example, the text instructions employing SMS can instruct the control system13of the dish washing machine12to heat up and/or maintain the water in the dish washing machine12at a set temperature (e.g., texting “A TEMP”) using the booster heating tank24and/or the wash tank28, instruct the control system13of the dish washing machine12to stop heating the water in the dish washing machine12(e.g., texting “SHUT A TEMP”), or instruct the control system13of the dish washing machine12to empty all water from the wash tank28(e.g., texting “EMPTY TANK”). It is also contemplated that the text instructions employing SMS can instruct the control system13of the dish washing machine12to display messages on the display15. For example, the text instructions employing SMS can instruct the control system13of the dish washing machine12to display a NOTE from a remote communicator to a dish washing machine user (e.g., texting “NOTE” to have the display15display information that is pertinent to dish washing machine user.) It is contemplated that other messages can be sent via text instructions employing SMS to the dish washing machine12from the communication device14to force the dish washing machine12and the control system13thereof to perform other functions (e.g., beginning a wash cycle). In the illustrated example, the illustrated dish washing machine communication system10allows the user of the communication device14to send text instructions employing SMS to the dish washing machine12to have the dish washing machine12send information about the dish washing machine12to the communication device14via text messages employing SMS. For example, text instructions employing SMS can instruct the control system13to determine how much wash detergent is in the wash detergent tank30and to send a message back to the communication device14with the amount of wash detergent in the wash detergent tank30(e.g., by texting “DETER” from the communication device14to the internal communication system16and receiving an answer back via text message employing SMS stating the amount in a liquid measurement (e.g., liters)). Another example is texting instructions employing SMS to instruct the control system13to determine how much rinse aid is in the rinse aid tank34and to send a message back to the communication device14with the amount of rinse aid in the rinse aid tank34(e.g., by texting “RINSE” from the communication device14to the internal communication system16and receiving an answer back via text message employing SMS stating the amount in a liquid measurement (e.g., liters)). A further example is texting instructions employing SMS to instruct the control system13to determine how many wash cycles have been carried out and to send a message back to the communication device14with the number of cycles (e.g., by texting “CYCLE” from the communication device14to the internal communication system16and receiving an answer back via text message employing SMS stating the number of cycles) or to determine how many hours the dish washing machine12has run and to send a message back to the communication device14with the amount of time running (e.g., by texting “HOURS” from the communication device14to the internal communication system16and receiving an answer back via text message employing SMS stating the number of hours). It is contemplated that the user of the dish washing machine communication system10can ask for and receive any information about the dish washing machine12by sending text messages employing SMS from the communication device14to the dish washing machine12. The illustrated dish washing machine communication system10also provides for the dish washing machine12to send communications via text message employing SMS to the communication device14via the communication system16of the dish washing machine12. The communications sent to the communication device14can be directly in response to requests for information sent to the dish washing machine12as outlined above or can be information. The dish washing machine communication system10can be set up to provide any response from the dish washing machine12to any particular request made by the communication device14. For example, the following non-exhaustive list includes responses via text message employing SMS that can be sent from the dish washing machine12to the communication device14via the communication system16of the dish washing machine12: Message fromCommunicationResponse Message from DishDeviceWashing MachineHOURSTTL HR MACHINE: [X]H (with Xbeing the number of hours)DETERDET LEFT: [X]L (with X beingthe number of liters)RINSERINS AID LEFT: [X]L (with Xbeing the number of liters)NOTE[Pre-programmed messagedisplayed at machine]STOPSTOPPEDSTARTRE STARTED MACHINECYCLECLEANING CYCLES: [X] (with Xbeing the number of cycles)A TEMPA TEMP OKEMPTYTANKTANK EMPIEDSHUTATEMPSHUT A TEMP OK As shown above, the responses can be responses to questions or confirmation that instructions have been carried out. The above list of responses and confirmations to instructions sent via text message employing SMS to the communication device14via the communication system16of the dish washing machine12is presented only as examples and the list of responses can be any responses. In the illustrated example, the communications sent to the communication device14via text message employing SMS can also be information or automatic alerts generated by the dish washing machine12and sent without prompting by the communication device14. The information or automatic alerts can be regarding any system of the dish washing machine12and can include error messages and alerts as to levels of elements (e.g., detergent and rinse aid) in the dish washing machine. Such information or automatic alerts can be determined from any combination of sensors (e.g., thermal, pressure, position, level, etc.) communicating with the control system13of the dish washing machine12and/or programs in the control system13of the dish washing machine12. For example, the following non-exhaustive list includes information or automatic alerts that can be sent via text message employing SMS from the dish washing machine12to the communication device14via the communication system16of the dish washing machine12: Text Message:Meaning:Er-01-CHK WATER SUPPLYERROR CODE 01: User needs tocheck the water supply to thedish washing machineEr-02-BSTER NO HEATGERROR CODE 02: User needs tocheck the booster tank heaterat the dish washing machineEr-03-WASH NO HEATGERROR CODE 03: User needs tocheck the wash tank heater atthe dish washing machineEr-04-WASH TEMP TOO HIERROR CODE 04: User needs tocheck the wash tanktemperature, too high at thedish washing machineEr-05-BSTER TEMP TOO HIERROR CODE 05: User needs tocheck the booster tanktemperature, too high at thedish washing machineEr-06-WASH H20 TOO LOERROR CODE 06: User needs tocheck the wash tank waterlevel, too low at the dishwashing machineEr-08-WASH H20 TOO HIERROR CODE 08: User needs tocheck the wash tank waterlevel, too high at the dishwashing machineEr-09-WASH H20 BELOW HEATERERROR CODE 09: User needs tocheck the wash tank waterlevel, too low below heater atthe dish washing machineEr-10-BSTER H2O TOO HIERROR CODE 10: User needs tocheck the booster tank waterlevel, too high at the dishwashing machineEr-11-BSTER H2O BELOW HEATERERROR CODE 11: User needs tocheck the booster tank waterlevel, too low below heater atthe dish washing machineEr-12- BSTER TEMP TOO HI ORERROR CODE 12: User needs toSENSOR OPENcheck the booster tanktemperature, too high or sensoris an open circuit at the dishwashing machineEr-13- BSTER TEMP TOO HI ORERROR CODE 13: User needs toSENSOR SHORTcheck the booster tanktemperature, too high or sensoris a short circuit at the dishwashing machineEr-14- WASH TEMP TOO HI ORERROR CODE 14: User needs toSENSOR OPENcheck the wash tanktemperature, too high or sensoris an open circuit at the dishwashing machineEr-15- WASH TEMP TOO HI ORERROR CODE 15: User needs toSENSOR SHORTcheck the wash tanktemperature, too high or sensoris a short circuit at the dishwashing machineNO DET 5LDish washing machine has only 5liters of detergent leftNO RINS AID 2LDish washing machine has only 2liters of rinse aid leftNO DET 2LDish washing machine has only 2liters of detergent leftNO RINS AID 08Dish washing machine has only0.8 liters of rinse aid left As shown above, the information or automatic alerts can be related to any subject matter. The above list of information or automatic alerts sent via text message employing SMS to the communication device14via the communication system16of the dish washing machine12is presented only as examples and the list of information or automatic alerts can be any information or automatic alerts. In an embodiment of the present invention, the dish washing machine12and the remote communicator14can communicate with each other employing via text message employing SMS. The SMS messaging system of the remote communicator14can send instructions and/or requests for information to the communication system16of the dish washing machine in text format and the dish washing machine12can send information in response to the requests for information or automatic alerts to the remote communicator14in text format. Although particular preferred embodiments of the invention have been disclosed in detail for illustrative purposes, it will be recognized that variations or modifications of the disclosed apparatus, including the rearrangement of parts, lie within the scope of the present invention. For example, it is contemplated that only a single rotating spray arm (upper or lower) could be used.

11857132

DETAILED DESCRIPTION Reference will now be made in detail to specific embodiments or features, examples of which are illustrated in the accompanying drawings. Wherever possible, corresponding, or similar reference numbers will be used throughout the drawings to refer to the same or corresponding parts. Moreover, references to various elements described herein, are made collectively or individually when there may be more than one element of the same type. However, such references are merely exemplary in nature. It may be noted that any reference to elements in the singular may also be construed to relate to the plural and vice-versa without limiting the scope of the disclosure to the exact number or type of such elements unless set forth explicitly in the appended claims. Referring toFIG.1, a perspective view of a countertop100implementing a cleaning device102(hereinafter referred to as “the device102”) is illustrated. Preferably, the device102is disposed beneath the countertop100. The countertop100defines a tool insertion slit104that is designed to allow insertion of kitchen tools106, such as cutleries, knives, spoons, spatula, cutting board, therethrough, such that an operation portion of the kitchen tools106is received within the tool insertion slit104while a handle portion of the kitchen tools remain outside the tool insertion slit104, thereby making it accessible to a user. As used herein, the term “operation portion” refers to a portion of the kitchen tool that is used to execute a function associated with the kitchen tool. For example, a sharp metal portion of the knife may be referred to as the operation portion and a portion provided for the user to grip the knife may be referred to as the handle portion. Further, a body108of the device102defines an inlet aperture (not shown) that is aligned with the tool insertion slit104, so that the operation portion of the kitchen tools106is received into the device102. A water source110provides supply of water to a sink112and the device102simultaneously. Particularly, a water inlet pipe114extends between the water source110and the device102. Further, an outlet pipe116extends from a base of the device102to drain dirt and wash water from the device102. FIG.2illustrates a cross-sectional view of the device102, according to an embodiment of the present disclosure. The device102includes the body108and an operation chamber200coupled to the body108. The water inlet pipe114is fluidly connected to a solenoid valve202configured to regulate supply of water to the body108. Further, the body108houses a water supply manifold204located at a top portion thereof and fluidly connected to the solenoid valve202. As such, the solenoid valve202regulates the supply of water to the water supply manifold204. The water supply manifold204includes a plurality of nozzles206extending in a direction inward with respect to walls of the device102. In an aspect, the device102includes a first infinite belt assembly207(indicated inFIG.3A) disposed along a first plane parallel to a longitudinal plane of the body108and a second infinite belt assembly209(indicated inFIG.3A) disposed along a second plane parallel to the longitudinal plane of the body108. The first infinite belt assembly207includes a first set of belt pulleys and a first infinite belt304(seeFIG.3A) extending around an outer circumferential surface of each belt pulley of the first set of belt pulleys. The first set of belt pulleys includes a first belt pulley208extending along a width of the body108and supported at ends thereof by walls of the body108. For example, one end of the first belt pulley208is rotatably coupled to a first pulley support210and another end of the first belt pulley208is operably coupled to a first motor220. Similarly, a second belt pulley212, located distant from the first belt pulley208, as shown inFIG.2, extends along the width of the body108and is supported at ends thereof by the walls of the body108. For example, one end of the second belt pulley212is rotatably coupled to a second pulley support214and another end is rotatably coupled to the wall of the body108. The second infinite belt assembly209includes a second set of belt pulleys (not shown inFIG.2) and a second infinite belt306(seeFIG.3A) extending around an outer circumferential surface of each belt pulley of the second set of belt pulleys. Pulley supports216,218correspond to location of belt pulleys of the second set of belt pulleys. A second motor222is operably coupled to one of the belt pulleys of the second set of belt pulleys. As used herein, the term “operably coupled” refers to an arrangement between the motor and the belt pulley that transfers torque from the motor to the belt pulley, thereby causing the belt pulley to rotate about its axis of rotation. As would be understood fromFIG.2, the axis of rotation of the belt pulleys would be defined by respective end supports thereof at the walls of the body108. The first motor220and the second motor222together constitute a drive unit for the first set of belt pulleys and the second set of belt pulleys. Particularly, the drive unit is configured to counter rotate the first infinite belt assembly207with respect to the second infinite belt assembly209. Preferably, the first motor220is configured to rotate the first set of belt pulleys in a first rotation direction, such as clockwise, and the second motor222is configured to rotate the second set of belt pulleys in a second rotation direction, such as anticlockwise. Simultaneously, the solenoid valve202supplies water to the water supply manifold204, where jets of water is sprayed for cleaning the kitchen tool106. The device102further includes a base plate224slidably disposed at the base of the body108. The base plate224may be selectively slid in a direction along the width of the device102and may be selectively detached from the body108. An opening226defined in the base plate224fluidly connects the body108with the outlet pipe116. Preferably, the base plate224may be configured to be accessed when all wash water injected by the nozzles206is drained through the opening226. FIG.3Aillustrates perspective view of a portion of pair of belt pulleys of the device102. The first belt pulley208of the first set of belt pulleys includes multiple teeth at an outer circumferential surface thereof. Similarly, a first belt pulley302of the second set of belt pulleys includes multiple teeth at an outer circumferential surface thereof. Configuration of other belt pulleys (not shown inFIG.3A) of the first set and the second set of belt pulleys are similar to the belt pulleys208,306. Advantageously, the first infinite belt assembly207is positioned proximal to the second infinite belt assembly209to define a gap “G” therebetween to receive the kitchen tool106, such as the cutting board. The first infinite belt304extends around the first belt pulley208and the second belt pulley212; and the second infinite belt306extends around the first belt pulley302and a second belt pulley (not shown) of the second set of belt pulleys. As seen inFIG.3A, an inner surface of each infinite belt includes teeth configured to mesh with teeth at the outer circumferential surface of respective belt pulleys. As such, during rotation of the belt pulleys by respective motors, the infinite belts remain secured around the belt pulleys by virtue of the meshing between respective teeth. Additionally, the inner surface of each infinite belt is made of high stiffness material which prevents buckling of the infinite belt. Advantageously, each of the first infinite belt304and the second infinite belt306includes a plurality of bristles308extending from respective outer surfaces thereof. The bristles308are configured to contact the kitchen tool106, such as the cutting board. In an embodiment, the bristles308are made of one of silicone or ethylene propylene diene monomer rubber, and hence associated with low stiffness. Therefore, the bristles308may freely bend during contact with the kitchen tool106. Further, the nozzles206are suitably oriented such that the water jet impinges sufficiently on at least one of the infinite belt assemblies, the gap “G”, and the kitchen tool106. During cleaning of the kitchen tool106, the bristles308clean the surface of the kitchen tool106by scrubbing action. Flexibility of the bristles308results in easy removal of clutter from the kitchen tool106in presence of flowing water. With such configuration, the device102may reduce cleaning time and consumption of water. FIG.3Billustrates an enlarged portion “A” ofFIG.3A. The infinite belts are designed such that peripheries of the bristles308define a zig-zag pattern or a wavy pattern as shown inFIG.3B. Such configuration helps to efficiently clean the kitchen tools106having arcuate surfaces and multiple cutting edges. Flexibility of the bristles308combined with the zig-zag pattern achieves faster and deep cleaning of the kitchen tools106. FIG.4illustrates a cross-sectional view of a portion of the device102. In an advantageous embodiment, the device102includes a corrugated portion defined on peripheral internal surfaces of the body108. At least one of the first infinite belt assembly207and the second infinite belt assembly209is positioned proximal to the corrugated portion. In the illustrated embodiment, the peripheral internal surface400of the body108includes the corrugated portion402defining a zig-zag pattern. During operation of the device102, particularly during rotation of the first set of belt pulleys, the corrugated portion402is configured to contact the bristles308of the first infinite belt304. Dirt and clutter carried by the bristles308may be cleaned from the bristles308when the corrugated portion402contacts the bristles308. In the presence of water that is injected onto the infinite belts, cleaning of the bristles308may be easier. All the clutter and dirt from the bristles308flowing in the downward direction is either drained through the outlet pipe116or collected on the base plate224which may be cleaned manually by the user after completion of cleaning cycle. It will be understood that an opposite peripheral internal surface of the body108may include similar corrugated portion to help remove dirt and clutter from the bristles308of the second infinite belt306. Therefore, combination of the corrugated portion402and the flexibility of the bristles308define a self-cleaning mechanism of the device102simultaneously with the cleaning of the kitchen tools106, thus largely reducing consumption of water. Such self-cleaning mechanism also eliminates human efforts required to clean the device102after each cleaning cycle. FIG.5illustrates a schematic block diagram of the device102. Specifically,FIG.5will be described in conjunction withFIG.1throughFIG.4. In an embodiment, the device102includes a switch502, such as a limit switch, (shown in OFF condition) electrically connected to a microcontroller504. The switch502and the microcontroller504may be located in the operation chamber200of the device102. The first motor220and the second motor222are connected to the microcontroller504via a first channel506, and the solenoid valve202is connected to the microcontroller504via a second channel508. As seen inFIG.5, the first channel506and the second channel508extend parallel from the microcontroller504. Such parallel connection may help balance the functionality of the device102, both with respect to cleaning of the kitchen tools106and controlling supply of water to the water supply manifold204. In some embodiments, the microcontroller504may be implemented as a processor, such as one or more microprocessors, microcomputers, digital signal processors, central processing units, state machines, logic circuitries, or any devices that manipulate signals based on operational instructions. Among other capabilities the processor may be configured to fetch and execute computer-readable instructions stored in a memory thereof. Various functions of the processor may be provided using dedicated hardware as well as hardware capable of executing software in association with appropriate software. When provided by the processor, the functions may be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors. Moreover, explicit use of the term “processor” should not be construed to refer exclusively to hardware capable of executing software, and may implicitly include, but not limited to, digital signal processor (DSP) hardware, network processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), read only memory (ROM) for storing software, random access memory (RAM), and non-volatile storage. Other hardware known to a person skilled in the art may also be included. In operation, actuation of the switch502to ON condition provides electric supply to the microcontroller504which is configured to simultaneously actuate the motors220,222and the solenoid valve202. The microcontroller504is configured to actuate the first motor220to cause the first infinite belt304to rotate in the clockwise direction and actuate the second motor222to cause rotation of the second infinite belt306to rotate in anticlockwise direction. When the kitchen tool106, such as the cutting board, is inserted through the tool insertion slit104defined in the countertop100, the cutting board is received in the gap “G” and between the bristles308of the first infinite belt304and the second infinite belt306. By virtue of the flexibility, the bristles308develop a scrubbing action against the surface of the cutting board, thereby removing dirt and substances from the surface. Any clutter present on the surface of the cutting board would be carried by the bristles308during movement of the infinite belts. Upon contacting the corrugated portion402, the clutter and dirt may be discharged from the bristles308, thereby rendering the bristles308clean for subsequent contact with the surface of the cutting board. Due to the large surface area of the infinite belts and rotation speed of the belt pulleys, cleaning of the cutting board may be achieved in short duration. Simultaneously, the microcontroller504controls the solenoid valve202to supply water to the water supply manifold204. The nozzles206inject the jet of water onto at least one of the infinite belts, the kitchen tool106, and the gap “G”, thereby aiding faster cleaning of the cutting board and the bristles308. Upon completion of the cleaning cycle, the switch502may be actuated to the OFF condition, where the electrical supply to the microcontroller504is ceased. As such, electrical supply to the motors220,222and the solenoid valve202may be stopped simultaneously. In some embodiments, the microcontroller504may be configured to store a predefined amount of electrical charge, for example, in capacitors thereof, to operate the motors220,222and the solenoid valve202for a predefined duration, for example 30 seconds. During such operation of the solenoid valve202, water may be injected onto the infinite belts to remove any further remains of clutter or dirt from the bristles308. Such operation helps to keep the device102ready for subsequent cleaning cycles. On completion of the predefined duration, the motors220,222and the solenoid valve202are stopped. FIG.6is an exemplary illustration of implementation of the device102into a dishwasher602, according to an embodiment of the present disclosure. The device102may be operably disposed within the dishwasher602. While the dishwasher602is used to clean large kitchen utensils, the device102can simultaneously clean the kitchen tools106at a same location, thereby reducing a total time the user may need to invest in cleaning the kitchen items. In some embodiments, the infinite belts may be detached, cleaned, and installed back into the device102. While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed methods without departing from the spirit and scope of what is disclosed. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof.

11857133

DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT A preferred embodiment dishwashing machine constructed according to the principles of the present invention is designated by the numeral100inFIGS.1-4, by the numeral300inFIGS.5-7, by the numeral200inFIG.8, by the numeral400inFIG.9, and by numeral500inFIG.10. Generally, the present invention reduces the total water consumption, including the water used in the manual pre-rinse operation and the water used in the dishwashing machine, and associated energy and sewage costs in the dishwashing process. Further, the total amount of cleaning chemicals is reduced during the complete cycle, and the amount of manual labor required is reduced. The present invention reuses the waste water drained from the dishwashing machine in the previous wash and rinse cycles for the pre-rinse operation. At a minimum, hot water used during the pre-rinse operation will be proximate the temperature used during the typical manual pre-rinse operation. Also, the waste water will contain cleaning chemicals such as, but not limited to, detergent, rinse aid, and sanitizer used by the dishwashing machine. This water can be used for a typical manual type pre-rinse operation, as shown inFIG.8, where the soiled dishes are rinsed before being placed within the cavity of the dishwashing machine. Alternatively, as shown inFIGS.1-7,9, and10, a pre-rinse operation can be included within the cavity of the dishwashing machine so that the manual pre-rinse operation can be eliminated and replaced by an automatic pre-rinse cycle within the operation of the dishwashing machine. Some of the embodiments of the present invention are disclosed with regard to a dump and fill type dishwashing machine, but it is recognized that a re-circulating type dishwashing machine could be used as well. Generally, a dump and fill type dishwashing machine uses the rinse water from a previous cycle for the wash water, which includes detergent added to the rinse water, in the subsequent cycle. Generally, a re-circulating type dishwashing machine uses the wash water and the rinse water for the wash water in subsequent cycles until the re-circulated wash water is emptied from the dishwashing machine. FIGS.1-4show a preferred embodiment dishwashing machine100, which is a commercial dump and fill door-type dishwashing machine, including a siphon drain122. The dishwashing machine100includes a housing110defining a cavity101within which a rack102is configured and arranged to hold dishes103in an upright, generally vertical position within the cavity101. Wash arms104and pre-rinse arms105are preferably rotatably operatively connected proximate the top110aand the bottom110bof the housing110within the cavity101. The wash arms104include nozzles (not shown) through which wash water is dispensed onto the dishes103within the cavity101as the wash arms104rotate. The pre-rinse arms105include nozzles105athrough which waste water is dispensed onto the dishes103within the cavity101as the pre-rinse arms105rotate. It is recognized that many suitable types of nozzles, including but not limited to spray arms, could be used. The bottom110bof the housing110slants, shown slanting from the left side to the right side of the housing110in a downward direction, to allow waste water to flow by gravity into a sump106in fluid communication with the cavity101. It is recognized that the housing110could slant in any suitable manner. A pump107having a pump inlet108and a pump outlet109is in fluid communication with the sump106. The pump inlet108interconnects the sump106and the pump107, and the pump outlet109interconnects the pump107and the wash arms104. A strainer119, which is preferably a screen member, within the sump106proximate the pump inlet108is configured and arranged to allow water through but to prevent larger food particles from going through the strainer119into the pump107. The sump106includes a drain111proximate the bottom of the sump106, and a stopper112is configured and arranged to plug the drain111. The stopper112is preferably an electro-mechanical device well known in the art. When the stopper112is unplugged from the drain111, the drain111is open and in fluid communication with an accumulator pan113. A strainer114, which is preferably a removable screen member, proximate the opening into the accumulator pan113is configured and arranged to allow waste water through but to prevent larger food particles from going through the strainer114into the accumulator pan113. A pump115having a pump inlet116and a pump outlet117is in fluid communication with the accumulator pan113. The pump inlet116interconnects the accumulator pan113and the pump115, and the pump outlet117interconnects the pump115and a fluid passageway118, which interconnects the pump outlet117and the pre-rinse arms105. A siphon drain122is in fluid communication with the sump106proximate the bottom of the sump106. The siphon drain122extends upward from proximate the bottom of the sump106to proximate the top of the sump106and then curves downward to empty into the accumulator pan113preferably located below the sump106. The height of the top of the point of curvature122aof the siphon drain122is preferably proximate a maximum desired water level L2within the sump106. During each cycle of the dishwashing machine100, the water in the sump106reaches approximately or less than a level L1, which is below the height of the top of the point of curvature122a, and as water is added to the sump106and the level reaches the maximum desired water level L2within the sump106, the water is siphoned out of the sump106via the siphon drain122as is well known in the art. Another strainer121, which is preferably a screen member, within the sump106proximate the bottom110bof the housing110and angled downward proximate the bottom of the opening into the siphon drain122is configured and arranged to allow water through but to prevent larger food particles from going through the strainer121into the bottom of the sump106. The opening in the siphon drain122is preferably larger than the opening in the drain111. When water is drained through the siphon drain122, the larger food particles are more quickly directed out of the sump106through the siphon drain122rather than through the drain111. For example, at the end of the pre-rinse operation, the larger food particles are caught by the strainer121and directed out of the housing110through the siphon drain122along with waste water. An overflow drain123is in fluid communication with the accumulator pan113. The overflow drain123is positioned at a level L3within the accumulator pan113to prevent the accumulator pan113from overflowing, and the excess water in the accumulator pan113flows through the overflow drain123to the sewer S. As the dishwashing machine100runs through several cycles, waste water is added to the accumulator pan113. The additional waste water “refreshes” the water in the accumulator pan113with relatively warmer water and water including additional cleaning chemicals such as but not limited to detergent, rinse aid, and sanitizer. The additional waste water increases the water level within the accumulator pan113, and the excess water is directed out of the accumulator pan113via the overflow drain123. The dishwashing machine100may also include product dispensers131and132for dispensing detergent, rinse aid, and/or sanitizer during the respective wash or rinse cycle of the dishwashing machine100. In operation, soiled dishes103in rack102are placed within the cavity101of the housing110of the dishwashing machine100. The pre-rinse operation is initiated. The stopper112is lifted to open the drain111, draining water from the previous cycle into the accumulator pan113through the accumulator strainer114. At the beginning of the day, waste water is preferably added to the accumulator pan113by running the dishwashing machine100through one or more wash cycles. During the day, waste water is added to the accumulator pan113as the dishwashing machine100runs through the several cycles. At the end of the day, or when the waste water becomes too soiled, the waste water is preferably allowed to drain out of the accumulator pan113by opening a manual ball valve (not shown) or other suitable drain device well known in the art. During the pre-rinse operation, the pre-rinse pump115is activated to circulate water from the accumulator pan113through the pre-rinse arms105and nozzles105aand over the dishes103. Although the pre-rinse arms105are preferably rotatable, the pre-rinse arms105may be either stationary or rotatable. The pre-rinse nozzles105aof the pre-rinse arms105will preferably include apertures of a larger size than those used in the wash and the rinse cycles to reduce clogging due to the larger food particles and debris likely to be included in the pre-rinse water. Also, lower pressure, higher volume water streams from the larger apertures are better for creating stronger flow streams, which assist in removing the larger food particles from the dishes103. Because the soiled dishes103will contain relatively large sizes and amounts of food particles, which would have previously been manually removed from the dishes, the pre-rinse strainer121, which is preferably a courser mesh, is used to keep these larger food particles out of the wash pump107and wash arms104. After the water passes over the dishes103, it passes through the pre-rinse strainer121and into the sump106. Food particles collect on top of the pre-rinse strainer121proximate the siphon drain122. The drain111remains open and the water returns to the accumulator pan113. After completion of the pre-rinse operation, the drain111is closed. The pre-rinse pump115remains on, filling the sump106with water from the accumulator pan113. If the waste water is lower than level L2within the sump106, additional water is added by pumping water from the accumulator pan113to increase the level within the sump106to at least level L2within the sump106, as shown inFIG.2. This activates the siphon drain122, which allows the larger food particles caught by the strainer121to be directed out of the sump106, through the siphon drain122, through the strainer114, and into the accumulator pan113and the pump115is turned off. The typical amount of water used in each cycle is approximately 1.0 to 2.0 gallons and the water level typically reaches level L1or less, which is below the top height122aof the siphon drain122. When the water level reaches the top height122aof the siphon drain122, preferably at least 2.5 gallons of water, the pre-rinse pump115is turned off and the water and food particles from the sump106are siphoned through the siphon drain122, through the accumulator strainer114, and into the accumulator pan113. When the level of waste water reaches at least level L2, which is the top height122aof the siphon drain122, a siphoning effect will cause the waste water from the sump106to siphon out of the sump106through the siphon drain122into the accumulator pan113. When the waste water has been siphoned through the siphon drain122, the waste water remaining proximate the point of curvature122aof the siphon drain122will drain back into the sump106, and this remaining waste water will be drained through the drain111when the stopper112is lifted. The opening and the hollow space of the siphon drain122is preferably at least 1.5 to 2.0 inches in diameter. The siphon action “pulls” the filtered food particles off of the top of the pre-rinse strainer121. At the completion of the siphon drain sequence, any remaining waste water in the sump106is drained by unplugging the stopper112and allowing the waste water to flow out of the drain111into the accumulator pan113, as shown inFIG.3. The stopper112is preferably controlled by electro-mechanical means well known in the art. The strainer114catches larger food particles to prevent them from entering the accumulator pan113, and the strainer114may be removed to dispose of the larger food particles. Any food particles small enough to pass through the strainer121are drained with the waste water from the drain111of the sump106through the strainer114into the accumulator pan113. The food particles are either caught by the strainer114or flow into the accumulator pan113. The drain111is closed, and the sump106is then substantially empty and ready for the wash cycle. The sump106is filled with fresh water and a detergent for the wash cycle as shown inFIG.4. As additional machine cycles are run, the water level in the accumulator pan113increases until it reaches the overflow level L3, at which point the water drains into the sewer S by gravity. During the wash operation, as shown inFIG.4, fresh water and detergent are supplied to the sump106and the pump107is activated to circulate the wash water through the wash arms104and the nozzles, onto the dishes103, and back into the sump106. The pump107supplies the wash water to the upper and the lower wash arms104which are fitted with spray nozzles (not shown). A strainer119, which is preferably a fine mesh, exists to filter larger food particles from the water which may become lodged in the pump107or the wash arms104. The wash water accumulates in the sump106. The level of the water during the wash cycle is not high enough to cause a siphon drain to occur. After completion of the wash sequence, the drain111is opened and the water is drained into the accumulator pan113. The wash water passes through a strainer114to filter larger food particles from the water entering the accumulator pan113. The sump106is again filled with fresh water and optionally a rinse aid and a sanitizer. The wash pump107is activated and the rinse water is circulated through the upper and the lower wash arms104and nozzles, over the dishes103, and into the sump106. The cycle is complete, and the dishes103are removed from the dishwashing machine100. The rinse cycle is similar to the wash cycle shown inFIG.4. Because of the internal pre-rinse operation, the rinse water does not become the wash water in the next wash cycle. Rather, both the wash water and the rinse water are drained into the accumulator pan113. The sump106and the accumulator pan113collect water, which includes fresh water, wash water, rinse water, sanitizing water, and various other types of waste water recognized in the art. It is recognized that the use of one of these terms is not limited to that term but may also include any other suitable type of water recognized in the art. Optionally, the pre-rinse operation of the dishwashing machine100could be bypassed for washing lightly soiled dishes such as glassware not requiring a pre-rinse. Also, the siphon drain122could be replaced with a more conventional drain mechanism, as shown inFIGS.5-7. However, the more conventional drain mechanism should preferably be capable of removing relatively large amounts and sizes of food particles that will exist on dishes prior to the pre-rinse operation. The siphon drain122allows for the removal of relatively large amounts and sizes of food particles with less risk of clogging. FIGS.5-7show another preferred embodiment dishwashing machine300, which is a commercial dump and fill door-type dishwashing machine, including a standard drain311. The dishwashing machine300includes a housing310defining a cavity301within which a rack302is configured and arranged to hold dishes303in an upright, generally vertical position within the cavity301. Wash arms304and pre-rinse arms305are preferably rotatably operatively connected proximate the top310aand the bottom310bof the housing310within the cavity301. The wash arms304include nozzles (not shown) through which wash water is dispensed onto the dishes303within the cavity301as the wash arms304rotate. The pre-rinse arms305include nozzles305athrough which waste water is dispensed onto the dishes303within the cavity301as the pre-rinse arms305rotate. The bottom310bof the housing310slants, shown slanting from the left side to the right side of the housing310in a downward direction, to allow waste water to flow by gravity into a sump306in fluid communication with the cavity301. It is recognized that the housing310could slant in any suitable manner. A pump307having a pump inlet308and a pump outlet309is in fluid communication with the sump306. The pump inlet308interconnects the sump306and the pump307, and the pump outlet309interconnects the pump307and the wash arms304. A strainer319, which is preferably a screen member, within the sump306proximate the pump inlet308is configured and arranged to allow water through but to prevent larger food particles from going through the strainer319into the pump307. The sump306includes a drain311proximate the bottom of the sump306, and a stopper312is configured and arranged to plug the drain311. The stopper312is preferably an electro-mechanical device well known in the art. When the stopper312is unplugged from the drain311, the drain311is open and in fluid communication with an accumulator pan313. A strainer314, which is preferably a removable screen member, proximate the opening into the accumulator pan313is configured and arranged to allow waste water through but to prevent larger food particles from going through the strainer314into the accumulator pan313. A pump315having a pump inlet316and a pump outlet317is in fluid communication with the accumulator pan313. The pump inlet316interconnects the accumulator pan313and the pump315, and the pump outlet317interconnects the pump315and a fluid passageway318, which interconnects the pump outlet317and the pre-rinse arms305. The dishwashing machine300does not include a siphon drain. An overflow drain323is in fluid communication with the accumulator pan313. The overflow drain323is positioned at a level L4within the accumulator pan313to prevent the accumulator pan313from overflowing, and the excess water in the accumulator pan313flows through the overflow drain323to the sewer S. As the dishwashing machine300runs through several cycles, waste water is added to the accumulator pan313. The additional waste water “refreshes” the water in the accumulator pan313with relatively warmer water and water including additional chemicals. The additional waste water increases the water level within the accumulator pan313, and the excess water is directed out of the accumulator pan313via the overflow drain323. The dishwashing machine300may also include product dispensers331and332for dispensing detergent, rinse aid, and/or sanitizer during the respective wash or rinse cycle of the dishwashing machine300. In operation, soiled dishes303in rack302are placed within the cavity301of the housing310of the dishwashing machine300. The pre-rinse operation is initiated. The stopper312is lifted to open the drain311, draining water from the previous cycle into the accumulator pan313through the accumulator strainer314. At the beginning of the day, waste water is preferably added to the accumulator pan313by running the dishwashing machine300through one or more wash cycles. During the day, waste water is added to the accumulator pan313as the dishwashing machine300runs through the several cycles. At the end of the day, or when the waste water becomes too soiled, the waste water is preferably allowed to drain out of the accumulator pan313by opening a manual ball valve (not shown) or other suitable drain device well known in the art. During the pre-rinse operation, the pre-rinse pump315is activated to circulate water from the accumulator pan313through the pre-rinse arms305and nozzles305aand over the dishes303. Although the pre-rinse arms305are preferably rotatable, the pre-rinse arms305may be either stationary or rotatable. The pre-rinse nozzles305aof the pre-rinse arms305will preferably include apertures of a larger size than those used in the wash and the rinse cycles to reduce clogging due to the larger food particles and debris likely to be included in the pre-rinse water. Also, lower pressure, higher volume water streams from the larger apertures are better for creating stronger flow streams, which assist in removing the larger food particles from the dishes303. Because the soiled dishes303will contain relatively large sizes and amounts of food particles, which would have previously been manually removed from the dishes, the strainer319, which is preferably a courser mesh, is used to keep these larger food particles out of the wash pump307and wash arms304. After the water passes over the dishes303, the water flows into the sump306. The drain311remains open and the water returns to the accumulator pan313as shown inFIG.6. Food particles are drained from the sump306through the drain311into the accumulator pan313. The strainer314catches larger food particles to prevent them from entering the accumulator pan313, and the strainer314may be removed to dispose of the larger food particles. The drain311is closed, and the sump306is then substantially empty and ready for the wash cycle. The sump306is filled with fresh water and a detergent for the wash cycle as shown inFIG.7. As additional machine cycles are run, the water level in the accumulator pan313increases until it reaches the overflow level L4, at which point the water drains into the sewer S by gravity. During the wash operation, as shown inFIG.7, fresh water and detergent are supplied to the sump306and the pump307is activated to circulate the wash water through the wash arms304and the nozzles, onto the dishes303, and back into the sump306. The pump307supplies the wash water to the upper and the lower wash arms304which are fitted with spray nozzles (not shown). A strainer319, which is preferably a fine mesh, exists to filter larger food particles from the water which may become lodged in the pump307or the wash arms304. The wash water accumulates in the sump306. After completion of the wash sequence, the drain311is opened and the water is drained into the accumulator pan313. The wash water passes through the strainer314to filter larger food particles from the water entering the accumulator pan313. The sump306is again filled with fresh water and optionally a rinse aid and a sanitizer. The wash pump307is activated and the rinse water is circulated through the upper and the lower wash arms304and nozzles, over the dishes303, and into the sump306. The cycle is complete, and the dishes303are removed from the dishwashing machine300. The rinse cycle is similar to the wash cycle shown inFIG.7. Because of the internal pre-rinse operation, the rinse water does not become the wash water in the next wash cycle. Rather, both the wash water and the rinse water are drained into the accumulator pan313. Optionally, the pre-rinse operation of the dishwashing machine300could be selectively bypassed for washing lightly soiled dishes such as glassware not requiring a pre-rinse. The sump306and the accumulator pan313collect water, which includes fresh water, wash water, rinse water, sanitizing water, and various other types of waste water recognized in the art. It is recognized that the use of one of these terms is not limited to that term but may also include any other suitable type of water recognized in the art. FIG.8shows another preferred embodiment dishwashing machine200, which is a commercial dump and fill door-type dishwashing machine, during an external pre-rinse operation of the dishwashing machine200. The dishwashing machine200includes a housing210defining a cavity201within which a rack202is configured and arranged to hold dishes203in an upright, generally vertical position within the cavity201. Wash arms204are preferably rotatably operatively connected proximate the top210aand the bottom210bof the housing210within the cavity201. The wash arms204include nozzles204athrough which wash water is dispensed onto the dishes203within the cavity201as the wash arms204rotate. The bottom210bof the housing210slants, shown slanting from the left side to the right side of the housing210in a downward direction, to allow waste water to flow by gravity into a sump206in fluid communication with the cavity201. It is recognized that the housing210could slant in any suitable manner. A pump207having a pump inlet208and a pump outlet209is in fluid communication with the sump206. The pump inlet208interconnects the sump206and the pump207, and the pump outlet209interconnects the pump207and the wash arms204. Although the wash arms204are preferably rotatable, the wash arms204may be either stationary or rotatable. A strainer205, which is preferably a screen member, within the sump206proximate the pump inlet208is configured and arranged to allow water through but to prevent larger food particles from going through the strainer205into the pump207. The sump206includes a drain211proximate the bottom of the sump206, and a stopper212is configured and arranged to plug the drain211. The stopper212is preferably an electro-mechanical device well known in the art. When the stopper212is unplugged from the drain211, the drain211is open and in fluid communication with an accumulator pan213. A strainer214, which is preferably a removable screen member, proximate the opening into the accumulator pan213is configured and arranged to allow waste water through but to prevent larger food particles from going through the strainer214into the accumulator pan213. An overflow drain228is in fluid communication with an overflow outlet227of the accumulator pan213. The overflow drain228is positioned at a level within the accumulator pan213to prevent the accumulator pan213from overflowing, and the excess water in the accumulator pan213flows through the overflow drain228to the sewer S. As the dishwashing machine200runs through several cycles, waste water is added to the accumulator pan213. The additional waste water “refreshes” the water in the accumulator pan213with relatively warmer water and water including additional chemicals. The additional waste water increases the water level within the accumulator pan213, and the excess water is directed out of the accumulator pan213via the overflow drain228. A pump215having a pump inlet216and a pump outlet217is in fluid communication with the accumulator pan213. The pump inlet216interconnects the accumulator pan213and the pump215, and the pump outlet217interconnects the pump215and a fluid passageway218operatively connected to a nozzle219. The nozzle219could be operatively connected to a hand-directed nozzle well known in the art. The dishwashing machine200also includes an external sink220with a cavity221into which waste water is dispensed for use in an external pre-rinse operation. The fluid passageway218and the nozzle219are in fluid communication with the cavity221. The sink220also includes a drain224in fluid communication with a fluid passageway223directing the waste water back into the accumulator pan213. The external pre-rinse operation allows for larger dishes such as pots and pans or heavily soiled dishes to be pre-rinsed or soaked. Heavily soiled dishes could remain under the pre-rinse water stream for extended periods of time for improved pre-soaking performance versus simply soaking the dishes in stationary water. The waste water in the cavity221includes heat and cleaning chemicals from the wash water and the rinse water used during operation of the dishwashing machine200. The dishwashing machine200may also include product dispensers231and232for dispensing detergent, rinse aid, and/or sanitizer during the respective wash or rinse cycle of the dishwashing machine200. The dishwashing machine200does not include a siphon drain. In operation, the stopper212in the sump206keeps the rinse water in the sump206for use in the next wash cycle, and detergent is added to the rinse water for use in the wash cycle. The pump207pumps the wash water from the sump206into the wash arms204, and the wash water drains into the sump206. After the wash cycle, the stopper212is lifted to unplug the drain211in the sump206to drain the wash water from the sump206into the accumulator pan213. The wash water passes through the strainer214to filter out larger food particles from the wash water. The strainer214is preferably removable to aid in the disposal of the food particles. The wash water in the accumulator pan213is used during the pre-rinse cycle of the next cycle. The pump215directs the wash water from the accumulator pan213, through the fluid passageway218, out of the pre-rinse nozzle219, and into the cavity221of the sink220. Although the pre-rinse arms305are preferably rotatable, the pre-rinse arms305may be either stationary or rotatable. The dishwashing machine200preferably has a control (not shown) to turn the pump215on or off to start or stop the flow of the pre-rinse water into the sink220. The operator may hold a soiled dish under the pre-rinse stream in order to remove food particles from the dish. These food particles from the pre-rinse operation are collected in a removable pre-rinse strainer222. Water from the pre-rinse operation is returned to the accumulator pan213via the fluid passageway223by gravity. The drain224is preferably open, but it is recognized that a stopper may be used to plug the drain224if it is desired to soak dishes in the sink220. As additional machine cycles are run, the water level in the accumulator pan213increases until it reaches the bottom of the overflow drain228, where the water drains into the sewer S by gravity. A manual ball valve (not shown) or other suitable drain device well known in the art is preferably used to drain the water from the accumulator pan213at the end of the day or when the water becomes too soiled. Optionally, the accumulator pan213could be fitted with a water level sensing device so that the pump215does not turn on unless a sufficient amount of water is in the accumulator pan213to prevent damage to the pump215. The accumulator pan213could also be fitted with a heating device that would maintain the temperature of the waste water within the accumulator pan213at a desired temperature, which is especially useful during periods of non-use. The heating device could be controlled such that it does not turn on when the pump215is running to minimize the total electrical load required for the dishwashing machine200. FIG.9shows another preferred embodiment dishwashing machine400, which is shown as a dump and fill door-type dishwashing machine including a housing410defining a cavity401separated into a first portion401aand a second portion401bby a barrier including a first wall portion435ato which a flexible curtain member436is operatively connected proximate a top of the dishwashing machine400and a second wall portion435bproximate a bottom of the dishwashing machine400. Door handles440aand440bare used to open a door (not shown) to access the cavity401. A rack402aconfigured and arranged to hold dishes403ain an upright, generally vertical position is positioned within the first portion401a, and a rack402bconfigured and arranged to hold dishes403bin an upright, generally vertical position is positioned within the second portion401b. Wash arms404aare preferably rotatably operatively connected proximate the top and the bottom of the first portion401awithin the cavity401, and wash arms404bare preferably rotatably operatively connected proximate the top and the bottom of the second portion401bwithin the cavity401. It is recognized that the wash arms404aand404bcould also be stationary. The wash arms404ainclude nozzles through which wash water is dispensed onto the dishes403awithin the first portion401aof the cavity401as the wash arms404arotate. The wash arms404binclude nozzles through which pre-rinse water is dispensed onto the dishes403bwithin the second portion401bof the cavity401as the wash arms404brotate. The bottom of the housing410in the first portion401aslants, shown slanting from the left side to the right side of the housing410in a downward direction, to allow waste water to flow by gravity into a sump406in fluid communication with the cavity401, and the bottom of the housing410in the second portion401bslants, shown slanting from the left side to the right side of the housing410in a downward direction, to allow waste water to flow by gravity through a drain425into an accumulator pan413in fluid communication with the cavity401. It is recognized that the housing410could slant in any suitable manner. A pump407having a pump inlet408and a pump outlet409is in fluid communication with the sump406. The pump inlet408interconnects the sump406and the pump407, and the pump outlet409interconnects the pump407and the wash arms404a. A strainer405, which is preferably a screen member, within the sump406proximate the pump inlet408is configured and arranged to allow water through but to prevent larger food particles from going through the strainer405into the pump407. The sump406includes a drain411proximate the bottom of the sump406, and a stopper412is configured and arranged to plug the drain411. The stopper412is preferably an electro-mechanical device well known in the art. When the stopper412is unplugged from the drain411, the drain411is open and in fluid communication with an accumulator pan413via a fluid passageway423. A strainer414, which is preferably a removable screen member, proximate the opening into the accumulator pan413is configured and arranged to allow waste water through but to prevent larger food particles from going through the strainer414into the accumulator pan413. A pump415having a pump inlet416and a pump outlet417is in fluid communication with the accumulator pan413. The pump inlet416interconnects the accumulator pan413and the pump415, and the pump outlet417interconnects the pump415and the wash arms404b. An overflow drain428is in fluid communication with an overflow outlet427of the accumulator pan413. The overflow drain428is positioned at a level within the accumulator pan413to prevent the accumulator pan413from overflowing, and the excess water in the accumulator pan413flows through the overflow drain428to the sewer S. As the dishwashing machine400runs through several cycles, waste water from both portions401aand401bof the cavity401is added to the accumulator pan413. The additional waste water “refreshes” the water in the accumulator pan413with relatively warmer water and water including additional chemicals. The additional waste water increases the water level within the accumulator pan413, and the excess water is directed out of the accumulator pan413via the overflow drain428. The waste water in the accumulator pan413includes heat and chemicals from the wash water and the rinse water used during operation of the dishwashing machine400in addition to recycled waste water from the accumulator pan413. The dishwashing machine400may also include product dispensers431and432for dispensing detergent, rinse aid, and/or sanitizer during the respective wash or rinse cycle of the dishwashing machine400. The dishwashing machine400does not include a siphon drain. In operation, the stopper412in the sump406keeps the rinse water in the sump406for use in the next wash cycle, and detergent is added to the rinse water for use in the wash cycle. The pump407pumps the wash water from the sump406into the wash arms404a, and the wash water drains into the sump406. After the wash cycle, the stopper412is lifted to unplug the drain411in the sump406to drain the wash water from the sump406into the accumulator pan413. The wash water passes through the strainer414to filter out larger food particles from the wash water. The strainer414is preferably removable to aid in the disposal of the food particles. The wash water in the accumulator pan413is used during the pre-rinse cycle of the next cycle. The pump415directs the wash water from the accumulator pan413, through the wash arms404b, and into the second cavity401bwhere pre-rinse operation of the soiled dishes403boccurs. The wash water drains by gravity through the drain425into the accumulator pan413. The dishwashing machine400preferably has a control (not shown) to turn the pump415on or off to start or stop the flow of the pre-rinse water into the second cavity401b. Any food particles from the pre-rinse operation are collected on the removable strainer414. The flexible curtain member436allows an operator to slide the rack of dishes from the pre-rinse side of the second portion401bover to the wash and rinse side of the first portion401a. As additional machine cycles are run, the water level in the accumulator pan413increases until it reaches the bottom of the overflow drain428, where the water drains into the sewer S by gravity. A manual ball valve (not shown) or other suitable drain device well known in the art is preferably used to drain the water from the accumulator pan413at the end of the day or when the water becomes too soiled. The arrows in solid lines show the general water flow path through the pre-rinse operation proximate the second portion401band through the wash and rinse operation proximate the first portion401a. The arrows in broken lines show the general water flow path when the stopper412is lifted to allow water to flow through the fluid passageway423from the sump406into the accumulator pan413. It is recognized that the pre-rinse operation and the wash or rinse operation could be run separately or substantially concurrently. Optionally, the accumulator pan413could be fitted with a water level sensing device so that the pump415does not turn on unless a sufficient amount of water is in the accumulator pan413to prevent damage to the pump415. The accumulator pan413could also be fitted with a heating device that would maintain the temperature of the waste water within the accumulator pan413at a desired temperature, which is especially useful during periods of non-use. The heating device could be controlled such that it does not turn on when the pump415is running to minimize the total electrical load required for the dishwashing machine400. FIG.10shows another preferred embodiment dishwashing machine500, which includes a first machine500aand a second machine500b. Generally, machine500bperforms a pre-rinse operation utilizing waste water from machine500a. Machine500aperforms a wash and rinse operation using a re-circulating wash, drain, refill, and re-circulating rinse sequence. Machines500aand500bcould operate substantially concurrently or independently. Machine500aincludes a housing510adefining a cavity501a, and door handles540aare used to open a door (not shown) of the housing510ato access the cavity501a. A rack502aconfigured and arranged to hold dishes503ain an upright, generally vertical position is positioned within the cavity501a. Wash arms504aare preferably rotatably operatively connected proximate the top and the bottom of the housing510awithin the cavity501a. It is recognized that the wash arms504acould also be stationary. The wash arms504ainclude nozzles through which wash water is dispensed onto the dishes503awithin the cavity501aas the wash arms504arotate. The bottom of the housing510aslants, shown slanting from the left side to the right side of the housing510ain a downward direction, to allow waste water to flow by gravity into a sump506in fluid communication with the cavity501a. It is recognized that the housing510acould slant in any suitable manner. A pump507having a pump inlet508and a pump outlet509is in fluid communication with the sump506. The pump inlet508interconnects the sump506and the pump507, and the pump outlet509interconnects the pump507and the wash arms504a. A strainer505, which is preferably a screen member, within the sump506proximate the pump inlet508is configured and arranged to allow water through but to prevent larger food particles from going through the strainer505into the pump507. The sump506includes a drain511proximate the bottom of the sump506, and a stopper512is configured and arranged to plug the drain511. The stopper512is preferably an electro-mechanical device well known in the art. Machine500bincludes a housing510bdefining a cavity501b, and door handles540bare used to open a door (not shown) of the housing510bto access the cavity501b. A rack502bconfigured and arranged to hold dishes503bin an upright, generally vertical position is positioned within the cavity501b. Wash arms504bare preferably rotatably operatively connected proximate the top and the bottom of the housing510bwithin the cavity501b. It is recognized that the wash arms504bcould also be stationary. The wash arms504binclude nozzles through which wash water is dispensed onto the dishes503bwithin the cavity501bas the wash arms504brotate. The bottom of the housing510bslants, shown slanting from the left side to the right side of the housing510bin a downward direction, to allow waste water to flow by gravity into an accumulator pan513in fluid communication with the cavity501b. It is recognized that the housing510bcould slant in any suitable manner. A pump515having a pump inlet516and a pump outlet517is in fluid communication with the accumulator pan513. The pump inlet516interconnects the accumulator pan513and the pump515, and the pump outlet517interconnects the pump515and the wash arms504b. When the stopper512of the first machine500ais unplugged from the drain511, the drain511is open and in fluid communication with the accumulator pan513via a fluid passageway523. A strainer514, which is preferably a removable screen member, proximate the opening into the accumulator pan513is configured and arranged to allow waste water through but to prevent larger food particles from going through the strainer514into the accumulator pan513. An overflow drain528is in fluid communication with an overflow outlet527of the accumulator pan513. The overflow drain528is positioned at a level within the accumulator pan513to prevent the accumulator pan513from overflowing, and the excess water in the accumulator pan513flows through the overflow drain528to the sewer S. As the dishwashing machine500runs through several cycles, waste water from both cavities501aand501bis added to the accumulator pan513. The additional waste water “refreshes” the water in the accumulator pan513with relatively warmer water and water including additional chemicals. The additional waste water increases the water level within the accumulator pan513, and the excess water is directed out of the accumulator pan513via the overflow drain528. The waste water in the accumulator pan513includes heat and chemicals from the wash water and the rinse water used during operation of the dishwashing machine500in addition to recycled waste water from the accumulator pan513. The dishwashing machine500may also include product dispensers531and532for dispensing detergent, rinse aid, and/or sanitizer during the respective wash or rinse cycle of the dishwashing machine500. The dishwashing machine500does not include a siphon drain. In operation, the stopper512in the sump506keeps the rinse water in the sump506for use in the next wash cycle, and detergent is added to the rinse water for use in the wash cycle. The pump507pumps the wash water from the sump506into the wash arms504a, and the wash water drains into the sump506. After the wash cycle, the stopper512is lifted to unplug the drain511in the sump506to drain the wash water from the sump506into the accumulator pan513. The wash water passes through the strainer514to filter out larger food particles from the wash water. The strainer514is preferably removable to aid in the disposal of the food particles. The wash water in the accumulator pan513is used during the pre-rinse cycle of the next cycle. The pump515directs the wash water from the accumulator pan513, through the wash arms504b, and into the cavity501bwhere pre-rinse operation of the soiled dishes503boccurs. The wash water drains by gravity through the drain525into the accumulator pan513. The dishwashing machine500preferably has a control (not shown) to turn the pump515on or off to start or stop the flow of the pre-rinse water into the cavity501b. Any food particles from the pre-rinse operation are collected on the removable strainer514. An operator moves the dishes from the pre-rinse side (machine500b) over to the wash and rinse side (machine500a) and then places dishes for pre-rinse operation in the cavity501bof machine500b. As additional machine cycles are run, the water level in the accumulator pan513increases until it reaches the bottom of the overflow drain528, where the water drains into the sewer S by gravity. A manual ball valve (not shown) or other suitable drain device well known in the art is preferably used to drain the water from the accumulator pan513at the end of the day or when the water becomes too soiled. The arrows in solid lines show the general water flow path through the pre-rinse operation within machine500band through the wash and rinse operation within the machine500a. The arrows in broken lines show the general water flow path when the stopper512is lifted to allow water to flow through the fluid passageway523from the sump506into the accumulator pan513. Optionally, the accumulator pan513could be fitted with a water level sensing device so that the pump515does not turn on unless a sufficient amount of water is in the accumulator pan513to prevent damage to the pump515. The accumulator pan513could also be fitted with a heating device that would maintain the temperature of the waste water within the accumulator pan513at a desired temperature, which is especially useful during periods of non-use. The heating device could be controlled such that it does not turn on when the pump515is running to minimize the total electrical load required for the dishwashing machine500. With regard to the embodiments shown inFIGS.8-10, because the pre-rinse operation is external to or separate from the wash and rinse operations, the rinse water could be used in the next wash cycle. By using the waste water drained from the dishwashing machine for pre-rinsing the dishes, lower operating costs are realized by reusing heated water from the dishwashing machine instead of fresh, hot water. In addition, improved results are obtained by using chemicals in the waste water for pre-rinse operation. The above specification, examples and data provide a complete description of the manufacture and use of the composition of the invention. Since many embodiments of the invention can be made without departing from the spirit and scope of the invention, the invention resides in the claims hereinafter appended.

11857134

DETAILED DESCRIPTION The following detailed description is merely exemplary in nature and is not intended to limit the disclosure or the application and uses of the subject matter as described herein. Furthermore, there is no intention to be bound by any theory presented in the preceding background or the following detailed description. FIG. la shows an exemplary assembly of a retrofittable sensor unit1which is arranged on the back of the washing drum4of a washing machine44—preferably in the middle above the rotation shaft of the washing drum4—and rotates about the axis of rotation2of the drum4when the washing machine44is in operation. In order to minimise friction losses between the sensor housing8and the laundry load, the sensor unit1is for example conical or hemispherical. According toFIG.1a,a detection area12is conformed as in the housing8of the retrofittable sensor unit1in form of a recess. The detection area12accommodates microcameras16and—in this example—a viscosity sensor18for capturing the condition of a washing solution. With the aid of the microcameras16and the viscosity sensor18, the captured condition of the washing solution may be used to determine a current degree of soiling of the article for cleaning. A dosing command may be transmitted via the communication unit6to a dosing device3arranged for example in a detergent compartment30of the washing machine44on the basis of the determined degree of soiling of the article for cleaning. Batteries or rechargeable batteries10may be provided to supply energy to the retrofittable sensor unit1. Alternatively, the retrofittable sensor unit may also be supplied with electrical energy by an energy conversion unit—not shown here. A suitable energy conversion unit may be for example a vibratory gyroscope or dynamo for generating electrical energy from rotational energy. Besides the viscosity sensor18, a turbidity sensor18′ is also arranged to enable the condition of a washing solution to be captured more accurately, but in the representation ofFIG.1ais concealed by the viscosity sensor18. Of course, other sensors for capturing a condition of a washing solution apart from a viscosity sensor18and a turbidity sensor18′ may also be arranged there. Equally, other supporting sensors which do not capture the condition of a washing solution but measure other variables, and which help to determine a degree of soiling of articles for cleaning more quickly and/or more accurately may be arranged on the retrofittable sensor unit1. The various sensors, in particular the viscosity and turbidity sensors18,18′ and the optical sensors in the form of microcameras16are positioned in the recess in such manner that the washing solution flows around them. Alternatively, the recesses may also be realised as channels which extend from one side to the other of the sensor housing8. The retrofittable sensor unit1is advantageously attached permanently to the back of the washing drum4, in particular by force-fitting or material bonding. The retrofittable sensor unit1may be attached to the rear wall of the washing drum4by screwing a adhesive bonding. Or mounting unit—not shown here—which is attached securely t the drum4of a washing machine44and into which a retrofittable sensor unit1may be inserted may also be provided for fastening the retrofittable sensor unit1. FIG.1bshows a plan view of a retrofittable sensor unit1as represented inFIG.1a.Here, the turbidity sensor18′ obscured by the viscosity sensor18in the representation according to FIG. la is visible as well as the viscosity sensor. FIG.2shows an exemplary assembly of a retrofittable measuring and dosing system with separately arranged dosing device3and a measuring unit embodied as sensor unit1. According toFIG.2, the mobile dosing device3is located in the detergent compartment30of the washing machine44, whereas the retrofittable sensor unit1ofFIG.1ais arranged in the drum4of the washing machine44. The dosing device3and the sensor unit1preferably communicate wirelessly via WLAN or Bluetooth with each other and if necessary also with a user terminal22such as a user's smartphone or tablet. FIG.3shows an exemplary assembly of a retrofittable measuring and dosing system as a single, combined unit1′ for placement in the detergent compartment30of a washing machine44. The dosing device3arranged on the left side has a cleaning agent chamber30′ and a refilling opening32for filling the cleaning agent chamber30′ with cleaning agent. The dosing device3is connected to the water line28via the electric valve26to enable cleaning agent to be supplied through valve26in electronically controlled manner. Control is assured in this case via the monitoring unit20of the sensor unit1, which is connected to the electric valve26via a control cable24. The water for the washing machine44which flows into the water line28from the top during a washing cycle may be analysed by the viscosity and turbidity sensors18,18′ arranged in the water line28, enabling a conclusion to be drawn about the current degree of soiling of the articles for cleaning placed in the washing drum. The retrofittable sensor unit1is further equipped with an autonomous power supply in the form of batteries or rechargeable batteries10and a communication unit6which is configured for wireless communication with any other sensors or a user's user terminal22, such as a smartphone or a tablet via Bluetooth or WLAN. Of course, the configuration of a retrofittable measuring and dosing system may be realised variously in terms of dimensions and shape depending on the type of the cleaning machine44. For example, the dosing device3may also include multiple chambers30′ which have individual refill openings32and are connected to the water line28via individual feed devices and electrical valves26. In this case, the individual valves26are advantageously connected to the monitoring unit20via individual control cables24, thereby enabling separate measured dispensing of different cleaning agents depending on the determined degree of soiling of the article for cleaning, controlled by the retrofittable sensor unit1. FIG.4shows ball bearing mounted variant of a retrofittable sensor unit1, in which the sensor unit1does not rotate with the drum4of a washing machine44. In this variant, the sensor unit1is connected to a mounting34that is attached to the rear side—centrally above the rotation shaft of the washing drum4—so that the sensor unit1is able to compensate for the rotation of the drum4by the ball bearing36and remains in the prescribed position and orientation even while the drum rotates. FIG.5shows a system1″ designed as a unit combining a retrofittable sensor unit1and dosing device3, arranged in one of the baskets38of a dishwasher42. In this variant, it is advantageous if the retrofittable sensor unit1and the dosing device3are connected to each other electrically by direct wiring. The system1″ is preferably equipped with an integrated autarchic power supply and may alternatively also be arranged in the cutlery basket38aof the dishwasher42. FIG.6shows an implementation of the retrofittable sensor unit1in which the sensor unit1is installed in the outflow48of a washing machine44. This includes the integration of an immense variety of sensors at various locations in the outflow48for example for measuring viscosity, turbidity and the hardness of the water as it is pumped out, so that conclusions may be reached about the current degree of soiling of the articles for cleaning. These sensors are connected to the monitoring unit20, which initiates further measured dispensing with commands to the retrofittable dosing unit3, which may be arranged in the detergent compartment30of the washing machine44for example. In this context, the communication unit establishes a wireless connection with the dosing unit via WLAN or Bluetooth for example. The system communicates with a user terminal or home automation system as shown inFIG.2, also preferably wirelessly. FIG.7ais a cross-sectional view through a version of the retrofittable sensor unit1embodied as an adhesively bonded foil. The foil preferably has a diameter of approximately 1 cm and a layer thickness of approximately 1 mm, and may be stuck for example to the inner side of a washing machine44door or an inner side of a dishwasher42door. In this context, the sensor unit1preferably includes printed electrical connections and has a communication unit52for preferably wireless communication between the sensor unit1and the dosing device3as well as with other sensors or user terminals22. Besides the communication unit52, a viscosity and turbidity sensor18,18′ for capturing a condition of a washing solution and an energy supply system comprising rechargeable batteries or batteries10in the form of button cells are also provided. Finally, a monitoring unit20is also provided for controlling the retrofittable sensor unit. FIG.7bshows a plan view of the retrofittable sensor unit1embodied as an adhesive foil as shown inFIG.7a. Of course, the foil does not have to be circular as shown here, it may equally well be rectangular, trapezoidal, oval or any other such shape. FIG.8shows one possible form in which communication paths may be realised between an exemplary retrofittable sensor unit1arranged on a washing machine and a cloud56and user terminals22such as a smartphone22, a tablet22aor a PC22b.Control is provided via the monitoring unit20of the retrofittable sensor unit1, which communicates with user terminals22via the communication unit6. In the design represented inFIG.8, the retrofittable sensor unit1is arranged together with the mobile dosing device3in the detergent compartment30of the washing machine44. Through the monitoring unit20, the retrofittable sensor unit1may establish a link for example via a Bluetooth connection64b,a WLAN connection64cor an Ethernet connection64dto a router58in a private or public network. Through the router58, which may also be integrated in a home automation system60, a connection may be established with a cloud56, either by mobile communications using a wireless router over connection62bfor example with GSM, UMTS, 3G or LTE, or also with a cable link via Ethernet/glass fibre/ADSL or XDSL via connection62ain the case of a DSL or VDSL router. The cloud56includes for example an internet service54and implements an internet site which can be opened from a user terminal22,22a,22bfollowing the corresponding authentication. Authentication of the user terminals22,22a,22bwith the internet service54may also take place over a cable link via Ethernet or wirelessly by WIFI or Bluetooth across paths68a-c.Upon successful authentication, the desired information can be retrieved and controls of the machine44adopted. Alternatively, the cleaning machine44may be connected to the cloud56or a service54running therein directly by mobile communications using GSM, UMTS, 3G or LTE via link64a.As an alternative to the cloud56, the cleaning machine44may also communication with a user terminal and be controlled thereby with mobile communications directly via the link66. The designs of the present disclosure and the optional features and properties associated with each of said designs as explained in the preceding text are intended to be considered disclosed also in all combinations thereof with each other. In particular, the description of a feature included as part of one design—unless the contrary is explicitly indicated—is not to be construed as an indispensable or essential feature for the functioning of said design. The sequence of method steps set forth in the individual workflow diagrams in this specification is not mandatory, alternative sequences of the method steps are conceivable. The method steps may be implemented in various ways, for example an implementation in software (by program instructions), hardware or a combination of the two is conceivable for implementing the method steps. Terms used in the patent claims such as “comprise”, “include”, “contain” and the like do not preclude further elements or steps. The formulation “at least partly” includes the notions of both “partly” and “completely”. The formulation “and/or” is intended to be construed to mean that both the alternative and the combination are to be disclosed, i.e. “A and/or B” means “(A) or (B) or (A and B)”. The use of the indefinite article does not preclude a plurality. A single device may perform the functions of several units and/or devices described in the patent claims. Reference signs appearing in the patent claims are not to be considered as limiting of the means and steps used. While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be appreciated that a vast number of variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are only examples, and are not intended to limit the scope, applicability, or configuration of the various embodiments in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing an exemplary embodiment as contemplated herein. It being understood that various changes may be made in the function and arrangement of elements described in an exemplary embodiment without departing from the scope of the various embodiments as set forth in the appended claims.

11857135

DETAILED DESCRIPTION FIG.1illustrates an automatic dishwasher10capable of implementing an automatic cycle of operation to treat dishes. As used in this description, the term “dish(es)” is intended to be generic to any item, single or plural, that can be treated in the dishwasher10, including, without limitation, dishes, plates, pots, bowls, pans, glassware, and silverware. As illustrated, the dishwasher10is a built-in dishwasher implementation, which is designed for mounting under a countertop. However, this description is applicable to other dishwasher implementations such as a stand-alone, drawer-type or a sink-type, for example. The dishwasher10has a variety of systems, some of which are controllable, to implement the automatic cycle of operation. A chassis is provided to support the variety of systems needed to implement the automatic cycle of operation. As illustrated, for a built-in implementation, the chassis includes a frame in the form of a base12on which is supported an open-faced tub14, which at least partially defines a treating chamber16, having an open face18, for receiving the dishes. A closure in the form of a door assembly20is pivotally mounted to the base12for movement between opened and closed positions to selectively open and close the open face18of the tub14. Thus, the door assembly20provides selective accessibility to the treating chamber16for the loading and unloading of dishes or other items. While illustrated as a single panel, multiple parts can together define the door assembly20. The chassis, as in the case of the built-in dishwasher implementation, can be formed by other parts of the dishwasher10, like the tub14and the door assembly20, in addition to a dedicated frame structure, like the base12, with them all collectively forming a uni-body frame to which the variety of systems are supported. In other implementations, like the drawer-type dishwasher, the chassis can be a tub that is slidable relative to a frame, with the closure being a part of the chassis or the countertop of the surrounding cabinetry. In a sink-type implementation, the sink forms the tub and the cover closing the open top of the sink forms the closure. Sink-type implementations are more commonly found in recreational vehicles. The systems supported by the chassis, while essentially limitless, can include dish holding system30, spray system40, recirculation system50, drain system60, water supply system70, drying system80, heating system90, and filter system100. These systems are used to implement one or more treating cycles of operation for the dishes, for which there are many, and one of which includes a traditional automatic wash cycle. A basic traditional automatic wash cycle of operation has a wash phase, where a detergent/water mixture is recirculated and then drained, which is then followed by a rinse phase where water alone or with a rinse agent is recirculated and then drained. An optional drying phase can follow the rinse phase. More commonly, the automatic wash cycle has multiple wash phases and multiple rinse phases. The multiple wash phases can include a pre-wash phase where water, with or without detergent, is sprayed or recirculated on the dishes, and can include a dwell or soaking phase. There can be more than one pre-wash phases. A wash phase, where water with detergent is recirculated on the dishes, follows the pre-wash phases. There can be more than one wash phase; the number of which can be sensor controlled based on the amount of sensed soils in the wash liquid. One or more rinse phases will follow the wash phase(s), and, in some cases, come between wash phases. The number of wash phases can also be sensor controlled based on the amount of sensed soils in the rinse liquid. The wash phases and rinse phases can include the heating of the water, even to the point of one or more of the phases being hot enough for long enough to sanitize the dishes. A drying phase can follow the rinse phase(s). The drying phase can include a drip dry, heated dry, condensing dry, air dry or any combination. A controller22can also be included in the dishwasher10and operably couples with and controls the various components of the dishwasher10to implement the cycle of operation. The controller22can be located within the door assembly20as illustrated, or it can alternatively be located somewhere within the chassis. The controller22can also be operably coupled with a control panel or user interface24for receiving user-selected inputs and communicating information to the user. The user interface24can include operational controls such as dials, lights, switches, and displays enabling a user to input commands, such as a cycle of operation, to the controller22and receive information. The dish holding system30can include any suitable structure for holding dishes within the treating chamber16. Exemplary dish holders are illustrated in the form of upper dish racks32and lower dish rack34, commonly referred to as “racks”, which are located within or moveably received by the treating chamber16. The upper dish racks32and the lower dish rack34are typically mounted for slidable movement in and out of the treating chamber16through the open face18for ease of loading and unloading. Drawer guides/slides/rails36are typically used to slidably mount the upper dish rack32to the tub14. The lower dish rack34typically has wheels or rollers38that roll along rails39formed in sidewalls of the tub14and onto the door assembly20, when the door assembly20is in the opened position. Dedicated dish holders can also be provided. One such dedicated dish holder is a third level rack28located above the upper dish rack32. Like the upper dish rack32, the third level rack28is slidably mounted to the tub14with drawer guides/slides/rails36and movably received within the treating chamber16. The third level rack28is typically used to hold utensils, such as tableware, spoons, knives, spatulas, etc., in an on-the-side or flat orientation. However, the third level rack28is not limited to holding utensils. If an item can fit in the third level rack, it can be washed in the third level rack28. The third level rack28generally has a much shorter height or lower profile than the upper and lower dish racks32,34. Typically, the height of the third level rack is short enough that a typical glass cannot be stood vertically in the third level rack28and the third level rack28still slide into the treating chamber16. Another dedicated dish holder can be a silverware basket (not shown), which is typically carried by one of the upper or lower dish racks32,34or mounted to the door assembly20. The silverware basket typically holds utensils and the like in an upright orientation as compared to the on-the-side or flat orientation of the third level rack28. A dispenser assembly48is provided to dispense treating chemistry, e.g. detergent, anti-spotting agent, etc., into the treating chamber16. The dispenser assembly48can be mounted on an inner surface of the door assembly20, as shown, or can be located at other positions within the chassis. The dispenser assembly48can dispense one or more types of treating chemistries. The dispenser assembly48can be a single-use dispenser or a bulk dispenser, or a combination of both. Turning toFIG.2, the spray system40is provided for spraying liquid in the treating chamber16and can have multiple spray assemblies or sprayers, some of which can be dedicated to a particular one of the dish holders, to particular area of a dish holder, to a particular type of cleaning, or to a particular level of cleaning, etc. The sprayers can be fixed or movable, such as rotating, relative to the treating chamber16or dish holder. Six exemplary sprayers are illustrated and include, an upper spray arm41, a lower spray arm42, a third level sprayer43, a deep-clean sprayer44, and a spot sprayer45. The upper spray arm41and lower spray arm42are illustrated as rotating spray arms, located below the upper dish rack32and the lower dish rack34, respectively, and rotate about a generally centrally located and vertical axis. However, it is contemplated that the upper spray arm41or the lower spray arm42can be fixed. The third level sprayer43is located above the third level rack28. The third level sprayer43is illustrated as being fixed, but could move, such as in rotating. In addition to the third level sprayer43or in place of the third level sprayer43, a sprayer49, illustrated as a stationary sprayer, can be located at least in part below a portion of the third level rack28. The sprayer49is illustrated as a having a fixed or stationary sprayer housing or tube, carried by the third level rack28, but the sprayer housing or tube could move, such as, but not limited to, rotating about a longitudinal axis. The deep-clean sprayer44is a manifold extending along a rear wall of the tub14and has multiple nozzles46, with multiple apertures47, generating an intensified and/or higher pressure spray than the upper spray arm41, the lower spray arm42, or the third level sprayer43. The nozzles46can be fixed or move, such as in rotating. The spray emitted by the deep-clean sprayer44defines a deep clean zone, which, as illustrated, would like along a rear side of the lower dish rack34. Thus, dishes needing deep cleaning, such as dishes with baked-on food, can be located in the lower dish rack34to face the deep-clean sprayer44. The deep-clean sprayer44, while illustrated as only one unit on a rear wall of the tub14could comprises multiple units and/or extend along multiple portions, including different walls, of the tub14, and can be provide above, below or beside any of the dish holders with deep-cleaning is desired. The spot sprayer45, like the deep-clean sprayer, can emit an intensified and/or higher pressure spray, especially to a discrete location within one of the dish holders. While the spot sprayer45is shown below the lower dish rack34, it could be adjacent any part of any dish holder or along any wall of the tub where special cleaning is desired. In the illustrated location below the lower dish rack34, the spot sprayer can be used independently of or in combination with the lower spray arm42. The spot sprayer45can be fixed or can move, such as in rotating. These six sprayers are illustrative examples of suitable sprayers and are not meant to be limiting as to the type of suitable sprayers. The recirculation system50recirculates the liquid sprayed into the treating chamber16by the sprayers of the spray system40back to the sprayers to form a recirculation loop or circuit by which liquid can be repeatedly and/or continuously sprayed onto dishes in the dish holders. The recirculation system50can include a sump51and a pump assembly52. The sump51collects the liquid sprayed in the treating chamber16and can be formed by a sloped or recess portion of a bottom wall of the tub14. The pump assembly52can include one or more pumps such as recirculation pump53. The sump51can also be a separate module that is affixed to the bottom wall and include the pump assembly52. Multiple supply conduits54,55,56,57,58fluidly couple the sprayers43,44,45,49to the recirculation pump53. A recirculation valve59can selectively fluidly couple each of the conduits54-58to the recirculation pump53. While each sprayer43,44,45,49is illustrated as having a corresponding dedicated supply conduit54-58one or more subsets, comprising multiple sprayers from the total group of sprayers43,44,45,49, can be supplied by the same conduit, negating the need for a dedicated conduit for each sprayer. For example, a single conduit can supply the upper spray arm41and the third level sprayer43. Another example is that the sprayer49is supplied liquid by the conduit56, which also supplies the third level sprayer43. The recirculation valve59, while illustrated as a single valve, can be implemented with multiple valves. Additionally, one or more of the conduits can be directly coupled to the recirculation pump53, while one or more of the other conduits can be selectively coupled to the recirculation pump with one or more valves. There are essentially an unlimited number of plumbing schemes to connect the recirculation system50to the spray system40. The illustrated plumbing is not limiting. A drain system60drains liquid from the treating chamber16. The drain system60includes a drain pump62fluidly coupled the treating chamber16to a drain line64. As illustrated the drain pump62fluidly couples the sump51to the drain line64. While separate recirculation and drain pumps53and62are illustrated, a single pump can be used to perform both the recirculating and the draining functions. Alternatively, the drain pump62can be used to recirculate liquid in combination with the recirculation pump53. When both a recirculation pump53and drain pump62are used, the drain pump62is typically more robust than the recirculation pump53as the drain pump62tends to have to remove solids and soils from the sump51, unlike the recirculation pump53, which tends to recirculate liquid which has solids and soils filtered away to some extent. A water supply system70is provided for supplying fresh water to the dishwasher10from a household water supply via a household water valve71. The water supply system70includes a water supply unit72having a water supply conduit73with a siphon break74. While the water supply conduit73can be directly fluidly coupled to the tub14or any other portion of the dishwasher10, the water supply conduit is shown fluidly coupled to a supply tank75, which can store the supplied water prior to use. The supply tank75is fluidly coupled to the sump51by a supply line76, which can include a controllable valve77to control when water is released from the supply tank75to the sump51. The supply tank75can be conveniently sized to store a predetermined volume of water, such as a volume required for a phase of the cycle of operation, which is commonly referred to as a “charge” of water. The storing of the water in the supply tank75prior to use is beneficial in that the water in the supply tank75can be “treated” in some manner, such as softening or heating prior to use. A water softener78is provided with the water supply system70to soften the fresh water. The water softener78is shown fluidly coupling the water supply conduit73to the supply tank75so that the supplied water automatically passes through the water softener78on the way to the supply tank75. However, the water softener78could directly supply the water to any other part of the dishwasher10than the supply tank75, including directly supplying the tub14. Alternatively, the water softener78can be fluidly coupled downstream of the supply tank75, such as in-line with the supply line76. Wherever the water softener78is fluidly coupled, it can be done so with controllable valves, such that the use of the water softener78is controllable and not mandatory. A drying system80is provided to aid in the drying of the dishes during the drying phase. The drying system as illustrated includes a condensing assembly81having a condenser82formed of a serpentine conduit83with an inlet fluidly coupled to an upper portion of the tub14and an outlet fluidly coupled to a lower portion of the tub14, whereby moisture laden air within the tub14is drawn from the upper portion of the tub14, passed through the serpentine conduit83, where liquid condenses out of the moisture laden air and is returned to the treating chamber16where it ultimately evaporates or is drained via the drain pump62. The serpentine conduit83can be operated in an open loop configuration, where the air is exhausted to atmosphere, a closed loop configuration, where the air is returned to the treating chamber, or a combination of both by operating in one configuration and then the other configuration. To enhance the rate of condensation, the temperature difference between the exterior of the serpentine conduit83and the moisture laden air can be increased by cooling the exterior of the serpentine conduit83or the surrounding air. To accomplish this, an optional cooling tank84is added to the condensing assembly81, with the serpentine conduit83being located within the cooling tank84. The cooling tank84is fluidly coupled to at least one of the spray system40, recirculation system50, drain system60or water supply system70such that liquid can be supplied to the cooling tank84. The liquid provided to the cooling tank84from any of the systems40-70can be selected by source and/or by phase of cycle of operation such that the liquid is at a lower temperature than the moisture laden air or even lower than the ambient air. As illustrated, the liquid is supplied to the cooling tank84by the drain system60. A valve85fluidly connects the drain line64to a supply conduit86fluidly coupled to the cooling tank84. A return conduit87fluidly connects the cooling tank84back to the treating chamber16via a return valve79. In this way a fluid circuit is formed by the drain pump62, drain line64, valve85, supply conduit86, cooling tank84, return valve79and return conduit87through which liquid can be supplied from the treating chamber16, to the cooling tank84, and back to the treating chamber16. Alternatively, the supply conduit86could fluidly couple to the drain line64if re-use of the water is not desired. To supply cold water from the household water supply via the household water valve71to the cooling tank84, the water supply system70would first supply cold water to the treating chamber16, then the drain system60would supply the cold water in the treating chamber16to the cooling tank84. It should be noted that the supply tank75and cooling tank84could be configured such that one tank performs both functions. The drying system80can use ambient air, instead of cold water, to cool the exterior of the serpentine conduit83. In such a configuration, a blower88is connected to the cooling tank84and can supply ambient air to the interior of the cooling tank84. The cooling tank84can have a vented top89to permit the passing through of the ambient air to allow for a steady flow of ambient air blowing over the serpentine conduit83. The cooling air from the blower88can be used in lieu of the cold water or in combination with the cold water. The cooling air will be used when the cooling tank84is not filled with liquid. Advantageously, the use of cooling air or cooling water, or combination of both, can be selected on the site-specific environmental conditions. If ambient air is cooler than the cold water temperature, then the ambient air can be used. If the cold water is cooler than the ambient air, then the cold water can be used. Cost-effectiveness can also be considered or accounted for when selecting between cooling air and cooling water. The blower88can be used to dry the interior of the cooling tank84after the water has been drained. Suitable temperature sensors for the cold water and the ambient air can be provided and send their temperature signals to the controller22, which can determine which of the two is colder at any time or phase of the cycle of operation. A heating system90is provided for heating water used in the cycle of operation. The heating system90includes a heater92, such as an immersion heater, located in the treating chamber16at a location where it will be immersed by the water supplied to the treating chamber16. The heater92need not be an immersion heater, it can also be an in-line heater located in any of the conduits. There can also be more than one heater92, including both an immersion heater and an in-line heater. The heating system90can also include a heating circuit93, which includes a heat exchanger94, illustrated as a serpentine conduit95, located within the supply tank75, with a supply conduit96supplying liquid from the treating chamber16to the serpentine conduit95, and a return conduit97fluidly coupled to the treating chamber16. The heating circuit93is fluidly coupled to the recirculation pump53either directly or via the recirculation valve59such that liquid that is heated as part of a cycle of operation can be recirculated through the heat exchanger94to transfer the heat to the charge of fresh water residing in the supply tank75. As most wash phases use liquid that is heated by the heater92, this heated liquid can then be recirculated through the heating circuit93to transfer the heat to the charge of water in the supply tank75, which is typically used in the next phase of the cycle of operation. A filter system100is provided to filter un-dissolved solids from the liquid in the treating chamber16. The filter system100includes a coarse filter102and a fine filter104, which can be a removable basket106residing the sump51, with the coarse filter102being a screen108circumscribing the removable basket106. Additionally, the recirculation system50can include a rotating filter in addition to or in place of the either or both of the coarse filter102and fine filter104. Other filter arrangements are contemplated such as an ultrafiltration system. As illustrated schematically inFIG.3, the controller22can be coupled with the heater92for heating the wash liquid during a cycle of operation, the drain pump62for draining liquid from the treating chamber16, and the recirculation pump53for recirculating the wash liquid during the cycle of operation. The controller22can be provided with a memory110and a central processing unit (CPU)112. The memory110can be used for storing control software that can be executed by the CPU112in completing a cycle of operation using the dishwasher10and any additional software. For example, the memory110can store one or more pre-programmed automatic cycles of operation that can be selected by a user and executed by the dishwasher10. The controller22can also receive input from one or more sensors114. Non-limiting examples of sensors that can be communicably coupled with the controller22include, to name a few, ambient air temperature sensor, treating chamber temperature sensor, water supply temperature sensor, door open/close sensor, and turbidity sensor to determine the soil load associated with a selected grouping of dishes, such as the dishes associated with a particular area of the treating chamber. The controller22can also communicate with the recirculation valve59, the household water valve71, the controllable valve77, the return valve79, and the valve85. Optionally, the controller22can include or communicate with a wireless communication device116. FIG.4is a perspective view of a dish rack130, by way of non-limiting example the third level rack28or the upper dish rack32. The dish rack130can be defined by a frame132including an upper rim134. The frame132can be defined by wires136spaced apart a distance (X). The frame132can have a length (L) and a width (W). The frame132can be mounted to a set of wheels138for moving the dish rack130into and out of the treating chamber16(FIG.1). The frame132can be separated into multiple sections, a first section140, a second section142, and a third section144with distinct wires136defining each section. In other words, three separate sets of wires, a first set of wires136a, a second set of wires136b, and a third set of wires136cdefine each section140,142,144respectively. The dish rack130as described herein can be formed by wire-frame construction, injection molding, or any suitable manufacturing known in the art. In one aspect of the disclosure the second section142is a movable section movable between a deployed position146and a stowed position148(dashed line, andFIG.6). A stowed position holder150can be located proximate the rim134of the frame132. The stowed position holder150can extend along the length (L) of the frame132. A pivot connection152moveably couples the second section142to the frame132. More specifically, the pivot connection152connects the second section142to the third section144which is an adjacent stationary section. The pivot connection152can define a meeting edge154of the second and third sections142,144. The pivot connection152can extend the length (L) of the frame132. In one aspect the pivot connection152can connect sequential wires136in the second set of wires136b. The second section142can be spaced from and facing the first section140at hooked distal ends156to define a border between the first and second sections140,142. A spray tube160can extend the length (L) of the frame132and be disposed beneath the frame132proximate the border162. A first set of nozzles164can be provided in the spray tube160and face the first section140. A second set of nozzles166can be provided in the spray tube160and face the second section142. It should be understood that while illustrated as having three wash zones, any number of wash zones is contemplated, including one. Further, while illustrated as being a middle section, the second section can be located anywhere in the dish rack. FIG.5is a front view of the dish rack130fromFIG.4with a second rack170disposed beneath the dish rack130. The second rack170can by way of non-liming example the upper dish rack32or the lower dish rack34depending on whether the dish rack130is the third level rack28or the upper dish rack32respectively. The first section140along with the first set of nozzles164can define a first wash zone172. The first section140can hold dishes, sized similarly to a bowl174as illustrated. The third section144can define a third wash zone182for items stowed in a cutlery tray178. The second section142in the deployed position146along with the second set of nozzles166can define a second wash zone180. It can more clearly be seen that when in the deployed position146, the second section142is deeper at a lowest point158with respect to the first and third sections140,144. An additional depth (d) provides room for dishes, sized similarly to a mug176as illustrated. When the second section is in the deployed position146, typical dishes184of less than a first height (H1) can be placed in the second rack170. The first height (H1) measured between a seat168of the second rack and the lowest point158of the second section142. FIG.6is a perspective view of the dish rack130with the second section142in the stowed position148. The pivot connection152can define a pivot point186such that the entire second section142can be rotated about the pivot point186toward the rim134. When in the stowed position148, the hooked distal ends156can engage the stowed position holder150. While illustrated as hooked distal ends156, any suitable engagement of the second section142in the stowed position148is contemplated. Turning toFIG.7, it can more clearly be seen that in the stowed position148the second and third sets of wires136b,136ccombine to define a fourth wash zone190. The fourth wash zone190is a combination of the second and third wash zones180,182. The fourth wash zone190can be large enough to receive two cutlery trays178as illustrated. The front view of the dish rack130with the second rack170disposed beneath clearly illustrates that when the second section142is in the stowed position148, tall dishes192that are greater than the first height (H1) and less than a second height (H2) can be placed in the second rack170. FIG.8is an enlarged view of portion of a dish rack230according to another aspect of the disclosure herein. The dish rack230is similar to the dish rack130therefore, like parts will be identified with like numbers increased by 100, with it being understood that the description of the like parts of the dish rack130dish rack230unless otherwise noted. The dish rack230can include a second section242defined by a second set of wires236b. When in a deployed position246, the second set of wires236bcan define at least a portion of a second wash zone280. A wash system300can be provided below a frame232of the dish rack230. The wash system300can further define the second wash zone280. The wash system300can include a spray tube302, having at least one sprayer304, a set of plugs306, and a port308. The set of plugs306can include a first plug306aand a second plug306b. The port308can be fluidly coupled to a water supply, by way of non-limiting example the water supply system70previously mentioned. The spray tube302can be rotatably mounted to a back of the dishwasher10. It is further contemplated that the spray tube302is rotatably mounted to a first section240of the dish rack230defined by a first set of wires236a. Regardless of the mounting position, the spray tube302can be configured to rotate in a counter clock-wise direction (CCW) from a first position310. The spray tube302can be engaged with the first plug306aand the port308when in a first position310. The first position310can be an “on position” such that the water tube302is open to the water supply and spray water (W) enters the water tube302and exits toward the second wash zone280. In one non-limiting example the second wash zone280can include a cup312, and the spray water (W) can directly enter the cup312such that the spray water (W) contacts a bottom314of the cup312enabling effective and direct cleaning of the cup312. Turning toFIG.9, when in a stowed position248, the second set of wires236bcan define at least a portion of a fourth wash zone290. Further, to make more room for dishes in a rack below the dish rack230, the spray tube302can also be rotated to a second position316from the first position310(FIG.8). In the second position316the spray tube can be engaged with the second plug306band the port308. It is contemplated that in the second position316the spray tube302is in an “off position” such that the water supply has been cut off and no spray water is entering the spray tube302. Each of the first and second plugs306a,306bcan be oriented about a rotational axis320at an angle (θ) clockwise and counter clockwise from the port308respectively. In one non-limiting example the angle is 60 degrees. It is further contemplated that the second position316can be another “on position” such that the water tube302is open to the water supply and spray water (W) enters the water tube302and exits toward a first wash zone272. In one non-limiting example the first wash zone272can include a bowl274, and the spray water (W) can directly enter the bowl274such that the spray water (W) contacts a bottom318of the bowl274enabling effective and direct cleaning of the bowl274. While “a set of” or “a plurality of” various elements will be described, it will be understood that “a set” or “a plurality” can include any number of the respective elements, including only one element. It should be understood that the term dishes herein can be cutlery, glasses, bowls, plates, appliance parts, cooking utensils, or the like. To the extent not already described, the different features and structures of the various aspects can be used in combination with each other as desired. That one feature cannot be illustrated in all of the aspects is not meant to be construed that it cannot be, but is done for brevity of description. Thus, the various features of the different aspects can be mixed and matched as desired to form new aspects, whether or not the new aspects are expressly described. Combinations or permutations of features described herein are covered by this disclosure. This written description uses examples to disclose aspects of the disclosure, including the best mode, and also to enable any person skilled in the art to practice aspects of the disclosure, including making and using any devices or systems and performing any incorporated methods. While aspects of the disclosure have been specifically described in connection with certain specific details thereof, it is to be understood that this is by way of illustration and not of limitation. Reasonable variation and modification are possible within the scope of the forgoing disclosure and drawings without departing from the spirit of the disclosure, which is defined in the appended claims.

11857136

While the system and method of use of the present application is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and are herein described in detail. It should be understood, however, that the description herein of specific embodiments is not intended to limit the invention to the particular embodiment disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present application as defined by the appended claims. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Illustrative embodiments of the system and method of use of the present application are provided below. It will of course be appreciated that in the development of any actual embodiment, numerous implementation-specific decisions will be made to achieve the developer's specific goals, such as compliance with system-related and business-related constraints, which will vary from one implementation to another. Moreover, it will be appreciated that such a development effort might be complex and time-consuming, but would nevertheless be a routine undertaking for those of ordinary skill in the art having the benefit of this disclosure. The system and method of use will be understood, both as to its structure and operation, from the accompanying drawings, taken in conjunction with the accompanying description. Several embodiments of the system are presented herein. It should be understood that various components, parts, and features of the different embodiments may be combined together and/or interchanged with one another, all of which are within the scope of the present application, even though not all variations and particular embodiments are shown in the drawings. It should also be understood that the mixing and matching of features, elements, and/or functions between various embodiments is expressly contemplated herein so that one of ordinary skill in the art would appreciate from this disclosure that the features, elements, and/or functions of one embodiment may be incorporated into another embodiment as appropriate, unless described otherwise. The preferred embodiment herein described is not intended to be exhaustive or to limit the invention to the precise form disclosed. It is chosen and described to explain the principles of the invention and its application and practical use to enable others skilled in the art to follow its teachings. As discussed above, embodiments of the present invention relate to a floor mat having a unique, disposable doormat structured and arranged to clean one's shoe soles at the door while disinfecting them as well thereby keeping interior floors and carpets clean and hygienic. The floormat of the present invention would kill bacteria, viruses, and other microbes at the door, and prevent their being tracked, as well as dirt and debris, into the interior of home, office, store, school, or health-care facility, thereby maintaining a healthier interior environment. Referring now to the drawingsFIG.1, the floormat system101includes a top layer103with a top surface102, the top layer to removably secures to a bottom layer105, the bottom layer optionally having a raised edge107configured to support the top layer103as the top layer103is placed on the bottom layer. The raised edge107is secured to the bottom layer105, the bottom layer forming a curved perimeter section and a straight perimeter section as shown inFIG.1. Also,FIG.1shows that the raised edge107extends solely around the curved perimeter section. As shown inFIG.2, the top layer103can include an adhesive201and the bottom layer105can include a non-skid surface203. In one embodiment, the bottom layer is injection molded. InFIG.3, a flowchart301depicts the method of use of system101. During use, the user places the bottom layer in a desired location and changes the top layer as needed for keeping their home clean, as shown with boxes303,305,307,309. The floormat comprising a novel product offering consumers a practical solution to the aforementioned challenges. The floormat comprises a specially designed rubber, non-slip bottom, and a synthetic-fiber upper surface that is antibacterial/antimicrobial and absorbent. Further, it should be appreciated that the materials that make up the top layer are non-toxic for humans and animals. The floormat would be offered in a variety of sizes for residential, commercial, and institutional users. The mat would feature a green, oval border to signify its disinfecting character, and the synthetic fibers of the wiping surface tough, durable bristles—would be impregnated with a long-lasting disinfectant solution. Once stepping onto the mat, the solution contained in the mat will resist and kill germs, bacteria, and other microbes. The top layer when due is simply disposed of, and replaced with a fresh one. The floormat system would be fully self-contained, and require no maintenance beyond its replacement when due. No moving parts, nothing to fill or refill: Simply place the floormat outside the door and it will do its work. Like any high-quality doormat, the floormat would effectively remove dirt, mud, and other matter from the soles of one's shoes; but unlike any other doormat, the top layer would also kill and eliminate from one's shoe soles—viruses, bacteria, and other potentially harmful microbes that would otherwise (with other mats) be tracked into the house and across floors, carpets, and rugs. Clever in conception, thoughtful in design, the top layer disinfecting doormat should clearly find a wide and enthusiastic market among America's consumer households, as well as among commercial establishments such as hotels and restaurants, a multitude of business establishments, and among institutional establishments such as health-care facilities and schools. The floormat is cost-effective to produce in the embodiments, as shown inFIG.1. Some contemplated materials for use in the top layer include: an antigerm silicone rubber; contains a silicon resin material;salmonella, E. colibacteria, virus and germ resistant silicone material; a methicillin resistant andstaphylococcus aureraresistant silicone material; material with antimicrobial tea tree oil. The particular embodiments disclosed above are illustrative only, as the embodiments may be modified and practiced in different but equivalent manners apparent to those skilled in the art having the benefit of the teachings herein. It is therefore evident that the particular embodiments disclosed above may be altered or modified, and all such variations are considered within the scope and spirit of the application. Accordingly, the protection sought herein is as set forth in the description. Although the present embodiments are shown above, they are not limited to just these embodiments, but are amenable to various changes and modifications without departing from the spirit thereof.

11857137

The drawings included herewith are for illustrating various examples of articles, methods, and apparatuses of the teaching of the present specification and are not intended to limit the scope of what is taught in any way. DESCRIPTION OF EXAMPLE EMBODIMENTS Various apparatuses, methods and compositions are described below to provide an example of an embodiment of each claimed invention. No embodiment described below limits any claimed invention and any claimed invention may cover apparatuses and methods that differ from those described below. The claimed inventions are not limited to apparatuses, methods and compositions having all of the features of any one apparatus, method or composition described below or to features common to multiple or all of the apparatuses, methods or compositions described below. It is possible that an apparatus, method or composition described below is not an embodiment of any claimed invention. Any invention disclosed in an apparatus, method or composition described below that is not claimed in this document may be the subject matter of another protective instrument, for example, a continuing patent application, and the applicant(s), inventor(s) and/or owner(s) do not intend to abandon, disclaim, or dedicate to the public any such invention by its disclosure in this document. The terms “an embodiment,” “embodiment,” “embodiments,” “the embodiment,” “the embodiments,” “one or more embodiments,” “some embodiments,” and “one embodiment” mean “one or more (but not all) embodiments of the present invention(s),” unless expressly specified otherwise. The terms “including,” “comprising” and variations thereof mean “including but not limited to,” unless expressly specified otherwise. A listing of items does not imply that any or all of the items are mutually exclusive, unless expressly specified otherwise. The terms “a,” “an” and “the” mean “one or more,” unless expressly specified otherwise. As used herein and in the claims, two or more parts are said to be “coupled”, “connected”, “attached”, or “fastened” where the parts are joined or operate together either directly or indirectly (i.e., through one or more intermediate parts), so long as a link occurs. As used herein and in the claims, two or more parts are said to be “directly coupled”, “directly connected”, “directly attached”, or “directly fastened” where the parts are connected in physical contact with each other. None of the terms “coupled”, “connected”, “attached”, and “fastened” distinguish the manner in which two or more parts are joined together. Furthermore, it will be appreciated that for simplicity and clarity of illustration, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the example embodiments described herein. However, it will be understood by those of ordinary skill in the art that the example embodiments described herein may be practiced without these specific details. In other instances, well-known methods, procedures, and components have not been described in detail so as not to obscure the example embodiments described herein. Also, the description is not to be considered as limiting the scope of the example embodiments described herein. As used herein, the wording “and/or” is intended to represent an inclusive-or. That is, “X and/or Y” is intended to mean X or Y or both, for example. As a further example, “X, Y, and/or Z” is intended to mean X or Y or Z or any combination thereof. As used herein and in the claims, two elements are said to be “parallel” where those elements are parallel and spaced apart, or where those elements are collinear. General Description of a Surface Cleaning Apparatus Referring toFIGS.1-40, an exemplary embodiment of a surface cleaning apparatus is shown generally as100. The following is a general discussion of apparatus100, which provides a basis for understanding several of the features that are discussed herein. As discussed subsequently, each of the features may be used individually or in any particular combination or sub-combination in this or in other embodiments disclosed herein. Surface cleaning apparatus100may be any type of surface cleaning apparatus, including for example a hand vacuum cleaner, a stick vacuum cleaner, an upright vacuum cleaner, a canister vacuum cleaner (as shown), an extractor, or a wet/dry type vacuum cleaner. For example, any of the features of an air treatment assembly disclosed herein may be used in any such type of surface cleaning apparatus, any feature of a body on which the air treatment assembly is removably mounted may be used in any such type of surface cleaning apparatus, and any feature of the wiring or controls disclosed herein may be used in any such type of surface cleaning apparatus. FIG.1exemplifies a canister surface cleaning apparatus100having a rollable, canister body102having a front end103and a rear end105. As exemplified, the canister body has a lower side104having floor travelling members108and an upper side106having a recess110, the upper side106being spaced from the lower side104in a vertical direction when the canister body102is placed on a floor. The recess110has sidewalls112extending upwardly from a platform114. The surface cleaning apparatus100includes an air treatment assembly200removably mountable to the canister body102. The air treatment assembly200seats on the recess110when the air treatment assembly200is mounted to the canister body102. The air treatment assembly200has an air treatment member202. The canister body102has a dirty air inlet120, a clean air outlet122, and an air flow path extending between the dirty air inlet120and the clean air outlet122. It will be appreciated that dirty air inlet120and clean air outlet122may be positioned in different locations of apparatus100. A suction motor124is provided to generate vacuum suction through the air flow path, and is positioned within a motor housing126. The suction motor124may be a fan-motor assembly including an electric motor and impeller blade(s). In the illustrated embodiments, the suction motor124is positioned in the air flow path downstream of the air treatment assembly200. In this configuration, the suction motor124may be referred to as a “clean air motor”. Alternatively, the suction motor124may be positioned upstream of air treatment assembly200, and referred to as a “dirty air motor” and may be at any position in the canister body102. The air treatment assembly200is configured to remove particles of dirt and other debris from the air flow and may be of any design known in the art. As exemplified, the air treatment assembly200is a cyclone assembly (also referred to as a “cyclone bin assembly”) having a single cyclonic cleaning stage with a single cyclone202and a dirt collection chamber206(also referred to as a “dirt collection region”, “dirt collection bin”, “dirt bin”, or “dirt chamber”). The cyclone202has a cyclone chamber204. The dirt collection chamber206may be external to the cyclone chamber204(i.e., dirt collection chamber206may have a discrete volume from that of cyclone chamber204). The cyclone202and the dirt collection chamber206may be of any configuration suitable for separating dirt from an air stream and collecting the separated dirt respectively, and may be in communication with one or more dirt outlet(s)212of the cyclone chamber204. As exemplified, the cyclone202is nested in the dirt collection chamber206. In alternate embodiments, air treatment assembly200may include a cyclone assembly having two or more cyclonic cleaning stages arranged in series with each other. Each cyclonic cleaning stage may include one or more cyclones arranged in parallel with each other and one or more dirt collection chambers, of any suitable configuration. The dirt collection chamber(s)206may be external to the cyclone chambers204of the cyclones202. Each cyclone202may have its own dirt collection chamber206or two or more cyclones202fluidically connected in parallel may have a single common dirt collection chamber206. However, in some embodiments, it will be appreciated that the air treatment assembly200may comprise a cyclone wherein a dirt collection region is provided internal of the cyclone chamber or the air treatment assembly200may use a non-cyclonic momentum separator, one or more filter media which may be downstream of a non-cyclonic momentum separator, a bag or any combination thereof. Referring toFIG.9, the surface cleaning apparatus100may include a pre-motor filter140provided in the air flow path downstream of the air treatment assembly200and upstream of the suction motor124. The pre-motor filter140may be made of any material and be of any design known in the art. For example, the pre-motor filter140may be formed from any suitable physical, porous filter media and may have one or more layers of such filter material. For example, pre-motor filter140may be one or more of a foam filter, felt filter, HEPA filter, or other physical filter media. In some embodiments, the pre-motor filter140may include an electrostatic filter, or the like. As exemplified, the pre-motor filter140may be located in a pre-motor filter housing142that is external to the air treatment assembly200. As exemplified inFIG.41, the dirty air inlet120may be connected (e.g., directly connected) to the downstream end of any suitable accessory tool such as a flexible hose350. Alternately, it may be directly connected to a rigid air flow conduit (e.g., an above floor cleaning wand), a crevice tool, a mini brush, and the like. As shown, dirty air inlet120may be positioned forward of the air treatment assembly200although this need not be the case. As exemplified inFIGS.23-24, the air treatment assembly comprises a cyclone202, an air treatment assembly air inlet208, the air inlet being a tangential cyclone air inlet, and an air treatment member air outlet210, the air outlet being a cyclone air outlet. Accordingly, in operation, after activating the suction motor124, dirty air enters apparatus100through dirty air inlet120and is directed along an air inlet conduit130to the cyclone air inlet208. As shown, cyclone air inlet208may direct the dirty air flow to enter cyclone chamber204in a tangential direction so as to promote cyclonic action. Dirt particles and other debris may be disentrained (i.e., separated) from the dirty air flow as the dirty air flow travels from cyclone air inlet208to cyclone air outlet210. The disentrained dirt particles and debris may be discharged from cyclone chamber204through a dirt outlet212into the dirt collection chamber206external to the cyclone chamber204, in which the dirt particles and debris may be collected and stored until the dirt collection chamber206is emptied. Air exiting the cyclone chamber204may pass through an outlet passage214located upstream of cyclone air outlet210. Cyclone chamber outlet passage214may also act as a vortex finder to promote cyclonic flow within cyclone chamber204. In some embodiments, the cyclone outlet passage214may include an air permeable portion (which may be referred to as a screen or shroud, e.g., a fine mesh screen) in the air flow path to remove large dirt particles and debris, such as hair, remaining in the exiting air flow. The cyclone air outlet210may comprise a conduit portion218which is solid (air impermeable) and the axially inward screen or shroud216. From the outlet passage214, the air flow may be directed into the pre-motor filter housing142at an upstream side144of the pre-motor filter140. The air flow may pass through the pre-motor filter140, and then exit through a downstream side of the pre-motor filter140and pass through a pre-motor filter air outlet into, e.g., the motor housing126. At the motor housing126, the clean air flow may be drawn into the suction motor124and then discharged from apparatus100through the clean air outlet122. Prior to exiting the clean air outlet122, the treated air may pass through a post-motor filter192, which may be one or more layers of filter media. Power may be supplied to suction motor124and other electrical components of apparatus from an onboard energy storage member, which may include, for example, one or more batteries or other energy storage device. The energy storage device may be permanently connected to apparatus100and rechargeable in-situ, or removable from apparatus. Alternatively, or in addition to an energy storage member, power may be supplied to apparatus100by an electrical cord (not shown) connected to apparatus100that can be electrically connected to mains power by at a standard wall electrical outlet. Air Treatment Assembly Having an Openable Side In accordance with this aspect, which may be used by itself or in combination with one or more other aspects, the surface cleaning apparatus100has an air treatment assembly200having a first (upper) end220and second opposed (lower) end222and sides extending between the first and second ends and part or all of one more of the sides is an openable side224. An advantage of this aspect is that the openable side224of the air treatment assembly200may be used to facilitate emptying of the air treatment assembly200. For example, the openable side224may form a part of the dirt collection chamber206and opening the openable side224may allow a user to empty the dirt collected in the dirt collection chamber206. Additionally, opening the side224to facilitate emptying of the dirt collection chamber206does not require the removal of components of the air treatment assembly200to empty the dirt collection chamber206, thereby simplifying the emptying process. A further advantage is that only one seal may be required. For example, if the air treatment assembly comprises a cyclone chamber nested in a dirt collection chamber and the lower wall, which is a lower wall of the cyclone and dirt chambers, was openable, then the lower wall would have to seal the bottom of the cyclone chamber and the bottom of the dirt collection chamber. However, if the side wall were openable, then only the dirt collection chamber would have to be sealed. In accordance with this aspect, the air treatment assembly has an air treatment member202(e.g., cyclone) and a dirt collection chamber206exterior to the air treatment member202. Accordingly, the air treatment member202may be referred to as a cyclone202and the air treatment assembly200may be referred to as a cyclone assembly200. The air treatment member202has an air treatment member axis203. The air treatment member axis203may also be referred to as the cyclone axis of rotation when the air treatment member is a cyclone. The air treatment assembly200has a first end220, an opposed second end222, and sides extending between the first and second ends wherein the air treatment member axis203intersects the first end220and the opposed second end222. When the air treatment member assembly200is mounted on the canister body102and the canister body102is positioned with the lower end104on the floor, the air treatment member axis203may extend generally vertically. For example, as shown inFIG.22, the air treatment member axis203extends axially through the first end220and the second end222of the air treatment assembly. The air treatment assembly and the air treatment member have an air inlet and an air outlet. The air inlet and the air outlet of the air treatment assembly may be the air inlet and the air outlet of the air treatment member, e.g., if the air treatment assembly has a single air treatment member. The air treatment assembly and the air treatment member air inlet(s) and air outlet(s) may be located at any location of the air treatment assembly and the air treatment member. For example, they may each be at the lower end of the air treatment member as exemplified. In alternate embodiments, they may be provided at any location known in the air. As exemplified, the air treatment assembly200has an air inlet208in fluid communication with the cyclone chamber204, an air outlet210in fluid communication with the suction motor124and a dirt outlet212providing a passage from the cyclone chamber204to the dirt collection chamber206. As exemplified, the air inlet208has an inlet port209located axially from the first end220of the air treatment assembly200and exterior to the air treatment assembly200. As exemplified inFIG.23, the air inlet208and the air outlet210of the air treatment assembly200are each located at the first (lower) end220of the air treatment assembly200. It will be appreciated that the air inlet208and air outlet210of the air treatment assembly200may be positioned anywhere in the air treatment assembly200. In some embodiments, as exemplified inFIG.23, the air outlet210may be positioned such that a projection of the air outlet intersects the first end220. Similarly, the dirt outlet212may be of any configuration and provided at any location as is known in the art. Referring toFIG.21, as exemplified, one of the sides224of the air treatment assembly is openable. The openable side224of the air treatment assembly200may also be referred to as a door224. It will be appreciated that the openable side224of the air treatment assembly200may be any side. For example, as exemplified inFIGS.18-23, the sides of the air treatment assembly200include a front side226, a rear side228, a first side230, and a second side232. When the surface cleaning apparatus100faces forwards, the first side230and the second side232may also be referred to as the left and right sides respectively. As exemplified inFIGS.21-22, the rear side228of the air treatment assembly200is openable such that the dirt collection chamber206is opened when the rear side228of the air treatment assembly200is opened. It will be appreciated that the door may comprise all or only a part of the side that is openable. The rear side228of the air treatment assembly200is movable between a closed position, as exemplified inFIGS.18and19, and an open position, as exemplified inFIGS.21and22. As shown, the openable side224is moveably mounted to the air treatment assembly by a mount234. Any moveably mounted, such as a pivot mount, may be used. As exemplified, the mount234is provided at the second end222of the air treatment assembly200, however, it may be provided at any other location, such as at the first end220. Providing the mount234at the second end222may improve the ability to empty the dirt collection chamber206since, when opened, the door224does not block the dirt from exiting the dirt collection chamber206as the dirt slides out from the dirt collection chamber206. The first side230, second side232, front side226, and rear side228of the air treatment assembly200may extend in any direction between the first end220and the second end222. For example, as exemplified inFIGS.18-23, the sides of the air treatment assembly200extend in a direction generally parallel to the air treatment member axis203. In some embodiments, the front side226and the rear side228may extend in a direction generally parallel to the air treatment member axis203while the first side230and the second side232may extend in a direction at an angle to the air treatment member axis203. Accordingly, for example, the openable side need to extend at a 90° angle to the first and/or second ends220,222. For example, as exemplified inFIGS.45to48, the openable side of the air treatment assembly200may be an angled side. For example, as shown inFIG.45, the door224is located on an angled side of the surface cleaning apparatus100and is in the closed position. As exemplified inFIG.46, the angled side is opened. The dirt outlet212may be positioned anywhere in the air treatment assembly200. As exemplified, the dirt outlet212faces the openable side, the rear side228of the air treatment assembly200as exemplified. For example, as shown inFIG.27, the air treatment member202has a sidewall236and the dirt outlet212is positioned between the sidewall236and the second end222of the air treatment assembly200. In some embodiments, the dirt outlet212may be positioned between the sidewall236and the first end220of the air treatment assembly200. The dirt outlet212may be any shape or size. For example, as shown, the dirt outlet212is a slot provided in the sidewall of the cyclone chamber. In some embodiments, the dirt outlet212may be a plurality of slots, an open end of the cyclone chamber that is spaced from an end wall or any other design known in the art. It will be appreciated that the openable side224of the air treatment assembly200may be any shape and/or size. For example, the openable side224may form a wall224of the dirt collection chamber206, as exemplified inFIG.27. The door224may be generally planar. For example, when the air treatment assembly200is mounted on the canister body102and the door224is in the closed position, the door224may extend generally vertically. As exemplified inFIG.18, the door224may extend in a plane225that is generally parallel to the air treatment member axis203. In some embodiments, the door224may extend in a plane that is at an angle to the air treatment member axis203. The air treatment assembly200may include a door lock240for maintaining the door224of the air treatment assembly200in the closed position and a door actuator242for unlocking the door lock240. Accordingly, the door may remain closed when the air treatment assembly is removed for emptying. The door lock240may be any locking mechanism known in the art and may use male and female engagement members wherein one of the members, e.g., the female member, is moveable by an actuator. As exemplified inFIGS.32to37, the door actuator242includes a first portion244and a second portion246perpendicular to the first portion244. The first portion244includes a door actuator242and a first angled surface245distal to the door actuator242. The second portion246has a corresponding second angled surface247that is slideably positioned proximate to the first angled surface245. The second portion246has second portion engagement members250which engage with corresponding male door engagement members252provided on the door. The door lock240is provided by the door engagement members252engaging with the second portion engagement members250. As exemplified inFIGS.36-37, the first portion244may include a biasing member254positioned between the door actuator242and the first angled surface245. The air treatment assembly200includes a biasing member stop256that operates with the biasing member254to bias the door actuator242to the unpushed or locked position. When the door224is in the closed position, the door engagement members252are engaged with the second portion engagement members250. As exemplified, when in the locked position, the second portion engagement members seat on rear surface252aof the angled cam surface252bof the door engagement members252(SeeFIG.34). To move the door224to the open position, the door actuator242is pushed, thereby sliding the first angled surface245of the first portion244against the second angled surface247of the second portion246and compressing the biasing member254against the biasing member stop256. As the first angled surface245pushes against the second angled surface247, the second angled surface247is displaced in a direction perpendicular to the first portion244, parallel to the second portion246(to the left as exemplified inFIG.34). The second portion engagement members250are then disengaged (slid sideways) from the door engagement members252, which unlocks the door224, thereby allowing the door224to move to the open position. Once the door224is opened, the user may stop pushing the door actuator242, thereby causing the biasing member254to move the door actuator242and first portion244back to the unpushed position. It will be appreciated that the second portion246may be biased to the locked position by a second biasing member (not shown) or may be linked to the first portion so as to be pulled back by the first portion to the locked position due to the biasing force of biasing member254. Accordingly, the second portion engagement members250are moved back (to the right as exemplified inFIG.34) to the locked position such that when the user closes the door224, the second portion engagement members250engage the door engagement members252to lock the door224in the closed position. In operation, the angled cam surface252bof the door engagement members252may push the second portion engagement members250sideways (to the left inFIG.34) to allow the angled cam portion252bto move inwardly past the second portion engagement members250and the second portion engagement members250may then return (to the right inFIG.34) to the locked position. At least a portion207of the dirt collection chamber206may be positioned between the air treatment member202and the openable door224. For example, the portion207of the dirt collection chamber206between the air treatment member202and the openable door224of the air treatment assembly200may be at least 40%, 50%, 60%, 70%, 80% or 90% of the dirt collection chamber206. Positioning the majority of the dirt collection chamber206between the air treatment member202and the openable door224may improve the emptying process of the surface cleaning apparatus100. For example, positioning all or the largest portion of the dirt collection chamber206between the air treatment member202and the openable door224may make it easier to empty dirt from the dirt collection chamber206. Removable Air Treatment Member In accordance with this aspect, which may be used by itself or in combination with one or more other aspects, the air treatment member202is removably mounted in the air treatment assembly200. An advantage of this aspect is that the air treatment member202and air treatment member assembly200may be more easily cleaned. For example, hair may build up around the air treatment member202over time. The user may remove the air treatment member202from the air treatment member assembly200to more easily remove the built-up hair. Similarly, once the air treatment member202has been removed, the user may more easily clean the air treatment assembly200. As exemplified inFIGS.24-26and40, the cyclone202has been removed from the cyclone assembly200. The air treatment member202may be axially removable through one of the first end220and the second end222of the air treatment assembly200. As exemplified inFIG.40, the air treatment member202is removably mounted through the first end220of the air treatment assembly200. In some embodiments, the air treatment member202may be removable in a direction relative to an opening227of the dirt collection chamber206formed when the door224is opened. For example, as exemplified inFIGS.21and22, when the door224is opened, the opening227is formed in the dirt collection chamber206that faces in a first direction (horizontally as exemplified inFIG.21). The air treatment member202may be removable in a direction that is generally transverse to the first direction. For example, as shown, the air treatment member202may be axially removable (downwardly as exemplified inFIG.21). In other words, as shown inFIG.21, the dirt collection opening extends in a plane229and the air treatment member202is removable in a direction generally transverse to the plane229. The air treatment assembly200may include an air treatment member lock260for securing the air treatment member202within the air treatment assembly200. As exemplified inFIG.25, the air treatment member lock260has an air treatment member release actuator262. The air treatment release actuator262may be used to unlock the air treatment member lock260such that the air treatment member202may be removed from the air treatment assembly200. The air treatment member release actuator262may be positioned anywhere in the air treatment assembly200. For example, as shown inFIG.25, the air treatment member release actuator262is located at the first end220of the air treatment assembly200and includes a first air treatment member release actuator262and a second air treatment member release actuator262. As exemplified, the first air treatment release actuator262and the second air treatment release actuator262are located below the first end220of the air treatment assembly200. As exemplified, the air treatment member release actuators262are slide locks having a slidable portion264and an air treatment member release engagement member266. The air treatment member release engagement member266engages with a corresponding air treatment assembly engagement member268such that when the air treatment member release engagement member266is engaged with the air treatment assembly engagement member268, the air treatment member202is secured within the air treatment assembly200, as exemplified inFIG.40. The air treatment member release actuators262may be biased to the locked position by a biasing member (not shown). To release the air treatment member202from the air treatment assembly200, a user may pinch the first air treatment member release actuator262and the second air treatment member release actuator262together, thereby sliding the slide locks264inwardly and disengaging the air treatment member release engagement members266from the air treatment assembly engagement members268. Once the air treatment member release actuators262are disengaged, the air treatment member202may be axially removed through the first end220of the air treatment assembly200. To reinsert the cyclone202in the dirt collection chamber, the air treatment member release actuators262may be pushed inwardly until the cyclone202is in the inserted position. The air treatment member release actuators262may then be released and the biasing member may move the air treatment member release actuators262to the locked position. In some embodiments, the air treatment member release actuator262may be located axially from the first end220of the air treatment assembly200. Air Treatment Assembly Handle In accordance with this aspect, which may be used by itself or in combination with one or more other aspects, the air treatment assembly200has a handle270having a handle portion272that extends generally vertically and is spaced apart from one of the sides of the air treatment assembly200. Optionally, the handle portion272faces a side that is opposed to the openable side. An advantage of this aspect is that the handle270may be the sole handle and may be used by the user to carry the surface cleaning apparatus100and/or just the air treatment assembly200. The handle270may also provide the user with greater control to aim the dirt being emptied from the dirt collection chamber206, particularly if the handle portion272faces a side that is opposed to the openable side. Accordingly, the user is less likely to spill dirt being emptied from the dirt collection chamber206, thereby improving the cleaning process. In accordance with this aspect, the air treatment assembly200has a handle270having a handle portion272facing and spaced apart from one of the air treatment assembly sides. As exemplified inFIG.18, the handle portion272faces the front side226of the air treatment assembly200. When the air treatment assembly200is mounted on the canister body102and the canister body102is positioned with the lower end104on a floor, as shown inFIGS.1to3, the handle portion272extends generally vertically. As exemplified inFIG.21, the rear side228of the air treatment assembly200is openable and is opposed to the front side226, which faces the generally vertically extending handle portion272. The handle portion272has a handle axis273. As exemplified, the handle axis273may be generally parallel to the air treatment member axis203. In some embodiments, the handle axis273may extend at an angle to the air treatment member axis203. The generally vertically extending handle portion272may include a pistol grip portion274or may consist essentially of the pistol grip portion274. For example, as shown inFIG.18, the handle270has an upper arm portion276extending outwardly from the second end222of the air treatment assembly200and which extends to the second end222of the air treatment assembly and a lower arm portion278extending outwardly from the front sidewall of the air treatment assembly200. As exemplified, the pistol grip portion274of the handle portion272is located between the upper arm portion276and the lower arm portion278. It will be appreciated that one or both of the upper arm portion276and the lower arm portion278may be mounted to a common sidewall or, alternately, each may be mounted to an end220,222. Referring now toFIGS.16and17, as exemplified, the canister body102has a wall160. As shown, the wall160faces the front103of the surface cleaning apparatus100. When the air treatment assembly200is mounted to the canister body102, the rear side228of the air treatment assembly200may be positioned facing the front facing wall160of the canister body102, with the generally vertically extending handle portion272positioned facing the front side226of the air treatment assembly200. As discussed in more detail subsequently, the wall160may be provided at a rear end of wall recess162and wall recess162may be used to assist the user with positioning the air treatment assembly200in the canister body102. For example, to remount the air treatment assembly200on the canister body102after the air treatment assembly200has been removed, the user may slide the rear side228of the air treatment assembly200into the wall recess162until the rear side228contacts the wall160. Accordingly, the wall160may be used to provide an indication to the user that the air treatment assembly200is in the proper position to be remounted. As exemplified inFIG.16, the canister body102may not have a handle. Accordingly, the handle270of the air treatment assembly200may be used as the handle for the surface cleaning apparatus100. When the air treatment assembly200is mounted to the canister body102, the air treatment assembly200and the canister body102may be referred to as a canister assembly190. In some embodiments, the handle270of the air treatment assembly200may be the only handle of the canister assembly190. Pre-Motor Filter In accordance with this aspect, which may be used by itself or in combination with one or more other aspects, the air treatment assembly is removably mounted to the canister body and the platform on which the air treatment assembly is received when mounted to the canister body is provided with the pre-motor filter and the outer perimeter of the pre-motor filter is recessed inwardly from the outer perimeter of the platform and/or the air treatment assembly. For example, as exemplified, the recess110of the canister body102has sidewalls112extending upwardly from the platform114and the platform114has a pre-motor filter housing142. When the pre-motor filter140is positioned in the pre-motor filter housing142, at least a portion of a perimeter150of the pre-motor filter140is recessed inwardly from the sidewalls112of the recess110. An advantage of this aspect is that the size of the surface cleaning apparatus100may be reduced. Recessing the pre-motor filter140inwardly from the sidewalls112of the recess110may allow other components of the surface cleaning apparatus100to be positioned exterior to the pre-motor filter140, without impacting the air flow path, thereby reducing the footprint of the surface cleaning apparatus100. Another advantage of recessing the perimeter150of the pre-motor filter140inwardly from the sidewalls112of the recess110is that the pre-motor filter140may more easily be positioned below the air treatment assembly200, thereby providing a lower profile. Additionally, the pre-motor filter140may be located within the surface cleaning apparatus100in a way that makes it easy for the user to remove the pre-motor filter140for cleaning or disposal, without having to deform the pre-motor filter140during removal. In accordance with this aspect, the platform114of the surface cleaning apparatus100has a pre-motor filter housing142for removably receiving a pre-motor filter140therein. As exemplified, the pre-motor filter housing142comprises a portion of the platform and a lower end of the air treatment assembly (which seals the upper end of the volume in which the pre-motor filter is positioned when the pre-motor filter is provided in the pre-motor filter housing142). The pre-motor filter140has a perimeter150. As exemplified inFIGS.10and11, the perimeter150is recessed inwardly from the sidewalls112of the recess110of the surface cleaning apparatus100such that when the pre-motor filter140is positioned within the pre-motor filter housing142, a portion115of the platform114is visible between the perimeter150of the pre-motor filter140and the sidewalls112of the recess110, as exemplified inFIGS.10and11. It will be appreciated that any amount of the perimeter150of the pre-motor filter140may be recessed inwardly from the sidewalls112of the recess110. For example, the amount of the perimeter150of the pre-motor filter140that is recessed inwardly from the sidewalls112of the recess110may be, including, but not limited to, at least 50%, at least 75%, at least 95%, and 100% As exemplified inFIGS.10and11, 100% of the perimeter150of the pre-motor filter140is recessed inwardly from the sidewalls112of the recess110. It will be appreciated that the pre-motor filter140may be any shape. The shape of the pre-motor filter140and/or the pre-motor filter housing142may be shaped to complement other components of the surface cleaning apparatus100. For example, a forward portion152of the pre-motor filter140may be narrower in a plane transverse to the forward direction than a rearward end154of the pre-motor filter140. As exemplified inFIGS.10and11, the pre-motor filter140is generally T-shaped. Similarly, the pre-motor filter housing142is correspondingly generally T-shaped. The T-shaped pre-motor filter housing142and pre-motor filter140may allow for a generally lower profile for the body102of the surface cleaning apparatus100by providing space for other components of the surface cleaning apparatus100to be positioned adjacent the pre-motor filter140. It will be appreciated that an inlet to post pre-motor air flow path, which may extend to the suction motor, may be located below the pre-motor filter and may be in a lower surface of the pre-motor filter housing. Therefore, the pre-motor filter and a downstream header therefor occupy a portion of the height of the canister body (the vertical height when the canister body is placed on a floor). The wheel housings are positioned exterior to the downstream header of the pre-motor filter. By recessing the forward side portions of the pre-motor filter housing inwardly, the wheel housings may be provided closer to the front/rear centre line of the canister body thereby enabling the canister body to be narrower. For example, as exemplified inFIGS.6,38, and39, the floor travelling members108of the canister body102include a first front wheel170and a second front wheel170and the perimeter150of the pre-motor filter140is recessed inwardly from a vertical projection172of the wheels170. By recessing the perimeter150of the pre-motor filter140inwardly of the vertical projections172of the first and second wheels170and shaping the pre-motor filter housing142in a T-shape, the wheels170may be positioned closer to the pre-motor filter housing142without impacting the vertical profile of the canister body102. Alternately, or in addition, the front end of the pre-motor filter housing may be recessed rearwardly to enable the inlet conduit to extend inwardly into the recess. For example, as exemplified inFIGS.12-13, the canister body102has an inlet conduit130with an inlet port132and an outlet port134. The inlet port209of the air treatment assembly200may be positioned in the recess110of the canister body102when the air treatment assembly200is mounted to the canister body102. As exemplified inFIGS.12and13, when the pre-motor filter140is positioned in the pre-motor filter housing, the forward side152of the pre-motor filter140may be positioned rearward of the inlet conduit130. Referring toFIGS.1-8, the air treatment assembly200is removably mounted to the canister body recess110. As shown, the air treatment assembly200seats in the recess110when the air treatment assembly200is mounted to the canister body102. The air treatment assembly200has an air treatment assembly seat280that rests on the sidewalls112of the recess110when the air treatment assembly200is mounted to the canister body102. Accordingly, the air treatment assembly200forms a part of an exterior surface109of the surface cleaning apparatus100when mounted to the canister body102. As exemplified inFIG.30, the first end220of the air treatment assembly200may be used to seal the upstream side144of the pre-motor filter140. In other words, the air treatment assembly200has a seal receiving portion282for coupling with a pre-motor filter seal284such that when the air treatment assembly200is positioned within the recess110, the seal284is positioned between the pre-motor filter housing142and the air treatment assembly200. The seal284may be coupled to the air treatment assembly200and/or may be positioned around the perimeter150of the pre-motor filter140. As exemplified inFIG.9, the seal284is positioned around the perimeter150of the pre-motor filter140. Accordingly, when the air treatment assembly200is mounted to the canister body102, the seal receiving portion282seats on the seal284, thereby sealing the air treatment assembly200and the pre-motor filter housing142. As shown, when the upstream side144of the pre-motor filter housing142is sealed, the air outlet210of the of the air treatment assembly200faces the pre-motor filter140. It will be appreciated that the seal284may be a gasket or the like and, optionally, a seal284may not be provided. The dirt collected by the air treatment assembly200is collected in the dirt collection chamber206. A portion286of the dirt collection chamber206may be exterior to the perimeter150of the pre-motor filter140. For example, referring toFIG.23, the seal receiving portion282of the air treatment assembly200is interior of an exterior surface288of the dirt collection chamber206. Accordingly, when the air treatment assembly200is mounted to the canister body102, the dirt collection chamber206extends beyond the perimeter150of the pre-motor filter140. It will be appreciated that 40%, 50%, 60%, 70%, 80%, 90% or all of the dirt collection chamber206may extend beyond the perimeter150of the pre-motor filter140. Recessed Outlet Port In accordance with this aspect, which may be used by itself or in combination with one or more other aspects, the outlet port134of the inlet conduit130of the canister body102is recessed inwardly from an outer surface182of the sidewalls112of the recess110. An advantage of this aspect is the air treatment assembly200may be more easily mounted to the canister body102while ensuring that the air flow passage is properly maintained. Additionally, the inlet conduit130may be a single part that passes from exterior of the surface cleaning apparatus100to interior of the surface cleaning apparatus100without having one or more seals therein. Accordingly, leakage of the air flow passageway may be reduced. The sidewalls112of the recess110have an inner surface180, an outer surface182, an upper end184, and a lower end186. As exemplified inFIG.13, the outlet port134of the inlet conduit130of the canister body102is recessed inwardly (rearwardly) from the outer surface182of the sidewalls112of the recess110. As shown, the outlet port134is positioned below the upper end184of the sidewalls112of the recess110. In some embodiments, as exemplified inFIGS.12and13, the inlet conduit130may extend through the sidewalls112of the recess110. It will be appreciated that 50%, 60%, 70%, 80%, 90% or all of the outlet port134is positioned below the upper end184of the sidewalls112. As exemplified inFIG.29, the air treatment chamber204is nested within the dirt collection chamber206and the outer wall205of the air treatment member202may be positioned inward of the outer surface288of the dirt collection chamber206. As exemplified inFIG.23, the inlet port209of the air treatment assembly200is positioned inwardly of the outer surface288of the dirt collection chamber206. For example, the inlet port209extends rearward of a front wall290of the dirt collection chamber206when the air treatment assembly200is mounted to the canister body102. Accordingly, as exemplified inFIGS.27and28, the air flow passage136is provided at the first end220of the air treatment assembly200. Accordingly, when the air treatment assembly200is mounted to the canister body102, both the first end220of the air treatment assembly200and the air flow passage136are positioned within the recess110. As exemplified inFIG.28, the inlet conduit130of the canister body102extends to the air inlet208of the air treatment assembly200located proximate the first end220of the air treatment assembly200. Accordingly, the air inlet208and the inlet conduit130define an air flow passage136that extends under the dirt collection chamber206. Therefore, as exemplified, the outlet port extends to the inlet of the tangential air inlet of the cyclone chamber. In some embodiments, the airflow passage connecting the air outlet210of the air treatment assembly200to the pre-motor filter140may include an inlet port156that is positioned in the recess110. Mounting of the Air Treatment Assembly In accordance with this aspect, which may be used by itself or in combination with one or more other aspects, the body has a recess into which a portion of the sides of the air treatment assembly, e.g., a rear portion of the sides of the air treatment assembly, is received when the air treatment assembly is mounted to the body. An advantage of this aspect is the wall160and the wall recess162may act as a guide for the user to mount the air treatment assembly200, thereby making it easier for the user to remount the air treatment assembly200after its removal. Another advantage is that the wall recess162may provide structural stability to the mounting of the air treatment assembly200, thereby reducing the likelihood of the air treatment assembly200being moved during use and reducing the likelihood of air leaks caused by improperly sealed airflow passages. As exemplified inFIG.28, the canister body102has a wall160with sidewalls164extending away from the wall160to define a volume that includes a wall recess162. The wall160may extend generally vertically and the sidewalls164may extend generally forwardly. As exemplified inFIG.16, the sidewalls164comprise an upper portion and left and right side portions that extend forwardly. The sidewalls164therefore define a generally U-shaped perimeter that seats over a rear portion of each of the upper end, the left side and the right side of the air treatment assembly200when the air treatment assembly is mounted to the canister body. It will be appreciated that, optionally, the sidewalls164need not be a continuous U-shaped member and may be provided on only two sides (e.g., the left and right side) of the air treatment assembly200. The wall recess162is sized to receive a portion of the air treatment assembly, such as the portion opposed to the handle. Accordingly, if the handle is provided on the front of the air treatment assembly, the rear portion of the air treatment assembly may be seated in the wall recess162when the air treatment assembly is mounted to the canister body. The wall recess162may be slightly larger than the portion of the air treatment assembly that is received therein to enable the air treatment assembly to be slidingly received therein without damaging the air treatment assembly but still able to provide support for the portion of the air treatment assembly when the surface cleaning apparatus is in use. Accordingly, when the air treatment assembly200is mounted to the canister body102and the canister body102is positioned with the floor travelling members108on the floor, the wall160of the canister body102extends generally vertically and the rear portion of the left and right sidewalls of the air treatment assembly200is positioned within the wall recess162. As exemplified inFIG.28, the openable rear side228of the air treatment assembly200may be positionable within the wall recess162. As exemplified inFIG.16, the wall recess162of the canister body102may have an absence of an air flow passage therethrough. Accordingly, the wall recess162need not be sealed to the air treatment assembly200. The wall recess162may be used to assist in mounting the air treatment assembly to the canister body. As shown inFIGS.14to17, the air treatment assembly200may be toed into the wall recess162to secure the air treatment assembly200to the canister body102. In other words, the air treatment assembly200may be tilted to lower the wall engagement members292below the upper portion of the sidewall164of the wall recess162, as exemplified inFIG.15. The air treatment assembly200may then be slid rearward, as exemplified inFIG.14, and lowered into the recess110of the canister body102. The front side of the air treatment assembly200may then be lowered to the inserted position shown inFIG.1, thereby mounting the air treatment assembly200to the canister body102to form the canister surface cleaning apparatus assembly190. Optionally, the air treatment assembly200may have one or more engagement members that engage with one or more mating engagement members provided in the wall recess162such that the wall recess162of the canister body102acts to secure the air treatment assembly200in place when the air treatment assembly200is mounted to the canister body102. For example, as exemplified inFIG.17, an upper portion of the sidewall164of the wall recess162has slots166for receiving wall engagement members292positioned on the second end222of the air treatment assembly200. As the air treatment assembly200is toed into the wall recess162, the wall engagement members292may engage with the slots166in the sidewall164of the wall recess162to secure the air treatment assembly200in the recess110and the wall recess162. Optionally, as exemplified inFIGS.27-31, an air treatment assembly lock300may be used to secure the air treatment assembly200to the canister body102. It will be appreciated that the air treatment assembly lock300may be positioned in any location on the air treatment assembly200or canister body102and may be of any design known in the art. As exemplified, the lock300is positioned at the front side103of the canister surface cleaning apparatus assembly190. Optionally, the air treatment assembly lock300is positioned on the handle270of the air treatment assembly200. This may enable a user to operate the lock with one hand while holding the handle. To operate the air treatment assembly lock300, an air treatment assembly lock actuator302may be used. As exemplified inFIG.18, the air treatment assembly lock actuator302is positioned on the handle270of the air treatment assembly200. It will be appreciated that the lock actuator302may be any mechanism capable of releasing the air treatment assembly200from the canister body102. For example, as exemplified inFIGS.18and27-31, the air treatment assembly lock actuator302is slideably connected to a mount engagement member306. As exemplified inFIG.27, the lock actuator302has a planar portion303with a slot304. The slot304receives a pin305located on the mount engagement member306. As exemplified, the slot304extends at an angle relative to the lock actuator302. Accordingly, when the lock actuator302is moved upwards by the user, the planar portion303moves upwards, causing the pin305to move along the slot304. As the pin305moves along the slot304, the mount engagement member306, which is hook-shaped, rotates in a rearward direction until the pin305reaches the end of the slot304, as exemplified inFIG.29. The mount engagement member306is engageable with a corresponding canister mount engagement member308. For example, as exemplified inFIGS.27-31, the canister mount engagement member308is hook-shaped. Accordingly, the lock actuator302may be slid upwardly from the closed position, as exemplified inFIG.28, to the open position, as exemplified inFIGS.30and31. When in the closed or locked position, the hook-shaped portion of the mount engagement member306seats under the hook-shaped canister mount engagement member308to secure the air treatment assembly200to the canister body102. When in the open position, the mount engagement member306is disengaged from the canister mount engagement member308such that the air treatment assembly200is unlocked from the canister body102and may be unmounted by the user. Accordingly, during operation, the user may unlock the air treatment assembly lock300by sliding the lock actuator302downwardly, thereby causing the mount engagement member306to disengage from the canister mount engagement member308. The user may then lift the handle270of the air treatment assembly200, as exemplified inFIG.31. Once the front side226of the air treatment assembly200is lifted by the handle270, the wall engagement members292disengage from the slots166in the wall recess162. The user may then lift the air treatment assembly200from the canister body102. It will be appreciated that the recess110and the wall recess162may be generally perpendicular to each other or may extend at an angle relative to each other. For example, as shown inFIG.16, an opening168of the wall recess162extends in a first plane163, an opening116of the recess110extends in a second plane117, and the second plane117is generally transverse to the first plane163. As shown, the platform114of the canister body102extends in the second plane117. In other words, the platform114of the canister body102may extend generally parallel to the opening116of the recess110. Motor Control Actuator In accordance with this aspect, which may be used by itself or in combination with one or more other aspects, the surface cleaning apparatus100has one or more low voltage actuators320for controlling one or more motors of the surface cleaning apparatus100. An advantage of this design is that the low voltage actuators320may be used to enable or disable a motor in the surface cleaning apparatus100using low voltage wires, i.e., without the use of higher voltage wires. This design may reduce the likelihood of electrical shock and may simplify construction. Another advantage is that low voltage wires may be lighter and smaller than corresponding high voltage wires, so the weight of the wiring in the surface cleaning apparatus100may be reduced. Still another advantage is that the user may control the operation of the surface cleaning apparatus100from a single location. In accordance with this aspect, as exemplified inFIGS.41-44, the surface cleaning apparatus100includes a surface cleaning head340, a hose350, and a wand360. The hose350is couplable to the dirty air inlet120of the canister body102, thereby providing an airflow passage to the canister body102. The wand360may be coupled or couplable to the surface cleaning head340and the hose350, as exemplified inFIG.41. As shown, the surface cleaning head340includes a brush342that is driven by a brush motor344(not shown). Referring toFIGS.43A and44, as exemplified, the hose350has a handle352with a first actuator320and a second actuator322. The first actuator320is electrically connected to the suction motor124through the hose350and the optional second actuator322is electrically connected to the brush motor344in the surface cleaning head340by way of the wand360. In other words, the controls for the suction motor124and the brush motor344are remotely located from the motors themselves. Each of the first actuator320and the second actuator322are electrically connected to their respective motor by a low voltage circuit. As exemplified inFIG.44, a first low voltage wire324connects the first actuator320to the suction motor124and a second low voltage wire326connects the second actuator322to the brush motor344. It will be appreciated that the first and second low voltage wires324,326may be signal wires that are used to send a signal to open/close a circuit to actuate and de-actuate a motor. For example, when the first actuator320is actuated, a control signal is sent through the first low voltage wire324to the suction motor124, thereby enabling the suction motor124. When the first actuator320is actuated a second time, a control signal is sent to the suction motor124, thereby disabling the suction motor124. Similarly, when the second actuator322is actuated, a control signal is sent through the second low voltage wire326to the brush motor344, thereby enabling the brush motor344. When the second actuator322is actuated a second time, a control signal is sent to the brush motor344, thereby disabling the brush motor344. Accordingly, a low voltage control signal may be used to control a higher voltage suction motor124and/or brush motor344. While a suction motor124and a brush motor344are exemplified herein, it will be appreciated that the low voltage control signals may be used to actuate any electrically powered component of the surface cleaning apparatus100. It will be appreciated that the first actuator320and the second actuator322may be any type of actuator capable of enabling and disabling one or more motors in the surface cleaning apparatus100. As exemplified, the first actuator320and the second actuator322are microswitches. In some embodiments, the handle352may have a touch screen control and the first actuator320and the second actuator322may be touch controlled. Power Conduit In accordance with this aspect, which may be used by itself or in combination with one or more other aspects, the wand360and the hose350coupled to the wand360of the surface cleaning apparatus100each has an internal power conduit. The power conduit may be used to run the low voltage control wires from the handle352to the suction motor124and the brush motor344. An advantage of this design is that the wiring of the surface cleaning apparatus100may be hidden, thereby protecting the wiring from damage or from getting snagged on other objects during use. In accordance with this aspect, the handle352of the hose350of the surface cleaning apparatus100has a hose electrical connector (not shown) that electrically couples to a wand electrical connector362in the wand360. As exemplified inFIG.44, the handle352of the hose350is electrically connected to the power supply370of the surface cleaning apparatus100by a power supply wire372, which passes through a hose power conduit356to the handle352. The handle352of the hose350is also electrically connected to the suction motor124by way of the first low voltage wire324. The first low voltage wire324passes through the hose power conduit356to the suction motor124. The wand electrical connector362is electrically connected to the second low voltage wire326and passes through a wand power conduit364. Accordingly, power is supplied to the handle352through the hose power conduit356, the first actuator320controls the operation of the suction motor124through the first low voltage wire324that passes through the hose power conduit356, and the second actuator322controls the operation of the brush motor344through the second low voltage wire326that passes through the wand power conduit364. While the above description describes features of example embodiments, it will be appreciated that some features and/or functions of the described embodiments are susceptible to modification without departing from the spirit and principles of operation of the described embodiments. For example, the various characteristics which are described by means of the represented embodiments or examples may be selectively combined with each other. Accordingly, what has been described above is intended to be illustrative of the claimed concept and non-limiting. It will be understood by persons skilled in the art that other variants and modifications may be made without departing from the scope of the invention as defined in the claims appended hereto. The scope of the claims should not be limited by the preferred embodiments and examples, but should be given the broadest interpretation consistent with the description as a whole. Clauses Clause Set A 1. A canister surface cleaning apparatus comprising:(a) a canister body having an upper side and a lower side, the lower side of the canister body having floor travelling members, the upper side is spaced from the lower side in a vertical direction; and,(b) an air treatment assembly removably mountable to the canister body, the air treatment assembly comprises a front side, a rear side and right and left laterally opposed sides, wherein a handle having a handle portion is provided facing and spaced from one of the sides and, when the air treatment assembly is mounted on the canister body and the canister body is positioned with the lower end on a floor, the handle portion extends generally vertically.2. The canister surface cleaning apparatus of clause 1 wherein another of the sides that is opposed to the one of the sides comprises an openable door.3. The canister surface cleaning apparatus of clause 2 wherein the air treatment assembly comprises a cyclone and a dirt collection chamber external to the cyclone and at least a portion of the dirt collection chamber is positioned between the cyclone and the openable door.4. The canister surface cleaning apparatus of clause 3 wherein the cyclone has a cyclone axis of rotation that extends generally vertically when the air treatment assembly is mounted on the canister body and the canister body is positioned with the lower end on the floor.5. The canister surface cleaning apparatus of clause 1 wherein the generally vertically extending handle portion comprises a pistol grip handle portion.6. The canister surface cleaning apparatus of clause 1 wherein the handle has an upper arm portion extending outwardly from an upper end of the air treatment assembly and a lower arm portion extending outwardly from a lower end of the air treatment assembly and the generally vertically extending handle portion comprises a pistol grip handle portion that is located between the upper and lower arm portions.7. The canister surface cleaning apparatus of clause 1 wherein the air treatment assembly comprises a cyclone having a cyclone axis of rotation that extends generally vertically when the air treatment assembly is mounted on the canister body and the air treatment assembly has a door that ends generally vertically when the air treatment assembly is mounted on the canister body and the door is in a closed position.8. The canister surface cleaning apparatus of clause 1 wherein the rear side of the air treatment assembly is positioned facing a front facing wall of the canister body when the air treatment assembly is mounted to the canister body and the generally vertically extending handle portion is positioned facing the front side of the air treatment assembly.9. The canister surface cleaning apparatus of clause 1 wherein the canister body has an absence of a handle.10. The canister surface cleaning apparatus of clause 1 wherein, when the air treatment assembly is mounted to the canister body, the air treatment member and the canister body comprise a canister assembly and the handle is the only handle of the canister assembly. Vac with pistol grip handle on a side of the air treatment assembly opposed to a door on a wall that faces the main body11. A surface cleaning apparatus comprising:(a) a main body having a wall; and,(b) an air treatment assembly removably mountable to the main body, the air treatment assembly comprises a front side, a rear side, right and left laterally opposed sides and a handle,wherein, when the air treatment assembly is mounted to the main body, the air treatment member and the main body comprise a surface cleaning apparatus assembly and the surface cleaning apparatus assembly has a dirty air inlet provided on a front end thereof,wherein the wall faces forwards and, when the air treatment assembly is mounted to the main body, one of the sides faces the wall and the one of the sides comprises an openable door, andwherein, when the air treatment assembly is mounted to the main body, the handle has a handle portion that is provided facing and spaced from a side that is opposed to the one of the sides.12. The surface cleaning apparatus of clause 11 wherein the air treatment assembly comprises a cyclone and a dirt collection chamber external to the cyclone and at least a portion of the dirt collection chamber is positioned between the cyclone and the openable door.13. The surface cleaning apparatus of clause 12 wherein the cyclone has a cyclone axis of rotation and the handle portion has a handle axis that is generally parallel to the cyclone axis of rotation.14. The surface cleaning apparatus of clause 11 wherein the handle portion comprises a pistol grip handle portion.15. The surface cleaning apparatus of clause 11 wherein the air treatment assembly has a first end and a second end, the sides extend between the first and second ends, the air treatment assembly comprises a cyclone, the cyclone has a cyclone axis of rotation and the handle portion has a handle axis that is generally parallel to the cyclone axis of rotation.16. The surface cleaning apparatus of clause 11 wherein the air treatment assembly has a first end and a second end, the sides extend between the first and second ends, the air treatment assembly comprises an air treatment chamber, the air treatment chamber has an air outlet, and a projection of the air outlet intersects the first end.17. The surface cleaning apparatus of clause 11 wherein the main body has an absence of a handle.18. The surface cleaning apparatus of clause 11 wherein the handle is the only handle of the surface cleaning apparatus assembly.19. A surface cleaning apparatus comprising:(a) a main body having a wall; and,(b) a cyclone assembly removably mountable to the main body, the cyclone assembly comprises a cyclone having a cyclone axis of rotation, a first side and a second opposed side, each of the first and second sides extend in a direction generally parallel to the cyclone axis of rotation, a handle having a handle portion that is spaced from and faces the first side, the handle portion has a handle axis that is generally parallel to the cyclone axis of rotation and the second side comprises an openable door.20. The surface cleaning apparatus of clause 19 wherein the main body has a wall and, when the cyclone assembly is mounted to the main body, the air treatment member and the main body comprise a surface cleaning apparatus assembly, the surface cleaning apparatus assembly has a dirty air inlet provided on a front end thereof, the wall faces forwardly and the openable door faces the wall.21. The surface cleaning apparatus of clause 20 wherein the cyclone assembly further comprises a dirt collection chamber external to the cyclone and at least a portion of the dirt collection chamber is positioned between the cyclone and the openable door.22. The surface cleaning apparatus of clause 19 wherein the handle portion comprises a pistol grip handle portion.23. The surface cleaning apparatus of clause 19 wherein the cyclone assembly has a first end and a second end, the first and second sides extend between the first and second ends, the cyclone has an air outlet, and a projection of the air outlet intersects the first end.24. The surface cleaning apparatus of clause 19 wherein the main body has an absence of a handle.25. The surface cleaning apparatus of clause 19 wherein the handle is the only handle of the surface cleaning apparatus assembly. Clause Set B1. A canister surface cleaning apparatus comprising:(a) a canister body having a lower side having floor travelling members and an upper side having a recess, the recess has sidewalls extending upwardly from a platform and an inlet conduit having an outlet port that is recessed inwardly from an outer surface of the sidewalls of the recess; and,(b) an air treatment assembly removably mountable to the canister body, the air treatment assembly seating on the recess when the air treatment assembly is mounted to the canister body.2. The canister surface cleaning apparatus of clause 1 wherein the outlet port is positioned below an upper end of the sidewalls of the recess.3. The canister surface cleaning apparatus of clause 2 wherein the inlet conduit extends through the sidewalls of the recess.4. The canister surface cleaning apparatus of clause 1 wherein the inlet conduit extends through the sidewalls of the recess.5. The canister surface cleaning apparatus of clause 1 wherein the air treatment assembly has an air inlet having an inlet port and, when the air treatment assembly is mounted to the canister body, the inlet port is positioned in the recess.6. The canister surface cleaning apparatus of clause 1 wherein the canister body has a front side having the inlet conduit, the platform has a pre-motor filter housing and, when a pre-motor filter is positioned in the pre-motor filter housing, a forward side of the pre-motor filter is positioned rearward of the inlet conduit.7. The canister surface cleaning apparatus of clause 6 wherein when a pre-motor filter is positioned in the pre-motor filter housing, at least 50% of a perimeter of the pre-motor filter is recessed inwardly from the sidewalls of the recess whereby, when a pre-motor filter is positioned in the pre-motor filter housing, a portion of the platform is visible between the perimeter of the pre-motor filter and the sidewalls of the recess.8. The canister surface cleaning apparatus of clause 7 wherein the air treatment assembly has an air inlet having an inlet port and, when the air treatment assembly is mounted to the canister body, the inlet port is positioned in the recess.9. The canister surface cleaning apparatus of clause 8 wherein the inlet port is positioned inwardly of an outer wall of the air treatment assembly.10. The canister surface cleaning apparatus of clause 8 wherein the air treatment assembly further comprises a dirt collection chamber and an air treatment chamber that is nested in the dirt collection chamber and the inlet port is positioned inwardly of an outer wall of the dirt collection chamber.11. The canister surface cleaning apparatus of clause 1 wherein the air treatment assembly comprises a dirt collection chamber and an air treatment chamber that is nested in the dirt collection chamber, the inlet conduit is provided on a front side of the canister body, and, when the air treatment assembly is mounted to the canister body, the dirt collection chamber has a front wall and the air treatment chamber has a front wall, and the inlet conduit extends rearward of the front wall of the dirt collection chamber.12. The canister surface cleaning apparatus of clause 11 wherein the air treatment assembly has an air inlet and, when the air treatment assembly is mounted to the canister body, the air inlet and the inlet conduit define an air flow passage that extends under the dirt collection chamber.13. A surface cleaning apparatus comprising:(a) a main body having an inlet conduit having an outlet port; and,(b) an air treatment assembly removably mountable to the main body, the air treatment assembly comprises a dirt collection chamber and an air treatment chamber that is nested in the dirt collection chamber, the air treatment assembly having an air inlet, the dirt collection chamber having an outer wall and the air treatment member having an outer wall that is positioned inward of the outer wall of the dirt collection chamber,wherein when the air treatment assembly is mounted to the main body, the air inlet and the inlet conduit define an air flow passage that extends under the dirt collection chamber.14. The surface cleaning apparatus of clause 13 wherein the air treatment assembly has first and second opposed ends, the air treatment member comprises a cyclone having a cyclone axis of rotation that extends through the first and second opposed ends and the air flow passage is provided at one of the first and second ends.15. The surface cleaning apparatus of clause 14 wherein the air flow passage extends along the one of the first and second ends.16. The surface cleaning apparatus of clause 13 wherein when the air treatment assembly is mounted to the main body, an end of the air treatment assembly is positioned in a recess of the main body and the outlet port is positioned within the recess.17. The surface cleaning apparatus of clause 13 wherein when the air treatment assembly is mounted to the main body, an end of the air treatment assembly is positioned in a recess of the main body and the air flow passage is positioned within the recess.18. The surface cleaning apparatus of clause 16 wherein an end of the air treatment member is mountable to the main body and the air treatment assembly has an air outlet that is provided in the end of the main body.19. The surface cleaning apparatus of clause 18 wherein a pre-motor filter housing is provided in the recess and when the air treatment assembly is mounted to the main body and a pre-motor filter is provided in the pre-motor filter housing, the air treatment assembly seals an upper end of the pre-motor filter housing and the air outlet faces the pre-motor filter. Clause Set C1. A canister surface cleaning apparatus comprising:(a) a canister body comprising a lower side having floor travelling members and a first recess, the first recess comprising a wall and sidewalls that extend away from the wall to define a volume that comprises the first recess; and,(b) an air treatment assembly removably mountable to the canister body, the air treatment assembly comprises a front side, a rear side and right and left laterally opposed sides,wherein, when the air treatment assembly is mounted to the canister body, the air treatment assembly and the canister body comprise a canister surface cleaning apparatus assembly and the canister surface cleaning apparatus assembly has a dirty air inlet provided on a front end thereof,wherein, when the air treatment assembly is mounted to the canister body and the canister body is positioned with the floor travelling members on a floor, the wall extends generally vertically and one of the sides of the air treatment assembly faces the wall and is positioned in the recess.2. The canister surface cleaning apparatus of clause 1 wherein, when the air treatment assembly is mounted to the canister body and the canister body is positioned with the floor travelling members on a floor, the wall faces forwards and the one of the sides of the air treatment assembly is the rear side.3. The canister surface cleaning apparatus of clause 2 wherein the air treatment assembly has a handle comprising a pistol grip portion and the pistol grip portion is spaced from and faces the front side of the air treatment assembly.4. The canister surface cleaning apparatus of clause 2 wherein the rear side comprises an openable door.5. The canister surface cleaning apparatus of clause 2 wherein the wall has an absence of an air flow passage therethrough.6. The canister surface cleaning apparatus of clause 2 further comprising a lock releasable securing the air treatment assembly to the canister body and the lock is provided at a front side of the canister surface cleaning apparatus assembly.7. The canister surface cleaning apparatus of clause 6 wherein the air treatment assembly has a handle, the lock comprises a lock actuator and the lock actuator is provided on the handle.8. The canister surface cleaning apparatus of clause 1 wherein the canister body further comprises a second recess and a portion of the air treatment assembly is received in the second recess when the air treatment assembly is mounted to the canister body.9. The canister surface cleaning apparatus of clause 8 wherein an opening of the first recess extends in a first plane, an opening of the second recess extends in a second plane and the second plane is generally transverse to the first plane.10. The canister surface cleaning apparatus of clause 9 wherein the second recess has at least one of an outlet port of an inlet conduit that is positioned upstream of an air inlet of the air treatment assembly and an inlet port of an air flow passage that is downstream of an air outlet of the air treatment assembly.11. A surface cleaning apparatus comprising:(a) a main body comprising a first recess and a platform, the first recess comprises a wall and sidewalls that extend away from the wall to define a volume that comprises the first recess;(b) an air treatment assembly removably mountable to the main body, the air treatment assembly comprises a front side, a rear side and right and left laterally opposed sides; and,(c) a pre-motor filter removably mountable in the platform,wherein an opening of the first recess extends in a first plane, the platform extends in a second plane and the second plane is generally transverse to the first plane.12. The surface cleaning apparatus of clause 11 wherein, when the air treatment assembly is mounted to the main body, the air treatment assembly and the main body comprise a surface cleaning apparatus assembly which has a dirty air inlet provided on a front end thereof, the wall faces forwards and the air treatment assembly comprises part of an exterior surface of the surface cleaning apparatus.13. The surface cleaning apparatus of clause 11 wherein the wall has an absence of an air flow passage therethrough.14. The surface cleaning apparatus of clause 12 further comprising a lock releasable securing the air treatment assembly to the main body, wherein the lock is provided at a front side of the surface cleaning apparatus assembly, the air treatment assembly has a handle, the lock comprises a lock actuator and the lock actuator is provided on the handle.15. The surface cleaning apparatus of clause 11 wherein the main body further comprises a second recess, the platform is provided in the second recess and a portion of the air treatment assembly is received in the second recess when the air treatment assembly is mounted to the main body.16. The surface cleaning apparatus of clause 15 wherein the second recess has at least one of an outlet port of an inlet conduit that is positioned upstream of an air inlet of the air treatment assembly and an inlet port of an air flow passage that is downstream of an air outlet of the air treatment assembly.17. A surface cleaning apparatus comprising:(a) a main body comprising a first recess, the first recess comprises a wall and sidewalls that extend away from the wall to define a volume that comprises the first recess; and,(b) an air treatment assembly removably mountable to the main body, the air treatment assembly comprises a front side, a rear side and right and left laterally opposed sides,wherein, when the air treatment assembly is mounted to the main body, one of the sides facing the wall is positioned in the recess and the one of the sides comprises an openable door.18. The surface cleaning apparatus of clause 17 wherein the wall has an absence of an air flow passage therethrough.19. The surface cleaning apparatus of clause 17 wherein the main body further comprises a platform, the first recess has an opening that extends in a first plane and the platform extends in a second plane that is generally transverse to the first plane.20. The surface cleaning apparatus of clause 19 wherein the main body further comprises a second recess, the platform is provided in the second recess and a portion of the air treatment assembly is received in the second recess when the air treatment assembly is mounted to the main body.21. The surface cleaning apparatus of clause 20 wherein the second recess has at least one of an outlet port of an inlet conduit that is positioned upstream of an air inlet of the air treatment assembly and an inlet port of an air flow passage that is downstream of an air outlet of the air treatment assembly. Clause Set D1. A surface cleaning apparatus comprises a cyclone assembly, the cyclone assembly comprises a cyclone and a dirt collection chamber exterior to the cyclone, the cyclone having a cyclone axis of rotation, the cyclone assembly having first and second opposed ends and sides extending between the first and second ends, wherein the cyclone axis of rotation extends axially through the first and second ends and one of the sides is openable.2. The surface cleaning apparatus of clause 1 wherein the one of the sides comprises a wall of the dirt collection chamber.3. The surface cleaning apparatus of clause 2 wherein the cyclone has a dirt outlet, and the dirt outlet faces the one of the sides.4. The surface cleaning apparatus of clause 3 wherein the cyclone has a sidewall, and the dirt outlet is provided between the sidewall and an end wall of the cyclone.5. The surface cleaning apparatus of clause 1 wherein the first end has a cyclone assembly air outlet, the cyclone assembly has a door that is moveably mounted by a mount between a closed position and an open position in which the one of the sides is open, and the mount is provided at the second end.6. The surface cleaning apparatus of clause 5 wherein the door is generally planar7. The surface cleaning apparatus of clause 5 wherein the door extends in a plane that is generally parallel to the cyclone axis of rotation.8. The surface cleaning apparatus of clause 1 wherein the cyclone assembly further comprises a handle, the handle having a hand grip portion that faces and is spaced from a side of the cyclone assembly that is opposed to the one of the sides that is openable.9. The surface cleaning apparatus of clause 8 wherein the handle portion has a handle axis that is generally parallel to the cyclone axis of rotation.10. The surface cleaning apparatus of clause 9 wherein the handle portion comprises a pistol grip handle.11. The surface cleaning apparatus of clause 1 wherein the cyclone is removable from the cyclone assembly.12. The surface cleaning apparatus of clause 11 wherein the cyclone is axially removable.13. The surface cleaning apparatus of clause 11 wherein the cyclone is removable mountable in one of the first and second ends of the cyclone assembly.14. The surface cleaning apparatus of clause 11 wherein the cyclone is removably mountable in the first end of the cyclone assembly, the cyclone has a cyclone air inlet having an inlet port and the inlet port is located axially from the first end of the cyclone assembly and exterior to the cyclone assembly.15. The surface cleaning apparatus of clause 14 further comprising a cyclone lock, the cyclone lock comprises a cyclone release actuator and the cyclone release actuator is located at the first end of the cyclone assembly.16. The surface cleaning apparatus of clause 15 wherein the cyclone release actuator is located axially from the first end of the cyclone assembly. Clause Set E1. A surface cleaning apparatus comprises an air treatment assembly, the air treatment assembly comprises an air treatment member and a dirt collection chamber exterior to the air treatment member, the air treatment assembly having first and second opposed ends and a sidewall that extends between the first and second ends, wherein the sidewall has an openable door whereby the dirt collection chamber is opened when the door is opened, and the air treatment member is removably mounted in the first end of the air treatment assembly.2. The surface cleaning apparatus of clause 1 wherein, when the door is opened, the dirt collection chamber has an opening that faces a first direction, and the air treatment member is removable in a direction that is generally transverse to the first direction.3. The surface cleaning apparatus of clause 2 wherein, when the door is opened, the dirt collection chamber has an opening that generally extends in a plane, and the air treatment member is removable in a direction that is generally parallel to the plane.4. The surface cleaning apparatus of clause 3 wherein the air treatment member is removably mountable in the first end of the air treatment assembly, the air treatment member has an air treatment member air inlet having an inlet port and the inlet port is located axially from the first end of the air treatment member assembly and exterior to the air treatment member assembly.5. The surface cleaning apparatus of clause 1 wherein the air treatment member is removably mountable in the first end of the air treatment assembly, the air treatment member has an air treatment member air inlet having an inlet port and the inlet port is located axially from the first end of the air treatment member assembly and exterior to the air treatment member assembly.6. The surface cleaning apparatus of clause 1 further comprising an air treatment member lock, the air treatment member lock comprises an air treatment member release actuator and the air treatment member release actuator is located at the first end of the air treatment member assembly.7. The surface cleaning apparatus of clause 6 wherein the air treatment member release actuator is located axially from the first end of the air treatment member assembly.8. The surface cleaning apparatus of clause 1 wherein the air treatment member has a dirt outlet, and the dirt outlet faces the openable door.9. The surface cleaning apparatus of clause 8 wherein the air treatment member has a sidewall, and the dirt outlet is provided between the sidewall and an end wall of the air treatment member.10. The surface cleaning apparatus of clause 1 wherein the first end has an air treatment assembly air outlet, the door is moveably mounted by a mount between a closed position and an open position in which the dirt collection chamber is opened, and the mount is provided at the second end.11. The surface cleaning apparatus of clause 10 wherein the door is generally planar12. The surface cleaning apparatus of clause 5 wherein an air treatment member axis extends between the first and second ends of the air treatment assembly and the door extends in a plane that is generally parallel to the air treatment member axis.13. The surface cleaning apparatus of clause 1 wherein the air treatment assembly further comprises a handle, the handle having a hand grip portion that faces and is spaced from a side of the air treatment assembly that is opposed to the door.14. The surface cleaning apparatus of clause 13 wherein an air treatment member axis extends between the first and second ends of the air treatment assembly and the handle portion has a handle axis that is generally parallel to the air treatment member axis.15. The surface cleaning apparatus of clause 13 wherein the handle portion comprises a pistol grip handle.16. The surface cleaning apparatus of clause 1 wherein the air treatment member is removably mountable in the first end of the air treatment assembly, the air treatment member has an air treatment member air inlet and an air treatment member air outlet, and the air treatment member air inlet and the air treatment member air outlet are each located at the first end of the air treatment assembly.17. The surface cleaning apparatus of clause 1 wherein the air treatment member comprises a cyclone having a cyclone axis of rotation and the cyclone axis of rotation extends axially between the first and second ends of the air treatment assembly.18. The surface cleaning apparatus of clause 17 wherein the cyclone is axially removable from the air treatment assembly.19. The surface cleaning apparatus of clause 18 wherein the cyclone is removable mountable in the first end of the air treatment assembly, the cyclone has a cyclone air inlet and a cyclone air outlet, and the cyclone air inlet and the cyclone air outlet are each located at the first end of the air treatment assembly.

11857138

DETAILED DESCRIPTION The present disclosure is generally directed to an odor control assembly for use in a surface cleaning device. The odor control assembly may include an adjustment member that can be transitioned between a plurality of user-selectable positions to vary an amount of fragrance particles output by the odor control assembly during use of the surface cleaning device. In more detail, the fragrance particles may be provided by a fragrance member that is coupled to the adjustment member, with the fragrance member providing at least one fragrance air path. The adjustment member can adjust the width of the opening to the fragrance air path based on the plurality of user-selectable positions. The air traveling through the fragrance air path may then cause fragrance particles to become airborne. The odor control assembly may then output the airborne fragrance particles, which may also be referred to herein as simply fragrance particles. The odor control assembly may output the airborne fragrance particles to a dirty air passageway defined by the nozzle of the surface cleaning device. The air communicated through the fragrance air path of the fragrance member can be provided from a motor, for example. The temperature of the air communicated across the motor, and/or the velocity of the air communicated across the motor, may be advantageously utilized to ensure that a predetermined amount of fragrance particles get output by the odor control assembly. In one example, the predetermined amount of fragrance particles is at least 4 milligrams per hour (mg/h). The adjustment member may be removably coupled to the odor control assembly. The adjustment member and fragrance member can decouple together as a single unit. The fragrance member may be removable from the adjustment member for replacement purposes. FIG.1Ashows a surface cleaning device100consistent with aspects of the present disclosure. As shown, the surface cleaning device100includes an upright section104coupled to a nozzle106. The upright section104may pivotally couple to the nozzle106. The upright section104may also include a receptacle105to receive and couple to a handle portion (not shown). The handle portion coupled to the receptacle105can include a suction motor (also referred to herein as first motor) and a dust cup, though this is not a limitation of the present disclosure unless specifically claimed as such. The suction motor may be configured to generate suction. The suction motor can fluidly couple to a dirty air passageway of the nozzle106to draw dirty air into the dust cup. The surface cleaning device100may further include first and second wheels108-1,108-2coupled to the nozzle106. The first and second wheels108-1,108-2may be coupled on opposite sides of the nozzle106. For example, the first and second wheels108-1,108-2may be coupled adjacent a pivot joint that rotatably couples the upright section104and the nozzle106together. The first and second wheels108-1,108-2may be unpowered or driven by a motor as discussed in further detail below. The nozzle106may include a nozzle housing107. The nozzle housing107may extend from a first lateral end112-1to a second lateral end112-2(e.g., left and right) along a longitudinal axis150and/or from a front end112-3and rear end112-4. The longitudinal axis150of the nozzle housing107may extend transverse relative to primary direction of travel151during cleaning operations. The nozzle housing107may define a nozzle cavity109(SeeFIG.1F) and/or one or more agitator chambers117(SeeFIG.1E). The nozzle cavity109can include a plurality of components disposed therein and the agitator chambers117may include one or more rotating agitators/brush roll113. The surface cleaning device100may further include an odor control assembly110. The odor control assembly110may be coupled to the nozzle housing107. For example, the odor control assembly110may be at least partially disposed in the nozzle housing107, and more particularly, in the nozzle cavity109of the nozzle housing107. As shown more clearly inFIGS.1B-1C, the odor control assembly110includes an adjustment member114. The adjustment member114may be configured to allow for a user to adjust an amount of fragrance particles introduced into a dirty air passageway of the nozzle106, as discussed in greater detail below. Alternatively, or in addition, the adjustment member114may be used to adjust an amount of fragrance particles introduced into the environment surrounding the surface cleaning device100(e.g., without the fragrance particles necessarily passing through the dirty air passageway). The adjustment member114may be configured to be transitioned between a plurality of user-selectable positions to adjust an amount of fragrance particles released into the dirty air passageway and/or the surrounding environment. The adjustment member114may also be referred to as a fragrance dial, or simply a dial. The adjustment member114may be configured to be displaced by a user-supplied force to transition the adjustment member114between the plurality of user-selected positions. The plurality of user-selectable positions can include at least a first open position to release a first predetermined amount of fragrance from the fragrance member into the dirty air passageway, and a closed position to substantially prevent and/or minimize the amount of fragrance being released into the dirty air passageway of the surface cleaning device100. The plurality of user-selectable positions can further include a second open position to release a second predetermined amount of fragrance form the fragrance member into the dirty air passageway of the surface cleaning device100, the second predetermined amount of fragrance being different than the first amount of fragrance. The adjustment member114may be rotatably coupled to the nozzle housing107. Further, the adjustment member114may transition between the plurality of user-selectable positions based on rotational movement of the adjustment member about a first rotational axis122(SeeFIG.1A). The adjustment member114can include a projection120(SeeFIG.1C) that can receive a user-supplied force, e.g., from a finger of a user, to transition to a desired user-selectable position of the plurality of user-selectable positions. As shown, a plurality of visual indicators116may be disposed adjacent the adjustment member114. The plurality of visual indicators116can be disposed on the nozzle housing107. Each of the visual indicators of the plurality of visual indicators116may correspond to a user selected position of the plurality of user-selectable positions. The adjustment member114can include a selector indicator118. The selector indicator118can be a visual indicator such as a sticker or other surface feature (such as, but not limited to, a concave surface) that can indicate to a user the current user-selected position. As shown inFIG.1C, the selector indicator118is shown disposed adjacent a first user-selectable position. The first user-selectable position in this example is indicated by a corresponding visual indicator of the plurality of visual indicator116. As shown, this corresponding visual indicator includes a “0” symbol to represent a minimum fragrance strength value (such as but not limited to, zero/off). This first user-selectable position may also be referred to as a closed position. In this closed position, the odor control assembly110is preferably configured to emit/output less than 1 milligrams per hour (mg/hour) of fragrance particles. In some examples, the odor control assembly110may be configured to emit/output a minimum amount (e.g., substantially zero and/or less than 1 Mg/hour) of fragrance particles when in the closed position. Each of the plurality of user-selectable positions may be disposed at a predetermined distance from each other. For example, and as shown inFIG.1C, each of the plurality of user-selectable positions are disposed a uniform distance from each other such that rotation of the adjustment member114a predetermined number of degrees about the about a first rotational axis122(seeFIG.1A) transitions the adjustment member114to a different user-selected position. As shown inFIG.1C, a user can transition the adjustment member from the first user-selected position (e.g., the closed position), to a second user-selected position (e.g., the position indicated as “30”) based on rotating the adjustment member114about the first rotational axis122(e.g., counter-clockwise 30 degrees). In this example, the odor control assembly110may be configured to output/emit/release a second amount of fragrance particles at the second user-selected position. The second amount of fragrance particles released at the second position may be different than the first amount of fragrance particles released at the first position. The second amount of fragrance particles released at the second position can be in a range of 1 to 100 percent (e.g., 1 to 33 percent) of a maximum amount of fragrance particles. By way of a non-limiting example, the maximum amount of fragrance particles may be at least 4 mg/hour, for example, at least 9 mg/hour. In this particular example, the position generally shown with the indicator “90” can be the user-selectable position that outputs the maximum amount of fragrance particles. Note, this disclosure is not necessarily limited in this regard, and each of the user-selectable positions may be disposed/located at other positions from each other such as 30 degrees, 50 degrees, or 90 degrees. Likewise, the distance between each of the user-selected positions may not necessarily be uniform and may vary. In at least one example, each successive user-selected position of the plurality of user-selected positions following the closed position causes the odor control assembly110to release a greater amount of fragrance particles. The plurality of user-selectable positions may include a release position. The release position may be at a location that is outside of the user-selectable positions that are used for adjustment of the fragrance particle output. For example, and with reference toFIG.1C, the release position may be when the adjustment member114is rotated 120 degrees counterclockwise from the closed position. The release position may be marked/indicated via a visual indicator (120 degree position) disposed at a corresponding location on the nozzle housing107, for example. In the release position, the adjustment member114may be configured to decouple from the nozzle housing107based on a pulling force supplied by a user along an axis that extends substantially parallel (e.g., coaxially) with the first rotational axis122. The adjustment member114and a fragrance member can be decoupled from the nozzle housing107in the release position. The adjustment member114and fragrance member may be secured together such that the adjustment member114and the fragrance member remain coupled together when the adjustment member114is decoupled from the nozzle housing107. FIG.1Dshows a cross-sectional view of the surface cleaning device100taken along line D-D ofFIG.1A. As shown, the odor control assembly110may be disposed at least partially within the nozzle cavity109, for example, adjacent the first end112-1of the nozzle housing107. The odor control assembly110can further include a tray111, a cam124, and a fragrance member126. The adjustment member114may be coupled to the tray111by way of the cam124and/or fragrance member126. The adjustment member114can also be coupled to the nozzle housing107directly, or by way of the cam124and/or fragrance member126. The adjustment member114, cam124and fragrance member126may be coupled together in a nested/concentric relationship and share a common axis. The tray111may separate the odor control assembly110from other components within the nozzle cavity109, such as control circuitry128that can be disposed therein. As shown, the odor control assembly110can further include an O-ring125that is disposed between the adjustment member114and surfaces of the nozzle housing107to form a substantially air-tight seal/interface and minimize or otherwise reduce the potential of fragrance particles being released/leaked therethrough. As further shown, the nozzle housing107may include (e.g., define) a dirty air passageway130that extends through at least a portion of the nozzle housing107. The dirty air passageway130may be fluidly coupled to a dirty air inlet132(SeeFIG.1E). The dirty air passageway130may be further fluidly coupled to a suction motor as discussed above to draw debris/dirty air into the dirty air passageway130for storage within a dust cup or the like. The nozzle housing107can further include one or more drive motors134(also referred to herein as a second motor) disposed in the nozzle cavity109. The drive motor134may be disposed adjacent the second end112-2of the nozzle housing107. The drive motor134may be a DC motor (e.g., a brushed DC motor) and/or an AC motor. The drive motor134may extend from a first end towards a second end along a motor longitudinal axis152. The motor longitudinal axis152may extend substantially parallel with the longitudinal axis150of the nozzle housing107. The first end of the drive motor134may include a motor shaft136, for example, which may be disposed adjacent the second end112-2of the nozzle housing107. The motor shaft136can be coupled to the first and/or second wheels108-1,108-2for driving purposes. Alternatively, or in addition, the motor shaft136can be coupled to one or more of the agitators/brush rolls113(FIG.1E) to drive the same. The first end of the drive motor134may include an air inlet131(FIG.1D). The air inlet131of the drive motor134may be disposed adjacent a motor vent/port132provided by the nozzle housing107. A turbine/fan may be coupled to the drive motor134that, as the drive motor shaft136rotates, a suction force is generated as air is displaced towards the second end of the drive motor134. Alternatively, low pressure zone created by the dirty air passageway may pull air through the motor vent/port132into nozzle cavity109and across the drive motor134. In either case, the suction force may be configured to draw at least 12.0±+−0.5 CFM. The generated suction force may be configured to draw air from an environment surrounding the nozzle housing107, via the motor vent132, and receive the drawn air into the drive motor134by way of the air inlet131of the motor134. Thus, the air drawn into the drive motor134is so-called “clean” air. The received air may then be drawn over one or more heat-generating components within the drive motor134, such as a stator and/or windings for cooling purposes. The received air may then absorb heat from the one or more heat-generating components of the drive motor134. The drive motor134may further include an air outlet adjacent the second end of the drive motor134to output the heated air. The temperature of the air output by the drive motor134in this fashion may be in a range of 25 to 50 Celsius. The air output from the drive motor134can be communicated to the odor control assembly110. As discussed further below, the airflow rate of the air communicated across the drive motor134to the odor control assembly110, and/or temperature of the communicated air, may be advantageously used to enhance and/or control an amount of fragrance particles output by the odor control assembly110during use of the surface cleaning device100. As further shown, the dirty air passageway130is disposed between the odor control assembly110and the drive motor134. FIG.1Eshows a cross-sectional view of the surface cleaning device100taken along line E-E ofFIG.1B. While the drive motor134was previously described as being disposed adjacent the second end112-2of the nozzle housing107proximate the rear112-4(while the odor control assembly110is disposed adjacent the first end112-1of the nozzle housing107proximate the rear end112-4), it should be appreciated that one or more drive motors may be located anywhere in the nozzle housing107. For example, a drive motor138(also referred to herein as a third motor) can also be disposed in the nozzle housing107adjacent to the first and/or second end112-1,112-2of the nozzle housing107proximate the front112-3, and may be configured to drive one or more agitators/brush rolls113. FIG.1Fshows the surface cleaning device100with a cover127(shown, e.g., inFIG.1A) of the nozzle housing107omitted for purposes of clarity. As shown, the nozzle cavity109defines a motor cavity/receptacle140. The motor cavity140may be disposed adjacent the second end112-2of the nozzle housing107. The motor cavity140may be configured to securely mount the drive motor134within the nozzle housing107. The motor cavity140may be further configured to form an air-tight seal, e.g., when the cover127is coupled to the nozzle housing107. The motor cavity140may be fluidly coupled with the motor vent132of the nozzle housing107to draw air to the drive motor134, as discussed above. The motor cavity140may be fluidly coupled to the odor control assembly110. The motor cavity140may be fluidly coupled to the odor control assembly110via one or more motor conduits/channels142. The motor conduit142may be configured to provide air communicated across the drive motor134to the odor control assembly110. In more detail, the motor conduit142may include a first end fluidly coupled to the motor cavity140and/or drive motor134and a second end fluidly coupled to an inlet144of the odor control assembly110. The motor conduit142may extend along a direction that is substantially parallel with the longitudinal axis150(seeFIG.1A) of the nozzle housing107(seeFIG.1A). The motor conduit142can extend at least partially across the dirty air passageway130(or fully across). For example, the motor conduit142may extend at least partially across the dirty air passageway130in a transverse relationship. Alternatively, a conduit, channel, and/or tube can be used to make the coupling between the motor cavity140and/or drive motor134and the inlet144of the odor control assembly110. The odor control assembly110, for example the tray111of the odor control assembly110, may form an air-tight seal with the cover127of the nozzle housing107when the cover127is coupled thereto. An outlet146of the odor control assembly110may be fluidly coupled to the dirty air passageway130. As shown, the outlet146of the odor control assembly110is fluidly coupled to the dirty air passageway130by way of an odor conduit/channel148and aperture160. The odor conduit148may be formed from a straight, Z-shaped, or L-shaped section. Note, the odor conduit148may also be formed from a U-shaped section that forms a trough/channel to direct air output from the outlet146of the odor control assembly110. A bottom surface of the cover127of the nozzle housing107may be configured to couple to the U-shaped section and form a substantially airtight seal with conduit148. This may advantageously allow for the bottom surface of the cover127of the nozzle housing107to define at least a section of the channel/conduit that fluidly couples the outlet146of the odor control assembly110to the dirty air passageway130. Alternatively, a tube can be used to make the coupling between the outlet146of the odor control assembly110and passageway130. FIGS.1G and1Heach show an enlarged section of the nozzle housing107of the surface cleaning device100shown inFIG.1F. In some examples, the inlet144of the odor control assembly110may include a one-way valve. The one-way valve can include a valve member formed from a material such as Ethylene Propylene Diene Monomer (EPDM) rubber or Acrylonitrile Butadiene rubber (also known as Nitrile rubber or Buna) for example. The valve member may be configured to be displaced into a cavity133(which may be at least partially defined by the tray111), for example, based on the air flowing from the drive motor134. The displaced valve member then permits the air communicated from the drive motor134to enter the cavity133. On the other hand, the valve member may be further configured to return (e.g., based on the elasticity of the material forming the valve member) to a seated position against the inlet144, when the flow rate and/or pressure of the air from the drive motor134falls below a threshold (e.g., drive motor134is turned off) to minimize or otherwise substantially prevent air from escaping from the cavity133of the tray111. The outlet146can include a similar configuration to that of the inlet144and can also include a one-way valve configuration. Thus, generally in the absence of air communicated across the drive motor134, the inlet144and/or the outlet146may be configured to close/seal based on a respective valve member returning to a seated position. In the closed/sealed position, each of the inlet144and outlet146may prevent at least 80% of air flow therethrough, for example, prevent at least 90% of air flow through. As further shown, the adjustment member114may be disposed at a user-selected position that at least partially fluidly couples one or more through holes or fragrance passageways162of the fragrance member126(SeeFIG.1D) with the inlet144, and thus by extension the drive motor134to receive the air communicated by the same. The adjustment member114may include a base115(SeeFIG.1G). The base115may also be referred to herein as cap or grip portion. The base115of the adjustment member114may further include first and second arms170-1,170-2extending therefrom (SeeFIGS.1H and1I). The first and second arms170-1,170-2may extend from the base115, e.g., substantially parallel with each other. The first and second arms170-1,170-2may be disposed on opposite sides of the base115. These features of the adjustment member114may also be more clearly seen inFIGS.2D-2G. The cam124(seeFIG.1D) may define first and second apertures164-1,164-2(seeFIGS.1G-1H), for example, which may be disposed opposite each other. The first and second apertures164-1,164-2may align with each other, such as is shown in the example ofFIGS.2H and2I. The first and second apertures164-1,164-2may be configured to generally align with the one or more fragrance passageways162of the fragrance member126when the fragrance member126is disposed between the first and second apertures164-1,164-2of the cam124. The adjustment member114may be configured to rotate relative to the cam124about the first rotational axis122(FIG.1A), with the cam124(and the fragrance member126) remaining in a fixed position. The rotation of the adjustment member114may then bring the first and second arms170-1,170-2of the adjustment member114to a position that at least partially blocks/obstructs the first and second apertures164-1,164-2of the cam124to minimize or otherwise reduce air flow through the fragrance member126. Alternatively, the first and second arms170-1,170-2can be integrated into the nozzle housing107as a continuous, cylindrical extrusion. This extrusion can contain one or more through holes that act as air passageways through the fragrance member126. The adjustment member114, cam124, and fragrance member126may rotate together as one unit while the extrusion in the nozzle housing107remains stationary. The first and second arms170-1,170-2may be configured to selectively block a portion or the entirety of the first and second apertures164-1,164-2such that at least a portion of the air flow through the fragrance member126is prevented, and in the case of the aforementioned closed position for the adjustment member114, substantially all air flow is prevented through the fragrance member126, e.g., at least 90% of air flow is prevented/restricted. Thus, the amount of air passing through the at least one through hole162of the fragrance member126may be selectively increased or decreased based on the alignment of the first and second arms170-1,170-2of the adjustment member114relative to the first and second apertures164-1,164-2of the cam124. The example ofFIG.1Gshows the adjustment member114in an open position. In this open position, the first aperture164-1of the cam124and the at least one through hole162of the fragrance member are fluidly coupled to the inlet144.FIG.1Hshows the example ofFIG.1Gfrom the opposite side. As shown, the first arm170-1of the adjustment member114partially blocks the second aperture164-2of the cam124. Thus, in this example the amount of air flow through the fragrance member126is less a maximum airflow but greater than zero. FIG.1Ishows an enlarged section of the nozzle housing107of the surface cleaning device100shown inFIG.1F. As shown, the adjustment member114may be transitioned to a user-selectable position that fluidly decouples the at least one fragrance passageway162(SeeFIG.1H) of the fragrance member126from the air communicated across the drive motor134based on the first and second arms170-1,170-2of the adjustment member114blocking the first and second apertures164-1,164-2of the cam124. This user-selectable position may also be referred to as a closed position. Note, the adjustment member114is not necessarily limited to a single user-selectable position that fluidly decouples the at least one fragrance passageway162of the fragrance member126from the air communicated across the drive motor134. As further shown inFIG.1I, this closed position may also fluidly couple a bypass path174to the air communicated across the drive motor134. As shown more clearly inFIG.1J, the bypass path174is defined at least in part by the tray111and the outer surfaces of the adjustment member114and/or cam124. The bypass path174may be configured to receive at least 80% of air communicated across the drive motor134, and more preferably at least 99% of air communicated across the drive motor134, when the adjustment member is in the closed position. Conversely, when the adjustment member114is in an open position (such as shown inFIG.1H), air flow through the bypass path174may be at least partially reduced. Returning briefly toFIG.1I, a yoke/projection feature166can be provided by the adjustment member114or the tray111. As shown, yoke feature166may be defined by the tray111and may extend towards the adjustment member114. In this example, the adjustment member114(and/or cam124) can include an outer diameter that varies in width, with the varying width being used to vary the opening to the bypass path174. This feature is analogous to a concentric nut. Accordingly, when the adjustment member114is in the closed position, such as shown inFIG.1H, the opening of the bypass path174may be at a maximum width to permit a maximum predetermined amount of air flow. Conversely, when the adjustment member114is in an open position, such as shown inFIG.1I, the opening to the bypass path174may be closed or otherwise reduced. The odor control assembly110may be configured to utilize the bypass path174to ensure that a substantially equal or constant amount of air flow flows across the drive motor134regardless of the particular user-selected position for the adjustment member114. This may advantageously avoid overheating the drive motor134. Consider an example where a user transitions the adjustment member114to a position that causes 50% of a maximum amount of fragrance particles to be output by the odor control assembly110. In this example, the bypass path174may be configured to receive about half of the air communicated across the drive motor134while the remaining portion is passed through the at least one through hole of the fragrance member126. The bypass path174is preferably configured to receive air communicated across the motor134along a first direction and redirect the received air along a second direction, with the first and second directions being different. More preferably, the first direction may extend away from the motor134and towards the odor control assembly110, and the second direction may extend towards dirty air passageway130. The bypass path174may be curved. Note, the odor control assembly110is not necessarily limited to being fluidly coupled to the drive motor134as discussed above. The odor control assembly110can include the inlet144fluidly coupled to other air sources, such as the suction motor. The odor control assembly110is also not necessarily limited to providing/outputting fragrance particles to the dirty air passageway130of the surface cleaning device100as discussed above. Alternatively, or in addition, the odor control assembly110may output fragrance particles to the environment, e.g., without communicating fragrance particles through the dirty air path130, or may output fragrance particles at a clean air output of the suction motor, for example. As a further note, the odor control assembly110may not necessarily be disposed/mounted on the nozzle housing107as shownFIG.1A. The odor control assembly110can be disposed/mounted on the nozzle housing107at a different location, such as at a center of the nozzle housing107, or mounted on other features/structures of the surface cleaning device100such as the upright section104, on a wand assembly that can couple to the upright section104, on a handle that couples to the upright section104, within a dust cup (not shown), or in a hose to dust cup connection, for example. FIG.2Ashows an exploded view of an example odor control assembly210consistent with aspects of the present disclosure. The odor control assembly210may be used to implement the odor control assembly110ofFIGS.1A-1J, the various features and examples of which are equally applicable to the odor control assembly210and will not be repeated for brevity. The odor control assembly210includes an adjustment member214, a cam224, a fragrance member226, an O-ring225, and a tray211. As shown, the odor control assembly210can further include a conduit/pipe242to fluidly couple to an inlet244defined by the tray211. The conduit242is preferably utilized to fluidly couple air communicated across a drive motor to the odor control assembly210. The odor control assembly210can further include a conduit/pipe248to fluidly couple an outlet246defined by the tray211to a dirty air passageway, such as the dirty air passageway130as discussed above. FIGS.2B and2Cshows the tray211ofFIG.2A. The tray211may include a material such as Acrylonitrile Butadiene Styrene (ABS), Polypropylene, Polyphenylene Ether, Polyoxymethylene or Polypropylene. As shown, a bottom surface201of the tray211may define at least one channel/recess269. The at least one channel269may be configured to receive a portion of the cam224and/or the adjustment member214for coupling purposes. The at least one channel269may be preferably configured to provide a track/guide to allow for rotational movement of the adjustment member214, cam224, and/or fragrance member226, and thus by extension, allows for the adjustment member214to be transitioned between the plurality of user-selectable positions as discussed above. The at least one channel269may be configured to allow for the adjustment member214to be rotated 360 degrees, or limit the movement to less than 360 degrees. For example, and as shown, the at least one channel269is configured to allow for the adjustment member214to rotate a maximum of 120 degrees. As further shown, the at least one channel269preferably further defines one or more position grooves272. More preferably, the at least one channel269may define a plurality of such position grooves272. Each groove of the one or more position grooves272may correspond to a different user-selectable position for the adjustment member214. The adjustment member214may further include a position projection/tab268(SeeFIG.2A) that can be received by each of the one or more position grooves272. The position projection268may extend from the first arm270-1of the adjustment member214. Alternatively, the position projection/tab268may be included in the cam224, but may extend from another portion of the adjustment member214. The position projection268of the adjustment member214and the one or more position grooves272can collectively provide a tongue and groove arrangement. The position projection268is further preferably configured to provide tactile feedback to a user when a user transitions the adjustment member214between the user-selectable positions. The position projection268is further configured to “lock” in place when the adjustment member is transitioned between the plurality of user-selectable positions. When a user desires to change the current user-selected position, the user then supplies a rotational force to the adjustment member214that is sufficient to cause the position projection268to be displaced and/or resiliently deformed, e.g., by the curved sidewalls defining the one or more grooves272. This displacement/resilient deformation of the position projection268generates a counter force/spring force. As rotation of the adjustment member214occurs, the position projection268is then aligned with a next position groove272and the position projection268then “snaps” into the same based on the spring force of the position projection268being released. This advantageously provides tactile feedback to the user to indicate that a next user-selected position has been reached. Also, this tongue and groove arrangement can maintain/hold the adjustment member214at the user-selected position to withstand the movements and/or vibrations that occur during use of the surface cleaning device100. FIGS.2D-2Gshow the adjustment member214ofFIG.2Ain isolation. The adjustment member214may include a material such as Acrylonitrile Butadiene Styrene (ABS), Polypropylene, Polyphenylene Ether, Polyoxymethylene or Polypropylene. In some examples, the adjustment member214may have a cylindrical profile such as shown, although other shapes/profiles are within the scope of this disclosure. FIGS.2H-2Ishow the cam224ofFIG.2Ain isolation. The cam224may include a material such as Polyphenylene Ether, Polyoxymethylene, or polypropylene. In some examples, the cam224may have a cylindrical profile such as shown, although other shapes/profiles are within the scope of this disclosure. The cam224may include first and second apertures264-1,264-2, for example, disposed on generally opposite sides. As discussed above, the first and second apertures264-1,264-2can be aligned with the one or more through holes or fragrance passageways262(See, e.g.,FIGS.2J-2L) of the fragrance member226. The cam224may be fixedly coupled to the fragrance member226and/or to the tray211. Thus, the cam224and the fragrance member226may remain in a fixed position as the adjustment member214is rotated to a given user-selectable position. Alternatively, the adjustment member214, cam224, and fragrance member226can be fixed together while rotating to a given user-selectable position. An additional, stationary component may be provided to partially and/or completely bock the first and second apertures264-1,264-2on the cam224. The adjustment member214may then vary the amount of air passing to the fragrance member226, for example, based on the position of the first and second arms270-1,270-2(seeFIG.2G). The first and second arms270-1,270-2may be configured to at least substantially completely/entirely block the first and second apertures264-1,264-2when the adjustment member214is in the closed position. On the other hand, the first and second arms270-1,270-2may be configured to only partially block/obstruct the first and second apertures264-1,264-2to vary an amount of fragrance particles output by the odor control assembly210, e.g., based on a desired user selection, or not block the first and second apertures264-1,264-2such that a maximum amount of fragrance particles is output by the odor control assembly210. In any such cases, the adjustment member214may adjust the cross-section of the airpath opening to fragrance member226to vary an overall amount of fragrance particles output by the odor control assembly210. FIG.2Jshows the fragrance member226ofFIG.2Ain isolation. The fragrance member226may include a material including at least one of Ethylene-vinyl Acetate, Thermoplastic Polyurethane, and/or Polyolefin. The fragrance member226may be infused with one or more fragrance oils, and/or one or more fragrance oils are disposed on the fragrance member226. The fragrance member226may include the one or more fragrance oils infused and/or disposed on the surfaces defining the one or more through holes or fragrance passageways262. In any such cases, the fragrance member226may be formed as a solid. In some embodiments, the fragrance member226may include a liquid fragrance. The liquid fragrance may be dispensed, for example, using a wick, evaporation, or the like. FIG.2Kshows a cross-sectional view of the fragrance member226taken along line K-K ofFIG.2J. The fragrance member226may include at least one through hole/fragrance passageway262, and optionally may include a plurality of through holes/fragrance passageways262, such as shown. The fragrance member226may have a cylindrical shape. Each through hole/fragrance passageway262may extend through the fragrance member226, for example, in transverse relationship relative to the longitudinal axis. When a plurality of through holes/fragrance passageways262are utilized, such as shown, each of the plurality of through holes/fragrance passageways262may extend substantially in parallel with each other. The through holes/fragrance passageways262may also be collectively referred to as a fragrance air path. The fragrance air path may be formed from one or more through holes/fragrance passageways262, or may alternatively be provided by other features such as a top and/or bottom surface of the fragrance member226. Thus, the fragrance air path provided by the fragrance member226is not necessarily limited to through holes/fragrance passageway262. FIG.2Lshows a cross-sectional view of the fragrance member226taken along line L-L ofFIG.2J. As shown, the fragrance member226preferably has an overall diameter of D1. The overall diameter D1measures preferably in a range of 30 to 50 mm. The overall height H1of the fragrance member226is preferably in a range of 5 to 50 mm. One or more (e.g., each) of the through holes/fragrance passageways262may have an overall height H2that is in a range of 1 to 10 mm. One or more (e.g., each) of the through holes/fragrance passageways262may have a first overall width W1. The first overall width W1may be in a range of 15 to 40 mm, for example, 25 to 35 mm. The opening of the through holes/fragrance passageways262may have a first overall width W1that transitions to a second overall width W2at about a center of the fragrance member226. The second overall width W2may be less than the first overall width W1to provide a tapered section (which may also be referred to herein as an internal taper). The tapered section may be advantageously utilized to increase velocity of air passing through the through holes/fragrance passageways262. The second overall width W2may be in a range of 10 to 35 mm, for example, 20 to 30 mm. The fragrance member226may be configured to emit at least 4 mg/h of fragrance particles, and more preferably, at least 9 mg/h. The fragrance member226may be further preferably configured with an operational/functional life of at least six months, based on a target usage of up to one hour per week, wherein the fragrance member226is configured to emit at least 4 mg/h for at least the six months. FIG.3Ashows another example surface cleaning device300consistent with aspects of the present disclosure. As shown, the surface cleaning device300can include an odor control assembly310that is configured substantially similar to that of the odor control assembly110/210as discussed above. The odor control assembly310may further include an adjustment member312that includes at least one visual indicator. As shown inFIG.3B, the visual indicator can include an array of status lights390that can collectively provide a dial/gauge. The status lights390can be illuminated by one or more LEDs, for example. The dial/gauge may be used to show the currently user-selectable position for the adjustment member312. In the example ofFIG.3A, this can include four open positions. The first position therefore can correspond with a minimum amount of fragrance particles being output by the odor control assembly310and the last position can correspond with a maximum amount of fragrance particles being output by the odor control assembly310. Stated more simply, the three positions may then correspond to 33% output, 66% output and 100% output of fragrance particles by the odor control assembly310, respectively (though it should be understood that the present disclosure is not limited to these outputs and/or number of positions unless specifically claimed as such). Selecting the first position may energize the right most of the status lights390, selecting the second position may energize the two right-most status lights390, and so on. The “closed” position may be indicated by none of the status lights390being energized. The adjustment member312may be configured to be rotated by a user as to transition between these user-selectable positions. Alternatively, or in addition, the adjustment member312can include a touch-sensitive region/surface to allow for a user input a gesture, such as a finger swipe, in order to transition the adjustment member312between user-selectable positions. This embodiment may include linkages/actuators/gears or other mechanical components that can be electrically actuated to adjust the amount of air flow through the associated fragrance member. Still further, adjustment between the user-selectable positions may not necessarily include rotational movement of an adjustment member. For example, the adjustment member may also be implemented as a shutter/sliding door with minor modification. In this example, the adjustment member may then be displaced along a linear path to transition between user-selectable positions. In any such cases, the adjustment member preferably slidably moves between the user-selectable positions to allow for a user to conveniently set an amount of fragrance particles to output during operation of a surface cleaning device. FIG.4Ashows another example surface cleaning device400consistent with aspects of the present disclosure. As shown, the surface cleaning device400can include an odor control assembly410that is configured substantially similar to that of the odor control assembly110/210/310as discussed above. However, the odor control assembly410may further include an adjustment member414that includes a rotatable section415, which is shown more clearly inFIG.4B. As shown, the rotatable section415can transition from a first orientation, such as shown inFIG.4A, to a second orientation, such as shown inFIG.4B. The first orientation for the rotatable section415may include the rotatable section415being flush with surfaces defining the adjustment member414(seeFIG.4B). The second orientation for the rotatable section415may include the rotatable section415extending from the nozzle housing407at a predetermined angle, such as a predetermined angle of 90 degrees. The second orientation of the rotatable section415may therefore be referred to as an extended position. The rotatable section415may include an arcuate profile that defines a through hole498when transitioned to the second orientation such that the rotatable section415may function as a handle. A user may then cause the rotatable section415to rotate from the first orientation to the second orientation, e.g., using a force supplied by one or more fingers. Then, a user can then grip the rotatable section415by inserting one or more fingers into the through hole498. The user may then supply a force to the rotatable section415to cause rotation of the adjustment member414as discussed above to transition the same between a plurality of user-selectable positions for purposes of selecting a desired amount of fragrance particles to be output by the odor control assembly410. The rotatable section415may be rotatably coupled to the adjustment member414via one or more hinges411to transition between the first and second orientations and may also fixedly coupled to the adjustment member414to allow for a user-supplied force to cause rotation (e.g., via torque) of the adjustment member414. Turning now toFIGS.5A-6, another example of a surface cleaning device500having an odor control assembly501consistent with the present disclosure is generally illustrated. In particular, the surface cleaning device500may include an upright section504coupled to a nozzle506. The surface cleaning device500may include any of the features described herein which, for the sake of brevity, will generally not be repeated. The nozzle506may include one or more drive motors508which may be configured to rotate one or more agitators510(which may be at least partially disposed within one or more agitator chambers512) as generally described herein. The nozzle506(e.g., the agitator chamber512) may be fluidly coupled to the upright section504by way of a dirty air passageway514. The odor control assembly501may be configured to receive air (e.g., atmospheric air505communicated across the drive motor508), to adjust the amount of fragrance and/or neutralizer dispensed by the odor dial assembly516into the fragranced air507. The fragranced air507may flow into the dirty air passageway514and/or may be dispensed substantially directly to the atmosphere (e.g., may not flow through the filters associated with the surface cleaning device500). The odor control assembly501may include at least one odor dial assembly516configured to be removable coupled to a tray518in the surface cleaning device500. In particular,FIGS.5A-5Bgenerally illustrates the odor dial assembly516coupled to the tray518andFIG.6generally illustrates the odor dial assembly516removed from the tray518. The tray518may be formed by the nozzle506, for example, by the housing503of the nozzle506. The odor dial assembly516and/or the nozzle506(e.g., but not limited to, the housing503and/or the tray518) may include one or more visual indicators550configured to represent the amount of fragrance being dispensed. For example, the visual indicators550may represent a minimum and/or off fragrance strength position, a maximum fragrance strength position, and/or any number of intermediate fragrance strength positions. In the illustrated example, the visual indicators550may include indicia which progressively increases in size corresponding to increasing fragrance strength positions. Alternatively (or in addition), the visual indicator550may include a display (e.g., but not limited to, a Liquid crystal display (LCD), a Light-emitting diode (LED) backlit LCD, a Thin-film transistor (TFT) LCD, a Quantum dot (QLED) display, a Light-emitting diode (LED) display, an OLED display, an AMOLED display, and/or a Super AMOLED display) and/or one or more individual LEDs configured to represent the fragrance strength position of the odor dial assembly516. Optionally, one or more sensors may be provided. In at least one example, an odor detection sensor may be included downstream of the odor dial assembly516to detect the amount of fragrance being dispensed. One or more sensors may also be provided to detect the remaining amount or level of the fragrance within the odor dial assembly516. This information may be shown on any of the displays. Alternatively (or in addition), the odor dial assembly516may include locking and/or unlocking indicia555. The locking and/or unlocking indicia555may indicate to the user when the odor dial assembly516is in the insert/removal position and/or when the odor dial assembly516is in a locked or fixed position and cannot be removed from the tray518. Turning toFIG.7A, the user may insert and remove the odor dial assembly516into/out of the tray518by positioning the odor dial assembly516in a predetermined alignment with respect to the tray518. The alignment may be facilitated by one or more alignment indicia520on the odor dial assembly516and/or the tray518. The user may manipulate the odor control assembly501to adjust the amount of fragrance and/or neutralizer dispensed by the odor dial assembly516, for example, by rotating the odor dial assembly516about a dial rotational axis522. The odor dial assembly516may be rotated to a plurality of positions. For example, the odor dial assembly516may be rotated between the insertion/removal position (as generally illustrated inFIG.7A) to a minimum strength position (as generally illustrated inFIG.7B), a maximum strength position (as generally illustrated inFIG.7C), and/or any number of intermediate positions. In the minimum strength position (as generally illustrated inFIG.7B), the odor dial assembly516may be rotated counterclockwise around 27.5 degrees and will set the fragrance strength into the minimum setting. Optionally, the odor control assembly501may include one or more intermediate or medium strength settings (e.g., between the minimum and maximum settings), each of which may be correspond to about 27.5 degrees rotation past the previous position. In the maximum strength position, the odor dial assembly516may be rotated around 110 degrees and the user will set the fragrance strength to the maximum setting. In at least one example, the various positions may correspond to predefined positions. Alternatively, the odor dial assembly516may be infinitely variable. Of course, the present disclosure is not limited to the specific degrees of rotation unless specifically claimed as such. It should be appreciated that the order of the different positions relative to each are not limited to those shown. With reference toFIG.8, one example of an odor dial assembly516consistent with the present disclosure is generally illustrated. The odor dial assembly516may include a dial body802configured to be removably secured to the tray518and configured to receive one or more fragrance members804(also referred to as a fragrance puck). The dial body802may have a generally circular cross-section and may be configured to generally form one or more seals with the nozzle506(e.g., the tray518) and may optionally define a fragrance cavity806configured to receive and generally enclose the fragrance member804. The dial body802and/or the fragrance members804may define one or more fragrance passageways808configured to allow air (e.g., atmospheric air505communicated across the drive motor508) to flow over/past the fragrance members804to transfer fragrance particles into the air to form the fragranced air507. The dial body802may also optionally include one or more air by-pass flow paths810. As explained herein, the air by-pass flow paths810may be configured to ensure that a sufficient amount of air is able to flow across the drive motor508even when the odor control assembly501is in a minimum and/or off position, e.g., by providing an alternative airpath that substantially does not transfer any fragrance particles. Turning now toFIG.9, an exploded view of one example of the odor dial assembly516is generally illustrated. The dial body802may include a cartridge or base902and a cap or dial904. The cartridge902and cap904may be configured to be removable coupled to each other to at least partially form the fragrance cavity806and the fragrance passageway808. In the illustrated example, the cartridge902includes an entrance906and an exit (not visible inFIG.9) to the fragrance passageway808. Atmospheric air may flow through the entrance906, across the fragrance member804, and out of the exit. The cap904may optionally include one or more rotatable sections908that functions as a handle or D-ring to aid in insertion and removal of the odor dial assembly516. The rotatable section908may be coupled to cap904, for example, by way of one or more hinges910or the like. The cap904may also optionally include a fixed ring912secured to the cap904. As noted above, the cartridge902and cap904may be configured to be removable coupled to each other to at least partially form the fragrance cavity806and the fragrance passageway808. The cartridge902and cap904may be removably secured to each other in any manner known to those skilled in the art such as, but not limited to, threaded connections, tabs, detents, clips, or the like. The coupling of the cartridge902and cap904may be facilitated by one or more cap alignment indicia1002, one example of which is generally illustrated inFIG.10. One benefit of the removable connection between the cartridge902and cap904is that is allows for the replacement of the cartridge902and the fragrance member804to be accomplished without the user having to touch the fragrance member804and without having to replace the entire odor dial assembly516. In particular, when the user desires to replace the fragrance member804, the user may purchase the cartridge902which is preloaded with the fragrance member804. The user may then disconnect the cartridge902(which includes the fragrance member804) from the cap902and then connect a new cartridge902(in which the fragrance member804is preloaded therein) to the existing cap902. Turning now toFIG.11, one example of the cartridge902is generally illustrated. The cartridge902may include one or more sidewall1102, for example, extending upwardly from a base1104. The sidewall1102(and optionally the base1104) may define a puck chamber1106configured to receive the fragrance member804. The puck chamber1106may be the same as the fragrance cavity806or may define a portion of the fragrance cavity806. The sidewall1102may also at least partially define the entrance906and exit1108to the fragrance passageway808. In the illustrated example, the entrance906and exit1108to the fragrance passageway808are generally aligned 180 degrees opposite each other; however, it should be appreciated that the entrance906and exit1108may be aligned at any other angle. The sidewall1102may optionally include one or more puck alignment features1110. The puck alignment features1110are configured to align the fragrance member804relative to the entrance906and exit1108. In the illustrated example, the puck alignment features1110include grooves configured to receive corresponding tabs1202(FIG.12) of the fragrance member804and to align the passageway1204extending through the body1206of the fragrance member804with the entrance906and exit1108. The entrance906, exit1108, and the passageway1204may collectively define (at least in part) the fragrance passageway808. The height H of the entrance906and/or exit1108may vary across the width W. In particular, the height H may be less proximate one or more of the ends of the width and larger in-between (e.g., the middle). The varying height H may facilitate the adjustment of the airflow through the fragrance passageway808as the odor dial assembly516is rotated. The passageway1204extending through the body1206of the fragrance member804may include a through hole aligned with the entrance and the exit of the fragrance air path. The through hole may define a passage through the fragrance member804which is surrounded by the fragrance member804and having an entrance and an outlet. The through hole may also have a cross-section that corresponds to the cross-section of the entrance906, exit1108. A benefit of the through hole in the fragrance member804is that it increases the surface area available to transfer fragrance particles into the air flowing through the fragrance member804. With reference toFIGS.10,11, and13A-13B, one example of the air by-pass flow path810is generally illustrated. In the illustrated example, the cartridge902may include a one or more by-pass sidewalls or skirts1302, e.g., extending downwardly from the base1104. The by-pass sidewall1302may extend generally around at least a portion of the periphery or perimeter of the base1104of the cartridge902, though this is not a limitation of the present disclosure unless specifically claimed as such. For example, the by-pass sidewall1302may extend generally around only a portion of the bottom of the cartridge902. The cartridge902may include one or more by-pass entrances1304and by-pass exits1306to the air by-pass flow path810. The by-pass entrances1304and by-pass exits1306may be separated by one or more divider walls1308. The by-pass sidewall1302and the divider walls1308may be configured to generally rotate against and generally seal with the tray518, for example, the bottom surface or base of the tray518. The by-pass sidewall1302, the divider walls1308, the base1104(and optionally the tray518) may at least partially collectively define the air by-pass flow path810through the odor dial assembly516. It should be appreciated that the cartridge902may optionally include a wall extending from the distal ends of the by-pass sidewall1302and the divider walls1308that defines the opposite side of the air by-pass flow path810. As explained herein, rotation of the odor dial assembly516(e.g., the cartridge902) may selectively fluidly couple the by-pass entrance1304and/or by-pass exit1306to the air by-pass flow path810, thereby adjusting the airflow rate through the air by-pass flow path810. The bottom surface of the cartridge902may optionally include a slot or the like that allows for easy disconnection of the cartridge902from the cap904. This may allow a user to remove the cartridge902without having to touch the cartridge902. Turning now toFIGS.14A-14B, one example of the cap904is generally illustrated. As noted herein, the cap904may be configured to be removably coupled to the cartridge902in any manner known to those skilled in the art. The cap904may include one or more locking grooves1402configured to engage with one or more locking protrusions or tabs1502(see, e.g.,FIG.15) associated with the tray518. The locking grooves1402and locking protrusions1502may be configured to urge the odor dial assembly516into engagement with the nozzle506(e.g., the tray518) to generally seal the odor dial assembly516as explained herein, while also allowing the odor dial assembly516to rotate. In at least one example, at least a portion of the locking grooves1402and locking protrusions1502may have a ramped profile. The locking grooves1402may be formed in a sidewall1406, for example, that generally extends around at least a portion of the perimeter or periphery of the top surface1408of the cap904. Each locking grooves1402may include an entrance1410. The entrances1410may be arranged asymmetrically about the cap904such that the entrances1410only align with the locking protrusions1502in a single orientation, thereby preventing the odor dial assembly516from being inadvertently inserted into the tray518incorrectly. The entrances1410may also have different sizes and/or shapes. The cap904may optionally include one or more raised ribs1412. The ribs1410may extend downwardly from the top surface1408generally into the fragrance cavity806and/or the puck chamber1106and are configured to generally limit movement of the fragrance member804, prevent the fragrance member804from being inserted upside down, and/or prevent the cartridge902from being inserted upside down into the cap904. Turning toFIG.15, one example of the tray518(which also may be referred to as an odor base) is generally illustrated. The tray518may be formed, at least in part, by the nozzle506, for example, by the housing503of the nozzle506. The tray518may include a recess or the like1504having an opening1506configured to at least partially receive the odor dial assembly516. With reference toFIGS.16A-16B, the tray518may include one or more sidewalls1602and optionally a base1604. The tray518may include an odor inlet1606and an odor outlet1608. The odor inlet1606may be configured to fluidly couple the tray518to the motor conduit142(see, e.g.,FIG.17), which itself may include an end fluidly coupled to the motor cavity140and/or drive motor134as generally described herein. The odor inlet1606and/or odor outlet1608(see alsoFIGS.18-20) may have a shape substantially corresponding to the shape of the entrance906and exit1108of the odor dial assembly516(e.g., in the cartridge902). As explained herein, the odor dial assembly516is configured to be rotated to adjust the alignment of the entrance906and exit1108of the odor dial assembly516relative to the odor inlet1606and/or odor outlet1608of the tray518to thereby adjust the flowrate through the odor dial assembly516(and therefore the amount of fragrance introduced into the air). As the alignment of the odor inlet1606and/or odor outlet1608of the odor dial assembly516relative to the entrance906and exit1108of the tray518increases (i.e., they become more aligned), the flowrate through the odor dial assembly516increases. Conversely, if the odor dial assembly516is rotated such that the entrance906and exit1108of the odor dial assembly516do not align with the odor inlet1606and/or odor outlet1608of the tray518, then the flowrate through the odor dial assembly516may be minimized and/or generally prevented. For example, the sidewall1102of the cartridge902may block all or a portion of the odor inlet1606and/or odor outlet1608of the tray518. The tray518may also optionally include one or more by-pass inlets1620and by-pass outlets1622(see alsoFIGS.16A-16B and18-20) which fluidly couple the tray518to the bypass path174as generally described herein. The by-pass inlet1620may be configured to fluidly couple the tray518to the bypass path174, and the by-pass outlet1622may be configured to fluidly couple the tray518dirty air passageway514. The by-pass inlet1620and/or by-pass outlet1622may have a shape substantially corresponding to the shape of the entrance1304and exit1306of the odor dial assembly516(e.g., in the cartridge902). The by-pass inlet1620and/or by-pass outlet1622may be separated by a by-pass divider wall1630. As explained herein, the odor dial assembly516is configured to be rotated to adjust the alignment of the by-pass entrance1304and by-pass exit1306of the odor dial assembly516relative to the by-pass inlet1620and/or by-pass outlet1622of the tray518to thereby adjust the flowrate of the air by-pass810through and/or under the odor dial assembly516. As the alignment of the by-pass entrance1304and by-pass exit1306of the odor dial assembly516relative to the by-pass inlet1620and/or by-pass outlet1622of the tray518increases (i.e., they become more aligned), the flowrate through/under the odor dial assembly516increases. Conversely, if the odor dial assembly516is rotated such that the by-pass entrance1304and by-pass exit1306of the odor dial assembly516do not align with the by-pass inlet1620and/or by-pass outlet1622of the tray518, then the by-pass flowrate810through the odor dial assembly516may be minimized and/or generally prevented. For example, the by-pass sidewall1302of the cartridge902may block all or a portion of the by-pass inlet1620and/or by-pass outlet1622of the tray518. The tray518may also optionally include one or more seals or sealing surfaces1610(e.g., best seen inFIGS.16A-16B) configured to sealingly engage with the odor dial assembly516. The seal1610may include a resiliently deformable material such as, but not limited to, an O-ring or the like. In the illustrated example, the seal1610may disposed on a ledge1612formed in/on the sidewall1602and may be configured to sealingly engage with a corresponding ledge820(FIG.8) formed by the cap904when the odor dial assembly516is received in the tray518. Of course, this arrangement may be reversed, and other seals are within the scope of the present disclosure. With reference toFIG.17, the tray518may also optionally include a cam1702. The cam1702may include a plurality of detent grooves1704which correspond to the plurality of predefined positions of the odor dial assembly516(e.g., but not limited to, the insertion/removal position, the minimum strength position, one or more intermediate strength positions, and/or a maximum strength position). In particular, the odor dial assembly516may include a one or more resilient detent levers1320(best seen inFIGS.13A-13B) configured to engage the detent grooves1704. The interaction between the detent grooves1704and the detent levers1320allows the user to easily identify the different strength positions of the odor dial assembly516relative to the tray518. In the illustrated example, the cam1702may be located on the base1604of the tray518and the resilient detent levers1320may be located on the base1104of the odor dial assembly516, though this is not a limitation of the present disclosure unless specifically claimed as such and the cam1702and resilient detent levers1320may be located anywhere on the tray518and odor dial assembly516. Turning toFIG.21, one example generally illustrating the airflows paths through odor dial assembly516and the tray518is generally illustrated. The ambient (atmospheric) air2102may flow across the drive motor508where heat from the drive motor508may be transferred into the air. The heated air2104may selectively flow through the motor conduit142to the odor inlet1606and/or odor outlet1608of the tray518and the entrance906and exit1108of the odor dial assembly516as generally described herein. Optionally, a portion of the heated air2104may selectively flow through the air by-pass flow path810to the by-pass inlet1620and/or by-pass outlet1622of the tray518and the by-pass entrance1304and by-pass exit1306of the odor dial assembly516as generally described herein. The nozzle506may optionally include a dedicated motor cooling airpath2106which may bypass the odor control assembly501. FIGS.22-33generally exemplary orientations of the odor dial assembly516in various positions, the resulting alignments of the odor inlet1606and odor outlet1608of the tray518relative to the entrance906and exit1108of the odor dial assembly516, the resulting alignments of the by-pass inlet1620and/or by-pass outlet1622of the tray518relative to the by-pass entrance1304and by-pass exit1306of the odor dial assembly516, as well as the resulting airflow paths. In particular, FIGS.22-24generally illustrate the odor dial assembly516in the maximum strength position. In the maximum strength position, the by-pass inlet1620and/or the by-pass outlet1622of the tray518are not aligned with the by-pass entrance1304and/or by-pass exit1306of the odor dial assembly516(e.g., the by-pass outlet1622is generally sealed by the by-pass sidewall1302) as generally illustrated inFIG.22. As such, air by-pass flow path810may not flow through the tray518and the odor dial assembly516. In addition, the odor inlet1606and odor outlet1608of the tray518are aligned with the entrance906and exit1108of the odor dial assembly516as generally illustrated inFIG.23such that substantially all of the air will flow through the fragrance passageways808of the odor dial assembly516as generally illustrated inFIG.24. FIGS.25-27generally illustrate the odor dial assembly516in the minimum strength position. In the minimum strength position, the by-pass inlet1620of the tray518is aligned with the by-pass entrance1304of the odor dial assembly516and the by-pass outlet1622of the tray518is aligned with the by-pass exit1306of the odor dial assembly516as generally illustrated inFIG.25. As such, air by-pass flow path810may through the tray518and the odor dial assembly516. In addition, the odor inlet1606and odor outlet1608of the tray518may be not aligned with the entrance906and exit1108of the odor dial assembly516as generally illustrated inFIG.26such that a minimum or no air will flow through the fragrance passageways808of the odor dial assembly516as generally illustrated inFIG.27. FIGS.28-30generally illustrate the odor dial assembly516in a first intermediate strength position. In the first intermediate strength position, the by-pass inlet1620and the by-pass outlet1622of the tray518are partially aligned with the by-pass entrance1304and by-pass exit1306of the odor dial assembly516as generally illustrated inFIG.28. As such, air by-pass flow path810may flow through the tray518and the odor dial assembly516. In addition, the odor inlet1606and odor outlet1608of the tray518are partially aligned with the entrance906and exit1108of the odor dial assembly516as generally illustrated inFIG.29such that some air will flow through the fragrance passageways808of the odor dial assembly516as generally illustrated inFIG.30. FIGS.31-33generally illustrate the odor dial assembly516in a second intermediate strength position. In the second intermediate strength position, the by-pass inlet1620and/or the by-pass outlet1622of the tray518are not aligned with the by-pass entrance1304and/or by-pass exit1306of the odor dial assembly516(e.g., the by-pass outlet1622is generally sealed by the by-pass sidewall1302) as generally illustrated inFIG.31. As such, air by-pass flow path810may not flow through the tray518and the odor dial assembly516. In addition, the odor inlet1606and odor outlet1608of the tray518are partially aligned with the entrance906and exit1108of the odor dial assembly516as generally illustrated inFIG.32such that some air will flow through the fragrance passageways808of the odor dial assembly516as generally illustrated inFIG.33. It should be appreciated that the surface cleaning devices and the nozzles described herein may include any surface cleaning devices and the nozzles known to those skilled in the art including, but not limited to, upright vacuums, cordless vacuums, stick vacuums, wand vacuums, canister vacuums, robot vacuums, or the like. While the principles of the disclosure have been described herein, it is to be understood by those skilled in the art that this description is made only by way of example and not as a limitation as to the scope of the disclosure. Other embodiments are contemplated within the scope of the present disclosure in addition to the exemplary embodiments shown and described herein. It will be appreciated by a person skilled in the art that a surface cleaning apparatus may embody any one or more of the features contained herein and that the features may be used in any particular combination or sub-combination. Modifications and substitutions by one of ordinary skill in the art are considered to be within the scope of the present disclosure, which is not to be limited except by the claims.

11857139

DETAILED DESCRIPTION Two-in-one mobile cleaning robots can include a retractable or movable mopping pad to allow the robot to perform only vacuuming operations or to perform vacuuming and mopping operations. Optionally, only mopping operations can be performed. Regardless of performance mode options, in two-in-one mobile cleaning robots, the mopping pad can be moved between a stored position and an extended or mopping position. This versatility can help to improve vacuuming operation effectiveness and mobility when the pad is stored and can allow for the robot to store the pad for vacuuming of surfaces that cannot or should not be mopped (e.g., carpet). However, when the pad is in the mopping or cleaning position, the dynamics of the robot suspension are changed due to the pad's engagement with the ground because forces must be applied to the pad for effective mopping, which can cause forces applied to other components, such as a drive wheel, to be reduced. As such, it is desirable to alter the suspension of the robot depending on the operating mode (mopping or vacuuming) of the robot and position of the cleaning pad assembly. This disclosure helps to address this issue by including an adjustable suspension system in a mobile cleaning robot. For example, a mobile cleaning robot can include a body, a drive wheel, and a wheel stop. The drive wheel can be connected to the body and can be operable to move the mobile cleaning robot about an environment. The wheel stop can be movable with respect to the body and the drive wheel between a stop position and a release position. The wheel stop can be engageable with the drive wheel in the stop position to help distribute force to the drive wheels in the vacuuming mode, which can help to ensure load applied through the cleaning head is in a good operating range. When the wheel stop is in the stop position when the robot is in a vacuuming mode, a caster or skid carries a portion of the weight of the robot and the wheels carry a relatively high percentage of the weight such that hard stops or wheel stops are used to limit wheel travel with respect to the body and are used to set the height of the robot precisely so that the cleaning head is engaged with the floor with the right amount of force. However, when the pad is moved to a deployed position, force must be applied by the pad to the floor surface for cleaning effectiveness of the pad. This means the optimized load distributed through the wheels is not the same as in the vacuuming mode, and the wheel travel in the mopping mode can be relatively larger than the vacuuming mode. To address these issues, in the mopping mode, the wheel stop can be moved such that the fender is engageable with a chassis (or skid or other object) to transfer load of the robot rearward to help increase a force applied by the mopping pad on the floor surface. Such a movable wheel stop can allow for improved suspension performance, cleaning performance, and mobility in multiple operating or cleaning modes. The above discussion is intended to provide an overview of subject matter of the present patent application. It is not intended to provide an exclusive or exhaustive explanation of the invention. The description below is included to provide further information about the present patent application. FIG.1Aillustrates an isometric view of a mobile cleaning robot100with a pad assembly in a stored position.FIG.1Billustrates an isometric view of the mobile cleaning robot100with the pad assembly in an extended position.FIG.1Cillustrates an isometric view of the mobile cleaning robot100with the pad assembly in a mopping position.FIGS.1A-IC also show orientation indicators Front and Rear.FIGS.1A-1Care discussed together below. The mobile cleaning robot100can include a body102and a mopping system104. The mopping system104can include arms106aand106b(referred to together as arms106) and a pad assembly108. The robot100can also include a bumper110and other features such as an extractor (including rollers), one or more side brushes, a vacuum system, a controller, a drive system (e.g., motor, geartrain, and wheels), a caster, sensors, or the like, as shown in U.S. Patent Application Ser. No. 63/088,544, entitled “Two In One Mobile Cleaning Robot,” filed on Oct. 71, 2020, to Michael G. Sack, which is incorporated by reference above. A proximal portion of the arms106aand106bcan be connected to an internal drive system (such as shown and discussed in U.S. Patent Application Ser. No. 63/088,544). A distal portion of the arms106can be connected to the pad assembly108. The robot100can also include a controller11that can be located within the housing or body102and can be a programable controller, such as a single or multi-board computer, a direct digital controller (DDC), a programable logic controller (PLC), or the like. In other examples the controller111can be any computing device, such as a handheld computer, for example, a smart phone, a tablet, a laptop, a desktop computer, or any other computing device including a processor, memory, and communication capabilities. The memory can be one or more types of memory, such as volatile or non-volatile memory, read-only memory (ROM), random-access memory (RAM), magnetic disk storage media, optical storage media, flash-memory devices, and other storage devices and media. The memory can be located within the housing102, connected to the controller111and accessible by the controller111. In operation of some examples, the controller111can operate the arms106to move the pad assembly108between a stored position (shown inFIG.1A), an extended position (shown inFIG.1B), and an operating or mopping position (shown inFIG.1C). In the stored position or mobility position, the robot100can perform vacuuming operations only. In the mopping position, the robot can perform wet or dry mopping operations and vacuuming operations or can perform only mopping operations. FIG.2Aillustrates an isometric view of a portion of the mobile cleaning robot100.FIG.2Billustrates an isometric view of a portion of the mobile cleaning robot100.FIG.2Cillustrates an isometric view of a portion of the mobile cleaning robot100.FIG.2Dillustrates an isometric view of a portion of the mobile cleaning robot100.FIG.2Eillustrates an isometric view of a portion of the mobile cleaning robot100.FIG.2Fillustrates an isometric view of a portion of the mobile cleaning robot100.FIGS.2A-2Fare discussed together below. The mobile cleaning robot100ofFIGS.2A-2Fcan be consistent with the mobile cleaning robot100ofFIGS.1A-1C;FIGS.2A-2Fshow additional details of the mobile cleaning robot100. For example,FIG.2Ashows drive wheels112aand112b(collectively referred to as drive wheels112), fenders114aand114b(collectively referred to as fenders114), wheel stops116aand116b(collectively referred to as wheel stops116), and a drive system118. The drive system118can include a cross-shaft120, gearboxes122aand122b, a motor124, and an encoder126. The drive wheels112can be supported by the body102(shown inFIGS.1A-1C) of the robot100, can be located at least partially within the housing102, and can extend through a bottom portion of the housing102. The wheels112can also be connected to and rotatable with a shaft; the wheels112can be configured to be driven by motors to propel the robot100along a surface of the environment, where the motors can be in communication with a controller111to control such movement of the robot100in the environment. The fenders114aand114bcan be rigid or semi-rigid fenders or guards surrounding at least a portion of the wheels112aand112b, respectively. The fenders114aand114bcan be associated with or part of an assembly including the drive wheels112aand112b, respectively. The fenders114aand114b, can be spaced from the wheels112aand112b, respectively, and can move therewith to maintain a fixed (or substantially fixed) distance between respective drive wheels112and fenders114. As discussed in further detail below, the fenders114aand114bcan be engageable with the wheel stops116aand116b, respectively, or the body102to set a wheel travel of the robot100. Optionally, the wheel stops116aand116bcan engage another component of the wheel assembly to set the wheel travel and force distribution. The wheel stops116aand116bcan be rigid or semi-rigid suspension components (travel stops) located near the fenders114aand114b, respectively. The wheel stops116aand116bcan be connected to the gearboxes122aand122b, respectively, such that movement of the gearboxes122can cause movement (e.g., translation) of the wheels stops116with respect to the body102and with respect to the wheels112and fenders114between a stop position and a release position. The wheel stops116can be engageable with the fenders114(or wheels112or wheel assemblies) in the stop position to limit vertical travel of the drive wheels112with respect to the body102and to transfer additional weight of the robot100to the drive wheels112. The wheel stops116can also be positioned to avoid contact with the fenders114or drive wheels112in the release position, such as to allow different wheel travel (e.g., greater wheel travel) than when the stops116are in the stop position, which can transfer additional weight or load of the robot100to a rear portion to increase load or weight of the robot applied through the pad assembly108. The motor124of the drive system can be connected to an encoder126(and optionally to a gear train or gearbox). The motor124can be connected to the cross-shaft120, which can extend between the gearboxes122aand122bsuch as to deliver rotation from the motor124to the gearboxes (or gear assemblies)122aand122b(to move the wheel stops116) to change the mode of the mobile cleaning robot100between a vacuuming mode and a mopping mode. The vacuuming mode can be a mode of operation of the robot100where the pad assembly108is in the stored position or is not in the deployed position, where the robot100can optionally performing cleaning operations such as vacuuming, and can perform navigation operations. The mopping mode can be a mode of operation of the robot100where the pad assembly108is in a deployed (or at least partially-deployed) condition or state such that the pad assembly108can perform mopping (e.g., dry mopping or wet mopping) operations and can optionally perform vacuuming operations and navigation operations. The cross-shaft120can be a single piece shaft or a multiple piece shaft. The cross-shaft120can be aligned (co-axial) with the driven gear of the gearboxes122aand122b, but can optionally be offset from the gearboxes122, such as to save space within the body102of the robot100. The pad assembly108can be connected to the drive system118via the arms106aand106bconnecting to the gearboxes122aand122b, respectively (such as indirectly). In operation of some examples, the pad assembly can be in a stored position (as shown inFIGS.1A and2B) where a large percentage of the weight of the robot100can be transferred through the drive wheels112, which can improve navigation of the robot100through carpeting and over thresholds and can help to ensure a proper force is distributed through a cleaning head of the robot100. In such a position, the vertical wheel travel can be smaller (relative to wheel travel in the vacuuming mode) and can be dictated, at least in part, by contact between a top surface of the fenders114aand114band a bottom surface of the wheel stops116aand116b, respectively. When it is desired to operate the robot100in a mopping mode, the drive system118can be operated (such as by the controller111) to move the pad assembly108from the stored position in the vacuuming mode and the mopping position (as shown inFIGS.1C and2C) in the mopping mode. Once the pad assembly108reaches a floor surface (as shown inFIGS.2C and2D), the drive system118can operate the gearboxes122aand122bto translate the wheel stops116aand116bin the direction D (rearward) away from the wheels112aand112band fenders114aand114b, respectively. Optionally, the wheel stops can be configured to translate in the opposite direction to direction D (forward). The translation can continue until the fenders114aand114bare relatively unimpeded by the wheel stops, as shown inFIG.2F. With the wheel stops116aand116bclear of the fenders114aand114b, respectively, the wheel travel can be increased, as discussed below, and a force applied by the pad assembly108can be increased. FIG.3Aillustrates an isometric view of a portion of the mobile cleaning robot100.FIG.3Billustrates an isometric view of a portion of the mobile cleaning robot100.FIGS.3A and3Bare discussed together below. The mobile cleaning robot100ofFIGS.3A-3Bcan be consistent with the mobile cleaning robot100ofFIGS.1A-2F. As discussed above, when the wheel stops116aand116bare moved clear of the fenders114aand114b, respectively, the wheel travel of the drive wheels112can be dictated by engagement between the fenders114and a bottom portion of the chassis or housing102, such that the wheel travel of the drive wheels112can be increased as indicated by a gap G between the fender114aand a bottom of the chassis or body102, shown inFIGS.3A and3B(where the gap G ofFIG.3Bis larger). FIGS.3A and3Balso show that the gearbox122a(and122b) can include a drive gear128, a reversing gear130, and a Geneva gear132(or timing gear or timing mechanism). The Geneva gear132can include a boss134and the wheel stop116acan include a slot136. Together, the gears can work to transform rotation of the drive shaft120into translation of the wheel stop116a. The gearbox122band the wheel stop116bcan operate similarly. More specifically, the drive gear128, the reversing gear130, and the Geneva gear132can be located at least partially within a housing138of the gearbox122a. The housing138can include or can receive bearings (such as pins, bosses, or ball bearings) configured to support each of the gears (128,130,132). The driven or driving gear128can be connected to the cross-shaft120and can be engaged with the reversing gear130to reverse a direction of rotation of the cross-shaft120. The Geneva gear132can be relatively larger than the driving gear128, such that the driving gear128can rotate faster than the Geneva gear132, such as to have a gear ratio of between 1.5:1 and 2.5:1. In some examples, the driving gear128and the Geneva gear132can have a ratio of about 2.2:1. The boss134of the Geneva gear132can be engaged with the slot136of the wheel stop116ato form a timing mechanism for movement of the wheel stop116a. That is, the boss134of the Geneva gear132can engage the slot136to cause translation of the wheel stop116ain response to rotation of the Geneva gear132, but only during a portion of the travel (rotation) of the Geneva gear132about its axis. The boss134can be positioned on the Geneva gear132such that it does not engage the slot136until the pad assembly108engages the floor surface. Once the boss134engages the slot136, the wheel stop116can be translated away from the fender114by the Geneva gear132. In this way, the gearbox122acan be timed with respect to the drive system118to ensure that there is sufficient clearance between the body102and the floor surface50for the pad assembly108to fit under the body102. This helps ensure that the drive system118does not have to apply force to lift the robot100off the floor surface to move the pad assembly108to a position (at least partially) underneath the body102. Instead, the wheel stops116remain in position (to limit the wheel travel) until after the pad assembly108is engaged with the floor surface and is therefore distributing load or weight of the robot100to the floor surface through the pad assembly108before the Geneva gear132moves the wheel stop116a, releasing more weight or load onto the pad assembly108. Referring back toFIGS.2D-2F, it can be seen that once the pad assembly108engages the floor, the boss134can engage the slot. As the boss134continues to rotate (clockwise from the perspective ofFIGS.2D-3B), the slot136is engaged and the wheel stop116ais translated in the direction D, as shown inFIG.2E. The boss134can continue to drive translation of the wheel stop116auntil the wheel stop engages the housing138, as shown inFIG.2F, or until the controller111stops rotation of the motor124, such as based on a signal from the encoder126. To translate the wheel stop116aback to the mobility position (over the fender114a), the motor124can be operated to rotate the shaft120in the opposite direction to ultimately drive the Geneva gear132and the boss134to rotate in the opposite direction (counter-clockwise from the perspective ofFIGS.2D-3B) to cause the boss134to engage the slot136and cause translation of the wheel stop116ato a position above the fender114a. Such a process can be used as necessary each time a mode (e.g., vacuuming mode or mopping mode) is changed. FIG.4illustrates an isometric view of a portion of the mobile cleaning robot100. The mobile cleaning robot100ofFIG.4can be consistent with the mobile cleaning robot100ofFIGS.1A-3B.FIG.4shows, more clearly, that the encoder126can be connected to the drive system118and the cross shaft120. As such, the encoder126can monitor a position of the cross-shaft120(or a shaft driving the cross-shaft120) that can be transmitted through a position signal (or encoder signal) to the controller111. The controller111can thereby determine a position of the pad assembly108with respect to the robot and can determine a position of the wheel stops116with respect to the wheels112(and fenders114). The controller111can use these positions to guide movement and actions of the robot100. FIG.5Aillustrates an isometric view of a portion of the mobile cleaning robot100.FIG.5Billustrates an isometric view of a portion of the mobile cleaning robot100.FIG.5Cillustrates an isometric view of a portion of the mobile cleaning robot100.FIGS.5A-5Care discussed together below. The mobile cleaning robot100ofFIGS.5A-5Ccan be consistent with the mobile cleaning robot100ofFIGS.1A-4;FIGS.5A-5Cshow additional details of the robot100. For example,FIG.5Ashows that the Geneva gear132can include a collar140and the wheel stop116acan include supports142aand142b(also shown inFIG.5C). The collar140can be a portion of the Geneva gear132extending around a portion of a circumference of the axis of the gear132and can form a ledge to engage either of the supports142aor142bto help transmit forces between the wheel stop116and the body102. When the wheel stop116is in the vacuuming mode, the support142bcan engage the collar140and when the wheel stop116is in the mopping mode, the support142acan engage the collar140. The collar140can be incomplete around a circumference of the axis of the gear132to allow the wheel stop116to translate with respect to the Geneva gear132. The incomplete portion can be timed with the boss134to allow such movement. Optionally, the drive gear128can include a collar similar to that of the Geneva gear. FIG.5Aalso shows that the housing138can include or can define a track144to receive a guide146of the stop116to guide movement of the wheel stop116with respect to the housing138and the drive wheel112.FIG.5Bshows a half138bof the housing138that can define at least a portion of the track144and a half138a(ofFIG.5A) can define another portion of the track144. FIG.5Cmore clearly shows the guide146of a body148of the wheel stop116. The guide146can be a relatively flat projection extending from both sides of the body148. The guide146can define a first end150and a second end152. The first end150can be engageable with an end156(shown inFIG.5B) of the track144(i.e., the housing138) to limit translation of the wheel stop116with respect to the housing138, the body102, and the wheel112in a first direction (e.g., away from the wheel-moving to the mopping mode). The second end152can be engageable with an end158(shown inFIG.5A) of the track144(i.e., the housing138) to limit translation of the wheel stop116with respect to the housing138, the body102, and the wheel112in a second direction (e.g., toward the wheel-moving to the vacuuming mode). The lateral stops156and158of the track144can, together with the guide146, help to define or limit translation of the wheel stop116. The track144can also define a height h (shown inFIG.5B) and the guide146can define a thickness t. The difference between the thickness t and the height h can define a limit to relative vertical movement of the wheel stop116with respect to the housing138and therefore the body102to control a trajectory of the wheel stop116while still ensuring alignment between the wheel stop116and the Geneva gear132. In some examples, the difference can be between 0.05 millimeters (mm) and 1 mm. The difference can also be between 0.1 and 0.5 millimeters. The difference can also be about 0.3 millimeters. FIG.5Calso shows that the wheel stop116can include ribs162a-162c(collectively referred to as ribs162) extending from a top portion or surface160of the wheel stop116. The ribs162a-162ccan be engageable with the body102of the robot100when the wheel stop116is in the stop position (when the robot is in the vacuuming mode). The ribs162can thereby help to define a wheel travel of the drive wheels112of the robot100in the vacuuming mode and can transfer forces between the wheels112(and the fenders114) to the body102. Also, by being raised off the top portion160of the body148to define a relatively smaller contact area with the body102, the ribs162can help to reduce friction between the wheel stop116and the body102and can help allow for debris to escape from the top surface160to help limit impact of wheel travel caused by debris. FIG.6illustrates an isometric view of a portion of the mobile cleaning robot100. The mobile cleaning robot100ofFIG.6can be consistent with the mobile cleaning robot100ofFIGS.1A-5C;FIG.6shows additional details of the robot100. For example,FIG.6shows that the wheel stop116can include a chamfer164on a bottom surface163of the top portion160. The chamfer164can include a rounded surface166and the fender114can also be rounded. The chamfer164and rounded surface or portion166can be configured to engage the fender114when the wheel stop116is moved from the release position (in mopping mode) to the stop position (in vacuuming mode). Engagement between the rounded surface or portion166and the fender114when the wheel stop moves to the stop position can cause the wheel stop116and the body102to move upward. Because the top portion160is chamfered and rounded, friction can be reduced between the fender114and the wheel stop116during such engagement when moving the wheel stop116to a position between the fender114and the body102. FIG.7illustrates an isometric view of a portion of the mobile cleaning robot. The mobile cleaning robot100ofFIG.7can be consistent with the mobile cleaning robot100ofFIGS.1A-6;FIG.7shows additional details of the robot100. For example,FIG.7shows a spring module168for the drive wheel112. The spring module168can include a biasing element170(e.g., an extension coil spring) and a hook172configured to secure a first end of the biasing element170. The wheel112(including the motor and gearbox assembly) can include a hook174configured to secure a second end of the biasing element170. The biasing element170of the spring module168can thereby bias the wheel downward toward the ground (vertical). FIG.8illustrates an isometric view of a portion of a mobile cleaning robot100A. The mobile cleaning robot100A ofFIG.8can be similar to the mobile cleaning robot100ofFIGS.1A-7; the robot100A can differ in that the wheel stop can include a spring hook176. Any of the robots discussed above or below can be modified to include such a spring hook. The spring hook176can extend from the top portion160of the wheel stop116and can be configured to connect to an end of the biasing element170. Because the wheel stop116is movable with respect to the spring module168and therefor to the biasing element170, movement of the wheel stop116can cause an adjustment of a spring force applied to the wheel112. For example, when the wheel stop116is in the stop position (in vacuuming mode), the biasing element170can be stretched to a first position to set a first spring force applied to the wheel112. Then, when the wheel stop116is moved the release position (in mopping mode), the biasing element170can be stretched to a second, further extended position to set a second spring force applied to the wheel112, where the second spring force is greater than the first spring force. In this way, the spring force applied to the wheel112can be automatically adjusted or controlled based on the mode of the robot100A. In some examples, the controller111can be configured to further adjust the spring force when the wheel stop is in the vacuuming mode or in the mopping mode. For example, the wheel stop can have a range of translation in the mopping mode or the vacuuming mode and the controller111can move the wheel stop within the range of translation such that the wheel stop116remains in the same mode but adjusts the spring force by moving the hook176. For example, when the wheel stop116is in the mopping mode, the controller111may move the wheel stop116to increase the spring force based on a floor surface type, mopping pad type, or other variable that can impact cleaning effectiveness. In this way, the controller can improve cleaning effectiveness by adjusting pressure on the cleaning pad assembly108by adjusting the spring force applied to the wheels112. FIG.9illustrates an isometric view of a portion of the mobile cleaning robot100. The mobile cleaning robot100ofFIG.9can be consistent with the mobile cleaning robot100ofFIGS.1A-7;FIG.9shows additional details of the robot100. For example,FIG.9shows more clearly that the collar140can engage the support142bof the wheel stop116when the wheel stop116is in the stop position (vacuuming mode).FIG.9also shows that the collar140can include a recessed portion178that can be located with respect to the boss134such that the wheel stop can pass by the collar140when the wheel stop116is being translated by the boss134engaging the slot136, and such that the collar140supports the wheel stop116via the supports142aor142bafter the wheel stop116passes the collar140during translation of the wheel stop116(between modes). FIG.9also shows how the second end152of the guide146of the wheel stop116can engage the end158of the track144to limit motion of the wheel stop116towards the wheel112(forward) when the wheel stop116is moved to the stop position, such as when moving to the vacuuming mode. FIG.10illustrates an isometric view of a portion of a mobile cleaning robot. The mobile cleaning robot100ofFIG.10can be consistent with the mobile cleaning robot100ofFIGS.1A-7and9;FIG.10shows additional details of the robot100. For example,FIG.10shows a portion180of the body102in phantom and shows how the ribs162a-162cof the top portion160of the wheel stop116can engage the portion180of the body102to transfer forces between the fenders114and the body102when the wheel stop116is in the stop position, such as when the robot is in vacuuming mode. FIG.11Aillustrates an elevation view of a portion of a mobile cleaning robot1100.FIG.11Billustrates an elevation view of a portion of the mobile cleaning robot1100.FIGS.11A and11Bare discussed together below. The mobile cleaning robot1100ofFIGS.11A and11Bcan be similar to the mobile cleaning robot100ofFIGS.1-10; the robot1100can differ in that the wheel stop of the robot1100can be on a rack and pinion system. Any of the robots discussed above or below can be modified to include a wheel stop on a rack and pinion system. More specifically, the robot1100can include a body1102, a drive wheel1112, a fender1114, and a wheel stop1116. The wheel stop1116can be curved or can be shaped to match an underside of the body1102of the robot1100, such as to save space within the body1102of the robot. The wheel stop can be connected to a rack1182, which can be positioned in a slot or groove of the wheel stop1116. The rack1182can be engaged with a pinion1184where the pinion1184can be driven to rotate by a drive system (such as the drive system118of the robot100). The drive system can operate the pinion1184to move the rack1182and therefore the wheel stop1116, such as between a stop position (shown inFIG.11A) where the wheel stop1116is engaged with the fender1114and a release position (shown inFIG.11B). The rack1182and pinion1184can help to provide a robust and reliable mechanism for translating or moving the wheel stop1116with respect to the fender1114. FIG.12illustrates an isometric view of a portion of a mobile cleaning robot. The mobile cleaning robot1200ofFIG.12can be similar to the mobile cleaning robot100ofFIGS.1-10; the robot1200can differ in that the wheel stop can rotate instead of translate. Any of the robots discussed above or below can be modified to include such a rotating wheel stop. More specifically, the robot1200can include a wheel stop assembly1215including a wheel stop1216. The wheel stop1216can include an arm1291configured to contact stops1287and1289of the assembly1215. The wheel stop assembly1215can also include a window1285configured to receive a portion of the fender therein in the mopping mode (when the wheel stop1216is rotated to the position1216b). Such rotation can be limited by contact between the arm1291and the stop1289. When the wheel stop1216is in such a position, the vertical wheel travel can be limited by contact between the fender and the assembly1215, such as near the window1285. The wheel stop1216can be rotatable to the position indicated by1216awhere rotation can be limited by contact between the arm1291and the stop1287. In the position of1216a, the wheel stop1216can contact the fender through the window1285to limit the wheel travel when the robot1200is in the vacuuming mode. FIG.13Aillustrates an isometric view of a portion of a mobile cleaning robot.FIG.13Billustrates an isometric view of a portion of the mobile cleaning robot1300.FIGS.13A and13Bare discussed together below. The mobile cleaning robot1300ofFIGS.13A and13Bcan be similar to the mobile cleaning robot100ofFIGS.1A-10; the robot1300can differ in that the robot can include a rack and pinion wheel stop system. Any of the robots discussed above or below can be modified to include a rack and pinion wheel stop system. More specifically, the robot1300can include a drive wheel1312, a fender1314, and a wheel stop1316. The wheel stop1316can be connected to a rack1382, which can be located at least partially within a body of the robot1300. The rack1382can be engaged with a pinion1384where the pinion1384can be driven to rotate by a drive system (such as the drive system118of the robot100). The drive system can operate the pinion1384to move (e.g., translate) the rack1382and therefore the wheel stop1316, such as between a stop position (shown inFIGS.13A-13B) where the wheel stop1116is engageable with the fender1314and between a release position. The rack1382and pinion1384can help to provide a robust and reliable mechanism for translating or moving the wheel stop1316with respect to the fender1314to adjust wheel travel of the wheels1312depending on an operating mode (e.g., vacuuming mode or cleaning/mopping mode) of the robot1300. FIG.14Aillustrates an isometric view of a portion of a mobile cleaning robot.FIG.14Billustrates an isometric view of a portion of a mobile cleaning robot.FIGS.14A and14Bare discussed together below. The mobile cleaning robot1400ofFIGS.14A-14Bcan be similar to the mobile cleaning robot100ofFIGS.1A-10; the robot1400can differ in that the wheel stop can be a translating bar activated by the arms of the mopping pad to help ensure that the wheel stops are activated when the mopping assembly is under the body of the robot1400. Any of the robots discussed above or below can be modified to include such a wheel stop. More specifically, the robot1400can include a fender1414that is secured to a wheel stop1416. The wheel stop1416bcan be engageable with a stop1486when the stop1416is in the mobility or stop position as indicated by1416a. When the stop1416is not in the release position (as indicated by1416b), the wheel stop1416does not engage the stop1486. The wheel stop1416can be translated between the stop position and the release position by a drive system (such as the drive system118of robot100). FIG.15Aillustrates an isometric view of a portion of a mobile cleaning robot.FIG.15Billustrates an isometric view of a portion of a mobile cleaning robot.FIGS.15A and15Bare discussed together below. The mobile cleaning robot1400ofFIGS.15A and15Bcan be similar to the mobile cleaning robot100ofFIGS.1A-10; the robot1500can differ in that the drive system can include a worm gear and the wheel stop can rotate. Any of the robots discussed above or below can be modified to include such a drive system and wheel stop. More specifically, the robot1500can include a wheel stop1516that can rotate between a stop position, as indicated by1516aand a release position, as indicated by1516b. The wheel stop1516can be driven to rotate by a cross-shaft1520connected to a worm drive1588and a worm gear1590of a drive system1518, where the worm drive1588and the worm gear1590can be engaged to rotate the wheel stop1516between the stop position and the release position to adjust engagement between a fender1514and the wheel stop1516to control vertical wheel travel in the vacuuming mode and the mopping mode. FIG.16Aillustrates an isometric view of a portion of a mobile cleaning robot.FIG.16Billustrates an isometric view of a portion of a mobile cleaning robot.FIGS.16A and16Bare discussed together below. The mobile cleaning robot1600ofFIGS.16A and16Bcan be similar to the mobile cleaning robot100ofFIGS.1-10; the robot1600can differ in that the wheel stop can be driven to rotate by a Geneva gear. Any of the robots discussed above or below can be modified to include such a wheel stop and gear system. More specifically, the robot1600can include a wheel stop1616that can rotate between a stop position (shown inFIG.16B) and a release position (shown inFIG.16A). The wheel stop1616can be driven to rotate by a worm drive1688and a worm gear1690including a boss1634, such as to form a Geneva gear or mechanism. The wheel stop1616can include a slot1636to receive the boss1634therein. The worm drive1688and the worm gear1690can be engaged to rotate the boss1634to move within the slot1636to cause the wheel stop1616to rotate between the stop position and the release position to adjust engagement between a fender1614and the wheel stop1616to control vertical wheel travel in the vacuuming mode and the cleaning/mopping mode. FIG.17Aillustrates an isometric view of a portion of a mobile cleaning robot.FIG.17Billustrates an isometric view of a portion of a mobile cleaning robot.FIGS.17A and17Bare discussed together below. The mobile cleaning robot1700ofFIGS.17A and17Bcan be similar to the mobile cleaning robot100ofFIGS.1-10; the robot1700can differ in that the wheel stop can be driven to translate by worm drive and a Geneva gear. Any of the robots discussed above or below can be modified to include such a wheel stop and gear system. More specifically, the robot1700can include a wheel stop1716that can translate between a stop position (shown inFIG.17A) and a release position (shown inFIG.17B). The wheel stop1716can be driven to translate by a worm drive1788and a worm gear1790including a boss1734, such as to form a Geneva gear or mechanism. The wheel stop1716can include a slot1736to receive the boss1734therein. The worm drive1788and the worm gear1790of a drive system1718can be engaged to rotate the boss1734to move within the slot1736to cause the wheel stop1716to translate between the stop position and the release position to adjust engagement between a fender1714and the wheel stop1716to control vertical wheel travel in the vacuuming mode and the cleaning/mopping mode. The wheel stop1716can optionally include notches or cutouts for passing (translating past) the worm gear1790. FIG.18Aillustrates an isometric view of a portion of a mobile cleaning robot.FIG.18Billustrates an isometric view of a portion of a mobile cleaning robot.FIGS.18A and18Bare discussed together below. The mobile cleaning robot1800ofFIGS.18A and18Bcan be similar to the mobile cleaning robot100ofFIGS.1A-10; the robot1800can differ in that the wheel stop can be driven to translate by worm drive and a Geneva gear. Any of the robots discussed above or below can be modified to include such a wheel stop and gear system. More specifically, the robot1800can include a wheel stop1816that can translate between a stop position (shown inFIG.18A) and a release position (shown inFIG.18B). The wheel stop1816can be driven to translate by a worm drive1888and a worm gear1890including a boss1834, such as to form a Geneva gear or mechanism. The wheel stop1816can include a slot1892to receive the boss1834therein. The track1892can be curved or arced to cause the translation of the wheel stop1816in response to rotation of the boss1834and the worm gear1890. The worm drive1888and the worm gear1890can be engaged to rotate the boss1834to move within the track1892to cause the wheel stop1816to translate between the stop position and the release position to adjust engagement between a fender1814and the wheel stop1816to control vertical wheel travel in the vacuuming mode and the mopping mode. The wheel stop1816can optionally include notches or cutouts for passing (translating past) the worm gear1890. NOTES AND EXAMPLES The following, non-limiting examples, detail certain aspects of the present subject matter to solve the challenges and provide the benefits discussed herein, among others. Example 1 is a mobile cleaning robot comprising: a body; a drive wheel connected to the body and operable to move the mobile cleaning robot about an environment; and a wheel stop movable with respect to the body and the drive wheel between a stop position and a release position, the wheel stop engageable with the drive wheel in the stop position to limit vertical travel of the drive wheel with respect to the body. In Example 2, the subject matter of Example 1 optionally includes a gear assembly connected to the wheel stop, the gear assembly operable to translate the wheel stop with respect to the wheel in response to rotational input. In Example 3, the subject matter of Example 2 optionally includes a drive system operable to operate the gear assembly. In Example 4, the subject matter of Example 3 optionally includes wherein the drive system is operable to change a mode of the mobile cleaning robot between a vacuuming mode and a mopping mode. In Example 5, the subject matter of Example 4 optionally includes a pad assembly connected to the body and movable relative to the body between a stored position and a mopping position. In Example 6, the subject matter of Example 5 optionally includes wherein the drive system is connected to the pad assembly and operable to move the pad assembly between the stored position in the vacuuming mode and the mopping position in the mopping mode. In Example 7, the subject matter of Example 6 optionally includes wherein the gear assembly includes a timing mechanism to move the wheel stop at a desired position of the pad assembly. In Example 8, the subject matter of Example 7 optionally includes wherein the timing mechanism is a Geneva mechanism. In Example 9, the subject matter of any one or more of Examples 7-8 optionally include wherein the timing mechanism is configured to begin moving the wheel stop when or after the pad assembly engages a floor surface. In Example 10, the subject matter of any one or more of Examples 2-9 optionally include wherein the body includes a track engageable with a guide of the wheel stop, the track engageable with the guide of the wheel stop to limit vertical and horizontal translation of the wheel stop with respect to the body and the drive wheel. In Example 11, the subject matter of any one or more of Examples 1-10 optionally include wherein a bottom portion of the wheel stop is engageable with a fender surrounding at least a portion of the drive wheel of the robot when the wheel stop is in the stop position, and wherein a top portion of the wheel stop is engageable with the body when the wheel stop is in the stop position. In Example 12, the subject matter of Example 11 optionally includes wherein the top portion of the wheel stop includes a plurality of ribs engageable with the body when the wheel stop is in the stop position. Example 13 is a mobile cleaning robot comprising: a body; a pair of drive wheels operable to move the mobile cleaning robot in an environment; and a pair of wheel stops movable with respect to the body and the drive wheels between a stop position and a release position, the wheel stops engageable with respective drive wheels in the stop position to limit vertical travel of the drive wheel with respect to the body. In Example 14, the subject matter of Example 13 optionally includes a pad assembly connected to the body and movable relative to the body between a stored position and a mopping position. In Example 15, the subject matter of Example 14 optionally includes a gear assembly connected to the wheel stop, the gear assembly operable to translate the wheel stop with respect to the wheel in response to rotational input. In Example 16, the subject matter of Example 15 optionally includes a drive system operable to operate the gear assembly. In Example 17, the subject matter of Example 16 optionally includes wherein the drive system is connected to the pad assembly and operable to move the pad assembly between the stored position and the mopping position. In Example 18, the subject matter of Example 17 optionally includes wherein the gear assembly includes a timing mechanism to move the wheel stop at a desired position of the pad assembly. Example 19 is a mobile cleaning robot comprising: a body; a drive system connected to the body and including a drive wheel; a wheel stop movable with respect to the body and the drive wheel between a stop position and a release position, the wheel stop engageable with the drive wheel in the stop position to limit travel of the drive wheel with respect to the body; and a controller connected to the body and configured to: move the wheel stop based on where a pad assembly is located between a stored position and a mopping position. In Example 20, the subject matter of Example 19 optionally includes wherein the pad assembly is connected to the body and movable relative to the body between a stored position and a mopping position. In Example 21, the subject matter of Example 20 optionally includes a gear assembly connected to the wheel stop, the gear assembly operable to translate the wheel stop with respect to the wheel in response to rotational input. In Example 22, the subject matter of Example 21 optionally includes a cross-shaft connected to the gear assembly; and a motor connected to the cross-shaft and in communication with the controller, the motor operable to rotate the cross-shaft to operate the gear assembly. In Example 23, the apparatuses or method of any one or any combination of Examples 1-22 can optionally be configured such that all elements or options recited are available to use or select from. The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, specific embodiments in which the invention can be practiced. These embodiments are also referred to herein as “examples.” Such examples can include elements in addition to those shown or described. However, the present inventors also contemplate examples in which only those elements shown or described are provided. Moreover, the present inventors also contemplate examples using any combination or permutation of those elements shown or described (or one or more aspects thereof), either with respect to a particular example (or one or more aspects thereof), or with respect to other examples (or one or more aspects thereof) shown or described herein. In the event of inconsistent usages between this document and any documents so incorporated by reference, the usage in this document controls. In this document, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.” Also, in the following claims, the terms “including” and “comprising” are open-ended, that is, a system, device, article, composition, formulation, or process that includes elements in addition to those listed after such a term in a claim are still deemed to fall within the scope of that claim. The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments can be used, such as by one of ordinary skill in the art upon reviewing the above description. The Abstract is provided to comply with 37 C.F.R. § 1.72(b), to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Also, in the above Detailed Description, various features may be grouped together to streamline the disclosure. This should not be interpreted as intending that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that such embodiments can be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

11857140

DETAILED DESCRIPTION Various apparatuses or processes will be described below to provide an example of an embodiment of each claimed invention. No embodiment described below limits any claimed invention and any claimed invention may cover processes or apparatuses that differ from those described below. The claimed inventions are not limited to apparatuses or processes having all of the features of any one apparatus or process described below or to features common to multiple or all of the apparatuses described below. It is possible that an apparatus or process described below is not an embodiment of any claimed invention. Any invention disclosed in an apparatus or process described below that is not claimed in this document may be the subject matter of another protective instrument, for example, a continuing patent application, and the applicants, inventors or owners do not intend to abandon, disclaim or dedicate to the public any such invention by its disclosure in this document. General Description of an Upright Vacuum Cleaner Referring toFIGS.1-3, a first embodiment of a surface cleaning apparatus1is shown. In the embodiment shown, the surface cleaning apparatus is an upright vacuum cleaner. In alternate embodiments, the surface cleaning apparatus may be another suitable type of surface cleaning apparatus, such as a canister type vacuum cleaner, and hand vacuum cleaner, a stick vac, a wet-dry type vacuum cleaner or a carpet extractor. In the illustrated example, the surface cleaning apparatus1includes an upper portion or support structure2that is movably and drivingly connected to a surface cleaning head3. A surface cleaning unit4is mounted on the upper portion2. The surface cleaning apparatus1also has at least one dirty air inlet5, at least one clean air outlet6, and an air flow path or passage extending therebetween. In the illustrated example, the air flow path includes at least one flexible air flow conduit member (such as a hose7or other flexible conduit). Alternatively, the air flow path may be formed from rigid members. At least one suction motor and at least one air treatment member are positioned in the air flow path to separate dirt and other debris from the airflow. The suction motor and the air treatment member may be provided in the upper portion and/or the surface cleaning head of an upright surface cleaning apparatus. Preferably, the suction motor and the air treatment member are provided in a removable surface cleaning unit. The air treatment member may be any suitable air treatment member, including, for example, one or more cyclones, filters, and bags, and preferably the at least one air treatment member is provided upstream from the suction motor. Preferably, as exemplified inFIG.4, the surface cleaning unit includes both the suction motor8, in a motor housing12and an air treatment member in form of a cyclone bin assembly9. The motor housing can include at least one removable or openable door13which may allow a user to access the interior of the motor housing12, for example to access the motor8, a filter or any other component within the housing12. The cyclone bin assembly9includes a cyclone chamber10and a dirt collection chamber11. Optionally, the surface cleaning unit4may be a portable surface cleaning unit and may be detachable from the upper portion (FIG.5). In such embodiments, the surface cleaning unit4may be connected to the upper portion2by a mount apparatus14that allows the surface cleaning unit4to be detached from the upper section2. It will be appreciated that a portable surface cleaning unit4could be carried by a hand of a user, a shoulder strap or the like and could be in the form of a pod or other portable surface cleaning apparatus. All such surface cleaning apparatus are referred to herein as a hand carriable surface cleaning apparatus. In the embodiment shown, the surface cleaning head3includes the dirty air inlet5in the form of a slot or opening15(FIG.4) formed in a generally downward facing surface of the surface cleaning head3. From the dirty air inlet5, the air flow path extends through the surface cleaning head3, and through an up flow conduit16(FIG.2) in the upper portion2to the surface cleaning unit4. In the illustrated example, the clean air outlet6is provided in the front of the surface cleaning unit4, and is configured to direct the clear air in a generally lateral direction, toward the front of the apparatus1. A handle17is provided on the upper portion2to allow a user to manipulate the surface cleaning apparatus1. Referring toFIGS.1and3, the upper portion extends along an upper axis18and is moveably mounted to the surface cleaning head3. In the illustrated example, the upper portion2is pivotally mounted to the surface cleaning head via a pivot joint19. The pivot joint19may be any suitable pivot joint. In this embodiment, the upper portion2is movable, relative to the surface cleaning head3, between a storage position (FIG.1), and a use or floor cleaning position (FIG.3). In the floor cleaning position the upper portion2may be inclined relative to the surface being cleaned, and an angle19between a plane20parallel to the surface and the upper axis18may be between about 20 and about 85°. Alternatively, or in addition to being pivotally coupled to the surface cleaning head, the upper portion may also be rotatably mounted to the surface cleaning head. In this configuration, the upper portion, and the surface cleaning unit supported thereon, may be rotatable about the upper axis. In this configuration, rotation of the upper portion about the upper axis may help steer the surface cleaning head across the floor (or other surface being cleaned). It will be appreciated that the forgoing discussion is exemplary and that an upright vacuum cleaner may use a surface cleaning head and upper portion of any design and they may be moveably connected together by any means known in the art. Handle/Cleaning Wand Construction In accordance with one aspect of the teachings described herein, which may be used in combination with any one or more other aspects, the air flow path between the surface cleaning head3and the surface cleaning unit4includes a bendable hollow conduit or wand member100, which may be used in combination with a flexible hose portion7. Preferably, the hose7is extensible and more preferably is elastically or resiliently extensible. Referring toFIG.2, the wand member100includes an upper wand portion101and a lower wand portion102. The upper and lower wand portions101,102are connected to each other via a connection, e.g., a hinge103member, which allows relative movement between the upper and lower wand portions102,103. Optionally, the hinge member103can be configured to form part of the air flow path and to provide fluid communication between the upper and lower wand portions101,102, as well as provide a pivoting, mechanical linkage. For example, upper and lower wand portions101,102may be moveably connected to each other by providing a pivot join that permits the upper and lower wand portions101,102to be connected in air flow communication or by each wand portion having projections that are pivotally connected to each other and with a flexible hose to provide the air flow communication between the wand portions. Alternatively, the air flow path can be external to the hinge. The handle17is provided toward the top of the upper portion2and is attached to the upper or downstream end of the upper wand portion101. In the illustrated embodiment, the handle17includes a hand grip portion21that is configured to be grasped by a user. The hinge member103can be locked in a straight configuration (FIG.9) and can be unlocked to allow the upper wand portion101to pivot relative to the lower wand member102(FIG.10). In the illustrated example, the upper and lower wand portions101,102and the handle17are hollow tube-like conduit members that form part of the air flow path and can carry at least some of the weight of the surface cleaning apparatus4. The wand100is also configured to transfer driving and steering forces between the handle17and the surface cleaning head3. The upper and lower wand portions101,102may be made of any suitable material that can withstand the weight of the surface cleaning apparatus4and the driving and steering forces, including, for example, plastic, metal and the like. Optionally, upper and lower wand portions101,102may be formed from the same material. Alternatively, they may be formed from different materials. Referring toFIG.9the distance104between the surface cleaning head3and the upper end of the handle17defines an upper portion height. Preferably, the upper portion height104can be selected so that the handle17is positioned so to be grasped by users of varying heights. The upper portion height104may be between, for example, about 35 inches and about 60 inches, and preferably is between about 40 inches and about 50 inches. In the illustrated example, the upper portion height104is between about 41 inches and about 45 inches. The upper wand portion101defines an upper wand length105and the lower wand portion102defines a lower wand length106. The upper and lower wand lengths105,106may be the same, or may be different. Preferably, each of the upper and lower wand lengths105,106are between about 15% and about 80% of the upper portion height104. Altering the relative lengths of the upper and lower wand portions may change the position of the hinge103relative to the surface cleaning head3. In one aspect of the teachings described herein, which may be used in combination with any one or more other aspects, the upright vacuum cleaner1may be operable in a variety different functional configurations or operating modes. The versatility of operating in different operating modes may be achieved by permitting the surface cleaning unit to be detachable from the upper portion. Alternatively, or in addition, further versatility may be achieved by permitting portions of the vacuum cleaner to be detachable from each other at a plurality of locations in the upper portion, and re-connectable to each other in a variety of combinations and configurations. In the example illustrated, mounting the surface cleaning unit4on the upper portion2increases the weight of the upper portion2and can affect the maneuverability and ease of use of the surface cleaning apparatus. With the surface cleaning unit4attached, the vacuum cleaner1may be operated like a traditional upright style vacuum cleaner, as illustrated inFIGS.1-3. Alternatively, in some cleaning situations the user may preferably detach the surface cleaning unit4from the upper portion2and choose to carry the surface cleaning unit4(e.g. by hand or by a strap) separately from the upper portion2, while still using the upper portion2to drivingly maneuver the surface cleaning head3. When the surface cleaning unit4is detached, a user may more easily maneuver the surface cleaning head3around or under obstacles, like furniture and stairs. To enable the vacuum suction generated by the surface cleaning unit4to reach the surface cleaning head3when the surface cleaning unit4is detached from the support structure2, the airflow connection between the surface cleaning head3and the cleaning unit4is preferably at least partially formed by a flexible conduit, such as the flexible hose7. The use of a flexible conduit allows a user to detach the surface cleaning unit4and maintain a flow connection between the portable surface cleaning unit4and the surface cleaning head3without having to reconfigure or reconnect any portions of the airflow conduit16(FIG.6). Referring toFIG.6, when the surface cleaning apparatus1is in use, a user may detach the surface cleaning unit4from the upper portion2without interrupting the airflow communication between the cleaning unit4and the surface cleaning head3. This allows a user to selectively detach and re-attach the cleaning unit4to the support structure2during use without having to stop and reconfigure the connecting hoses7or other portions of the airflow conduit16. FIGS.6,9and10and illustrate a configuration in which the vacuum cleaner1can be operated with the surface cleaning unit4detached from the upper portion2and the air flow path between the surface cleaning unit4and the surface cleaning head3remains intact.FIG.9shows the upper portion2in a straight configuration.FIG.10shows the upper portion2in an optional bent configuration. In both configurations, the surface cleaning head3is operable to clean the floor. Alternatively, in some cleaning operations the user may wish to reconfigure portions of the air flow path to provide a surface cleaning apparatus with a desired configuration. For example, in another configuration, as exemplified inFIG.8, the wand portion of the upper section2is removed and the upstream end of the handle17is coupled directly to the surface cleaning head3. This configuration may be useful when cleaning stairs or other surfaces that are elevated. This is another example of a floor or surface cleaning operating mode. In addition to being operable to clean floors or surfaces, the vacuum cleaner may be operated in a variety of cleaning modes that do not include use of the surface cleaning head, and may be generally described as above floor cleaning modes. This can generally include cleaning furniture, walls, drapes and other objects as opposed to cleaning a large, planar surface. In one example of an above floor cleaning mode, as exemplified inFIG.7, the surface cleaning unit4can remain mounted on the upper portion2. This eliminates the need for the user to separately support the weight of the surface cleaning unit4. In the illustrated configuration, the upstream end of the handle17is separated from the downstream end of the upper wand portion100. In this configuration the upstream end22of the handle17can function as the dirty air inlet for the vacuum cleaner1. Optionally, accessory tools, such as wands, crevasse tools, turbo brushes, hoses or other devices may be coupled to the upstream end22of the handle17. In another example of an above floor cleaning mode, as exemplified inFIG.11, the surface cleaning unit4can remain mounted on the upper portion2and the upper wand portion101can be detached from the hinge103to provide an extended wand for above floor cleaning. This configuration may help extend the reach of a user, as compared to the configuration ofFIG.7. Optionally, additional accessory tools may be coupled to the upstream end25of the upper wand portion101, including for example a crevice tool (FIG.15), a cleaning brush26(optionally an electrically powered brush or an air driven turbo brush, seeFIG.14) and any other type of accessory including a power tool such as a sander27(FIG.16). In another example of an above floor cleaning mode, as exemplified inFIG.12, the surface cleaning unit4can be detached from the upper portion2, and substantially all of the upper portion2can be detached from the surface cleaning head3. In this configuration, both the upper and lower wand portions101,102co-operate to further extend the user's reach, as compared to the configurations ofFIGS.7and11. Optionally, additional accessory tools may be coupled to the upstream end28of the upper portion2. In another example of an above floor cleaning mode, as exemplified inFIG.13, the surface cleaning unit4can be detached from the upper portion2and the handle17can be detached from the upper portion2. Optionally, one or more auxiliary support members, including for example a wheel and a roller, can be provided on the rear of the surface cleaning apparatus and/or the upper portion and configured to contact the floor (or other surface) when the upper portion is inclined or placed close to the surface (seeFIG.10). Providing an auxiliary support member may help carry some of the weight of the surface cleaning unit and/or upper portion when in a generally horizontal configuration. The auxiliary support member may also help the upper portion2and/or surface cleaning unit4to roll relatively easily over the floor when in the horizontal position. This may help a user to more easily maneuver the upper portion and/or surface cleaning unit under obstacles, such as a bed, cabinet or other piece of furniture. In the illustrated embodiment the auxiliary support member is a roller30provided on the back side of the lower wand portion102. Removable Cyclone The following is a description of a removable cyclone that may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features disclosed herein. Optionally, the cyclone bin assembly9can be detachable from the motor housing12. Providing a detachable cyclone bin assembly9may allow a user to carry the cyclone bin assembly9to a garbage can for emptying, without needing to carry or move the rest of the surface cleaning apparatus1. Preferably, the cyclone bin assembly9can be separated from the motor housing12while the surface cleaning unit4is mounted on the upper portion2and also when the surface cleaning unit4is separated from the upper portion2. Referring toFIG.17, in the illustrated embodiment the cyclone bin assembly9is removable as a closed module, which may help prevent dirt and debris from spilling out of the cyclone bin assembly9during transport. In the illustrated embodiment, removing the cyclone bin assembly9reveals a pre-motor filter chamber31that is positioned in the air flow path between the cyclone bin assembly9and the suction motor8(see alsoFIG.4). One or more filters can be provided in the pre-motor filter chamber31to filter the air exiting the cyclone bin assembly9before it reaches the motor8. In the illustrated example, the pre-motor filter includes a foam filter32and a downstream felt layer33positioned within the pre-motor filter chamber31. Preferably, the filters32,33are removable (FIG.18) to allow a user to clean and/or replace them when they are dirty. Optionally, part or all of the sidewalls34of the pre-motor filter chamber or housing31can be at least partially transparent so that a user can visually inspect the condition of the filters32,33without having to remove the cyclone bin assembly9. Referring toFIG.19, the cyclone bin assembly9includes an outer sidewall35and a lid36. Preferably, as illustrated, a bin handle37is provided on the lid36. The bin handle37may allow a user to carry the surface cleaning unit4when it is detached from the upper portion2, and preferably is removable from the suction motor housing12with the cyclone bin assembly9so that it can also be used to carry the cyclone bin assembly for emptying. Referring toFIGS.20and21in the illustrated embodiment the cyclone chamber10extends along a cyclone axis38and includes a first end wall39, a second end wall40axially spaced apart from the first end wall39and a generally cylindrical sidewall41extending between the first and second end walls39,40. Optionally, some or all of the cyclone walls can coincide with portions of the dirt collection chamber walls, suction motor housing walls and/or may form portions of the outer surface of surface cleaning unit. Alternatively, in some examples some or all of the cyclone walls can be distinct from other portions of the surface cleaning unit. In the illustrated embodiment, the cyclone chamber10is arranged in a generally vertical, inverted cyclone configuration. Alternatively, the cyclone chamber can be provided in another configuration, including, having at least one or both of the air inlet and air outlet positioned toward the top of the cyclone chamber, or as a horizontal or inclined cyclone. In the illustrated embodiment, the cyclone chamber10includes a cyclone air inlet42and a cyclone air outlet43. The cyclone chamber10preferably also includes at least one dirt outlet44, through which dirt and debris that is separated from the air flow can exit the cyclone chamber10. While it is preferred that most or all of the dirt exit the cyclone chamber via the dirt outlet, some dirt may settle on the bottom end wall40of the cyclone chamber10and/or may be carried with the air exiting the cyclone chamber via the air outlet43. Preferably the cyclone air inlet42is located toward one end of the cyclone chamber10(the lower end in the example illustrated) and may be positioned adjacent the corresponding cyclone chamber end wall40. Alternatively, the cyclone air inlet42may be provided at another location within the cyclone chamber10. Referring toFIG.20, in the illustrated embodiment the air inlet42includes an upstream or inlet end45, which may be coupled to the hose7or other suitable conduit, and a downstream end46(FIG.22) that is spaced apart from the upstream end45. In the illustrated configuration, the cyclone bin assembly9can be removed from the surface cleaning unit4, for example for cleaning or emptying, while the hose7remains with the upper portion2. This may allow a user to remove the cyclone bin assembly9without having to detach or decouple the hose7. Alternatively, the downstream end of the hose7may be coupled to the cyclone bin assembly9such that the downstream end of the hose travels with the cyclone bin assembly when it is removed. The air inlet42defines an inlet axis47and has an inlet diameter48(FIG.21). The cross-sectional area of the air inlet42taken in a plane orthogonal to the inlet axis47can be referred to as the cross-sectional area or flow area of the air inlet42. Preferably, the air inlet42is positioned so that air flowing out of the downstream end is travelling generally tangentially relative to, and preferably adjacent, the sidewall41of the cyclone chamber10. The perimeter of the air inlet42defines a cross-sectional shape of the air inlet. The cross-sectional shape of the air inlet can be any suitable shape. In the illustrated example the air inlet has a generally round or circular cross-sectional shape with a diameter48. Optionally, the diameter48may be between about 0.25 inches and about 5 inches or more, preferably between about 1 inch and about 5 inches, more preferably is between about 0.75 and 2 inches or between about 1.5 inches and about 3 inches, and most preferably is about 2 to 2.5 inches or between about 1 to 1.5 inches. Alternatively, instead of being circular, the cross-sectional shape of the air inlet may be another shape, including, for example, oval, square and rectangle. Air can exit the cyclone chamber10via the air outlet43. Optionally, the cyclone air outlet may be positioned in one of the cyclone chamber end walls and, in the example illustrated, is positioned in the same end as the air inlet42and air inlet42may be positioned adjacent or at the end wall40. In the illustrated example, the cyclone air outlet43comprises a vortex finder49. In the example illustrated, the longitudinal cyclone axis38is aligned with the orientation of the vortex finder. Alternatively, the cyclone air outlet43may be spaced apart from the cyclone air inlet42, and may be located toward the other end of the cyclone chamber10. In the illustrated embodiment the air outlet43is generally circular in cross-sectional shape and defines an air outlet diameter51(FIG.21). Optionally, the cross-sectional or flow area of the cyclone air outlet43may be between about 50% and about 150% and between about 60%-90% and about 70%-80% of the cross-sectional area of the cyclone air inlet42, and preferable is generally equal to the cyclone air inlet area. In this configuration, the air outlet diameter51may be about the same as the air inlet diameter48. When combined with any other embodiment, the cyclone bin assembly9may be of any particular design and may use any number of cyclone chambers and dirt collection chambers. The following is a description of exemplified features of a cyclone bin assembly any of which may be used either individually or in any combination or sub-combination with any other feature disclosed herein. Screen The following is a description of a cyclone and a screen that may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features disclosed herein. Optionally, a screen or other type of filter member may be provided on the cyclone air outlet43to help prevent fluff, lint and other debris from exiting via the air outlet. Referring toFIG.21, in the illustrated example a screen50is positioned at the air outlet43and connected to the vortex finder49at an inner end49aof the vortex finder49. InFIG.21the screen is illustrated with mesh in place, however for clarity the mesh has been omitted from the other Figures. The screen50is generally cylindrical in the illustrated embodiment, but may be of any suitable shape in other embodiments. Optionally, the screen50can be removable from the vortex finder49. Optionally, the screen50may be sized to have a cross-section area that is larger than, smaller than or generally equal to the air outlet43cross-sectional area. Referring toFIG.23, in the illustrated example, the diameter52of the screen43is less than the diameter51of the vortex finder49conduit providing the cyclone air outlet43. In this configuration, the radial surface53of the screen50is radially offset inwardly from the surface54of the vortex finder49by an offset distance55. Providing the offset gap55between the surfaces53,54of the screen50and vortex finder49may help provide a relatively calmer region (i.e. a region of reduced air flow turbulence and/or laminar air flow) within the cyclone chamber10. It may also assist the air that has been treated in the cyclone chamber to travel towards the vortex finder while mixing less with the air entering the cyclone chamber via the air inlet and thereby reduce the likelihood of dirt bypassing treatment in the cyclone chamber and travelling directly to the air outlet. Providing a relatively calmer air flow region adjacent the surface53of the screen50may help enable air to more easily flow through the screen50and into the vortex finder49, which may help reduce backpressure in the air flow path. Reducing back pressure may help improve the efficiency of the cyclone chamber and/or may help reduce power requirements for generating and/or maintaining a desired level of suction. In the illustrated embodiment the screen50is of generally constant diameter. Alternatively, the diameter of the screen50may vary along its length. For example, the screen may be generally tapered and may narrow toward its upper end (i.e. the end that is spaced apart from the vortex finder49). The cross sectional area of the inner end of the screen may be 60-90% the cross sectional area of the air inlet and preferably is 70-80% the cross sectional area of the air inlet. Referring toFIG.25, another embodiment of a cyclone bin assembly1009is shown. Cyclone bin assembly1009is similar to cyclone bin assembly9, and analogous elements are identified using like reference characters indexed by 1000. In this embodiment, the screen1050is tapered such that the width1052at the base of the screen1050(adjacent the vortex finder1049) is greater than the width1052aat the upper end of the screen1050. In this configuration the cross-sectional area of the screen1050(in a plane that is generally perpendicular to the screen50) is greater at the base of the screen1050than at its upper end. The amount of taper on the screen1050may any suitable amount, and for example may be selected so that the cross-sectional area at the upper end of the screen1050is between about 60% and 90%, between about 70% and 80% and may be about 63%-67% of the cross-sectional area of the base of the screen1050. Dirt Outlet The following is a description of a cyclone dirt outlet that may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features disclosed herein. Cyclone chamber10may be in communication with a dirt collection chamber by any suitable means. Preferably, as exemplified, the dirt collection chamber11is exterior to cyclone chamber10, and preferably has a sidewall56that at least partially or completely laterally surrounds the cyclone chamber10. At least partially nesting the cyclone chamber10within the dirt collection chamber11may help reduce the overall size of the cyclone bin assembly. As exemplified inFIG.20, the cyclone chamber sidewall41may be coincident with the sidewall56at one or more (e.g., three locations) around its perimeter. In the illustrated embodiment, the dirt outlet44is in communication the cyclone chamber10and the dirt collection chamber11. Optionally, the dirt outlet44can be axially and/or angularly spaced from the cyclone air inlet. Preferably, the cyclone dirt outlet44is positioned toward the opposite end of the cyclone chamber10from the cyclone air inlet42. The cyclone dirt outlet44may be any type of opening and may be in communication with the dirt collection chamber to allow dirt and debris to exit the cyclone chamber10and enter the dirt collection chamber11. In the illustrated example, the cyclone dirt outlet44is in the form of a slot bounded by the cyclone side wall41and the upper cyclone end wall39, and is located toward the upper end of the cyclone chamber10. Alternatively, in other embodiments, the dirt outlet may be of any other suitable configuration, and may be provided at another location in the cyclone chamber, including, for example as an annular gap between the sidewall and an end wall of the cyclone chamber or an arrestor plate or other suitable member. Referring toFIG.21, the dirt outlet44may include a dirt slot45. The dirt slot45may be of any suitable length57, generally measured in the axial direction, and may be between about 0.1 inches and about 2 inches, or more. Optionally, the length57of the slot44may be constant along its width, or alternatively the length57may vary along the width of the slot44, preferably in the downstream direction as measured by the direction of air rotation in the cyclone chamber. Optionally, the slot may extend around the entire perimeter of the cyclone chamber (forming a generally continuous annular gap) or may extend around only a portion of the cyclone chamber perimeter. For example, the slot may subtend an angle (see angle58inFIG.20) that is between about 30° and about 360°, and may be between about 30 and about 180°, between about 45 and about 90° and between about 60 and 80°. Similarly, the slot44may extend around about 10% to about 80% of the cyclone chamber perimeter, and preferably may extend around about 15% to about 40% of the cyclone chamber perimeter. Optionally, the slot44may be positioned so that it is angularly aligned with the cyclone air inlet42, or so that an angle60(FIG.20) between the air inlet and the slot44(measured to a center line of the slot44) is between about 0 and about 350° or more, and may be between about 90° and about 180°. In some embodiments, the slot44can be positioned so that an upstream end of the slot (i.e. the end of the slot that is upstream relative to the direction of the air circulating within the cyclone chamber) is between about 0° and about 350° from the air inlet, and may be between about 5° and 180° and between about 10° and about 50° downstream from the air inlet. Referring toFIGS.38-43, schematic representations of alternate embodiments of a cyclone chamber and a dirt collection chamber are shown. Each embodiment is generally similar to the cyclone chamber10and dirt collection chamber11, and analogous elements are identified using like reference characters with a unique suffix (a, b, c, etc.). Each of the schematic embodiments illustrates one example of a possible angular arrangement between the air inlet42, dirt outlet slot44(represented by angle60) and dirt outlet slots44of varying widths, represented by different angles58. For clarity, in these Figures portions of the air inlet42and the dirt outlet slot44are identified by cross-hatching. Referring toFIG.38, in this embodiment the angle60abetween the slot44aand the air inlet42ais about 45 degrees, and the dirt slot44asubtends an angle58aof about 60 degrees. In this configuration, the dirt slot44ais 45 degrees downstream from the air inlet42aand is located in a first quadrant of the cyclone chamber sidewall (i.e. in a quadrant where the angle60is between about 0 degrees and about 90 degrees). Referring toFIG.39, in this embodiment the angle60bbetween the slot outlet44band the air inlet42ais about 0 degrees. That is, the centre line of the slot44bis generally aligned with the tangential edge of the air inlet42b. In this configuration, a portion of the dirt slot44b(located at one end of the cyclone chamber10b) may overlap a portion of the air inlet42b(located at the other end of the cyclone chamber10b). In this embodiment, the angle58bswept by the dirt slot44bis about 35 degrees. Also in this embodiment, portions of the cyclone chamber sidewall41bare integral with portions of the dirt collection chamber sidewall56b, and the air inlet42ais at an angle relative to the dirt collection chamber sidewall56b. Referring toFIG.40, this embodiment is similar to the embodiment ofFIG.39, but is configured so that air will circulate in the opposite direction. In both embodiments, the dirt slot partially overlaps the air inlet. Referring toFIG.41, in this embodiment the dirt slot44dis located in a third quadrant of the cyclone chamber, where the angle60dis greater than 180 degrees. As illustrated, the angle60dis about 130 degrees. In this embodiment the dirt slot44dcovers an angle58dof about 80 degrees. Referring toFIG.42, in this embodiment the dirt slot44eis about 125 degrees downstream from the air inlet42e(i.e. the angle60eis about 125 degrees), and sweeps an angle58eof about 70 degrees. In this embodiment the upstream end of the dirt slot44eis located at the intersection of the cyclone chamber sidewall41eand the dirt collection chamber sidewall56e. Referring toFIG.43, in this embodiment the dirt slot44foverlies substantially all of the air inlet42fand the angle60f(measured in the direction of air flow) is about 325 degrees (i.e. the dirt slot44fis located about 45 degrees upstream from the air outlet42f). In this configuration, the downstream end of the dirt slot44fis located at the intersection between the cyclone chamber sidewall41fand the dirt collection chamber sidewall56f. The dirt collection chamber11may be of any suitable configuration. Referring toFIG.21, in the illustrated example, the dirt collection chamber11includes a first end wall61, a second end wall62and the sidewall56extending therebetween. To help facilitate emptying the dirt collection chamber11, at least one of or both of the end walls61,62may be openable. Similarly, one or both of the cyclone chamber end walls39and40may be openable to allow a user to empty debris from the cyclone chamber. Referring toFIGS.21and24, in the illustrated example, the upper dirt chamber end wall61is integral with the upper cyclone end wall39and the lower dirt collection chamber end wall62is integral with, and openable with, the lower cyclone chamber end wall40and both form part of the openable bottom door63. The door63is moveable between a closed position (FIG.21) and an open position (FIG.24). When the door63is open, both the cyclone chamber10and the dirt collection chamber can be emptied concurrently. Alternatively, the end walls of the dirt collection chamber11and the cyclone chamber10need not be integral with each other, and the dirt collection chamber11may be openable independently of the cyclone chamber10. Cyclone with Curved or Angled Surfaces The following is a description of a cyclone construction that may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features disclosed herein. Referring toFIG.21, in the illustrated embodiment, the upper end wall39closes the upper end of the sidewall41. In the illustrated example, the intersection or juncture64between the end wall39and the side wall41is a relatively sharp corner that does not include any type of angled or radiused surface. In contrast, the lower end wall40preferably meets the lower end of the cyclone sidewall41at a juncture65that may comprise an angled or a curved juncture surface66(see alsoFIG.22). The radius67of the curved surface66may be selected based on the radius of the air inlet42(e.g. half of the diameter48), and optionally may be the selected so that the juncture surface66has the same radius as the air inlet42. Optionally, the curved juncture surface66can be formed as a portion of the sidewall41or as a portion of the end wall40. In the illustrated embodiment, the curved juncture surface66is provided as part of an insert member68(FIG.24) that is provided on the bottom end wall40and extends upward into the interior of the cyclone chamber10. Alternately, or in addition, the juncture between the vortex finder49and the end wall40may also be provided with an angled or curved surface. In the illustrated embodiment, the juncture70between the end wall40and the vortex finder49may also include a curved surface72. The curved surface72can be sized to have a radius71that is the same as the radius67of the juncture66between the end wall40and the sidewall41. Providing curved surfaces66,72at one or both of the junctures65,70may help reduce backpressure and may help improve cyclone efficiency. In the illustrated embodiment, the radii65and70are equal to the radius of the air inlet42. Alternatively, the radii65and70may be different. In the illustrated example, member68provides the juncture surface72. Optionally, the curved juncture surfaces within the cyclone chamber10(e.g., member68) may be removable from the cyclone chamber10when the cyclone chamber is opened. In the illustrated embodiment, the member68is provided on the movable door63, and is removed from the cyclone chamber10when the door63is opened. The vortex finder49and screen50are also mounted to the door63and are removed from the cyclone chamber10when the door opens. Removing some of all of the curved juncture surfaces66,72from the cyclone chamber10when the door63is opened for emptying may help ensure dirt and debris can fall out of the cyclone chamber without settling on or otherwise becoming hung-up on the juncture surfaces66,72. Alternatively, the juncture surfaces may be formed as part of the sidewall41, or otherwise fixed within the cyclone chamber10such that the juncture surfaces are not removable from the cyclone chamber10and do not move with the door63. A further advantage is that member68may abut the inner surface of the sidewall of the cyclone chamber and the lower edge of the sidewall may engage a gasket or other sealing member provided in a recess on the door63. Such a construction provides an enhanced seal when a curved openable door is provided. Optionally, the juncture surfaces66and72may be positioned such that they abut each other to form a generally continuous curved or angled surface (or a combination of a curved surface and an angled or inclined surface). If the radii of curvature of the surfaces66and72are equal, the surfaces66and72may co-operate to form a surface with a generally consistent curvature (e.g., a half toroid shape) that may approximate the shape and curvature of the air inlet42. Matching the curvature of the juncture surfaces66and72to the curvature to the air inlet42may help improve cyclone performance. Alternatively, the curvature of the junctures66and72need not match the curvature of the air inlet42. Alternatively, the juncture surfaces66and72may be radially spaced apart from each other such that they do not connect directly to each other. In such embodiments, a transition or bridge region may be defined between the juncture surfaces66,72. Referring toFIG.24, in the illustrated embodiment the juncture surfaces66and72are radially separated from each other by a bridge surface73that has radial width74(FIG.21). The width74may be any suitable width, including, for example, between and 3% and about 15% or more of the diameter48of the air inlet42. Optionally, the width74may be greater than 0.5%, such as between about 0.5-12%, 3%-12%, 3%-7% and 3%-5% of the diameter48. In this configuration, the juncture surfaces66and72are separate from each other, and from bridge surface73. Optionally, in addition to (or as an alternative to) the member68on the bottom wall40, an additional insert member may be provided within the cyclone chamber10, and may be located toward the upper end wall39. In the illustrated embodiment, an upper insert member76is provided at the upper end of the cyclone chamber10. The insert member76includes a downwardly extending central wall or projection member77that extends into the interior of the cyclone chamber10and may optionally engage the distal end78of the screen50(FIG.21). Together, the vortex finder49, screen50and projection member77may form a generally continuous internal column member that extends between the first and second end walls39and40of the cyclone chamber. Providing the projection member77may help direct air flow within the cyclone chamber, and may help support and/or stabilize the distal end78of the screen50. Optionally, the juncture79between the end wall39and the projection member77may include a curved juncture surface80(seeFIGS.21and22). The surface80is curved and defines a radius81. The radius81may be any suitable radius, and in the illustrated embodiment is the same as radii66and72. Providing curved surfaces80at the junctures between the end wall39and the projection member77, may help reduce backpressure and may help improve cyclone efficiency. Optionally, in some embodiments the juncture64may also include an angled or curved surface. In the illustrated embodiment, the bottom of the air inlet42is generally aligned with the surface of the member68, such that the air inlet42is positioned at the bottom of the cyclone chamber10. The radial distance81(FIG.21) between the cyclone chamber sidewall41and the surface54of the vortex finder49, which form an upstanding wall portion of the member68, may be any suitable distance. Preferably, the distance81is greater than the air inlet width48such that the vortex finder49is radially offset from the edge of the air inlet42by an offset distance82. The offset distance82may be any suitable distance, and may, for example, be between about 0% and about 100% or more of the air inlet width48, between about 2% and about 25% of the width48, between about 5% and about 15% of the width48and may be about 10% of the width48. Altering the distance81may affect the efficiency and performance of the cyclone. In the illustrated embodiment, the air inlet42is positioned at the juncture65between the sidewall41and the end wall40and is positioned such that the air inlet42is adjacent the sidewall41(i.e., there is no radial gap between the outer edge of the air inlet42and the sidewall41). Alternatively, the air inlet42may be spaced radially inwardly from the sidewall41such that a gap is provided between the edge of the air inlet42and the sidewall41. It will be appreciated that if the air outlet is provided in wall39, then insert member76may be configured as vortex finder49and vortex finder49may be configures as insert member76. In the embodimentFIG.25, the juncture1065between the sidewall1041and the bottom wall1040is not rounded, but instead includes an angled surface1066. The angle of the surface1066is selected so that the juncture surface1066is generally tangential to the air inlet1042. In the illustrated example, the surface1066extends generally continuously from the sidewall1041to the bridge surface1073. In this example the juncture surface1072is rounded, as described in detail above. The air inlet and the vortex finder are preferably sized such that the top (upper inward extent) of the air inlet is below the innermost end of the vortex finder. For example, in the illustrated embodiment, the bottom of the air inlet1042is adjacent the bottom wall1040and the top of the air inlet1042is spaced apart from the bottom wall by a height1094, which in the illustrated configuration is equal to the diameter1048. The vortex finder1049also extends away from the bottom wall1040and has a height1096measured in the axial direction. In this embodiment, the height1096is greater than the height1095and the upper end of the vortex finder1049is offset above the top of the air inlet1042by a distance1097. The distance1097can be any suitable distance, and may be, for example, between 0% and about 25% or more of the air inlet diameter1048(e.g., between about 0.05-1 inches, preferably between about 0.1-0.5 inches and more preferably about 0.25 inches). Alternatively, the top of the air inlet1042can be flush with, or extend above the top of the vortex finder1049. Referring toFIGS.26-37, additional embodiments of a cyclone bin assembly are illustrated. Each embodiment is generally similar to cyclone bin assembly9, and analogous features are identified using like reference numerals indexed by a given amount (2000,3000,4000, etc.). Features of any one embodiment of the cyclone bin assembly may be combined in combination or sub-combination with any compatible features from any of the other embodiments of the cyclone bin assembly. Referring toFIG.26, in this embodiment the juncture surface2066is kinked as opposed to being a generally flat surface as shown inFIG.25. In this embodiment, the juncture surface2066is not tangential to the sidewall of the air inlet2042. In this illustrated example, the juncture surface2072is curved with a radius that generally matches the curvature of the air inlet2042and the bridge surface2073extends between surfaces2072and2066and has a width2074. In this embodiment, the screen2050is generally cylindrical and has a constant width along its entire height. Referring toFIG.27, in this embodiment, the juncture3065between the sidewall3041and the bottom wall3040forms a sharp corner and is not angled or radiused and the juncture3070between the bottom wall3040and the vortex finder3049is also formed as a sharp corner. While the lower junctures are both formed as sharp corners, the juncture surface3080extending between the upper wall3039and the insert3076remains a curved surface with radius3081. In this configuration, the air inlet3042is positioned in juncture3065and is tangential to both the cyclone chamber sidewalls3041and the bottom wall3040. Further, a bridge surface is provided. Referring toFIG.28, in this embodiment, juncture surfaces4066and4072are both curved surfaces but radiuses4067and4071are different. In the illustrated example, radius4067is smaller than the curvature of the air inlet4042such that the surface4066is not aligned with the side of the air inlet4042. Optionally, the radius4071can be selected to match the curvature of the air inlet4042. Referring toFIG.29, in this embodiment, the member5068is configured such that the radial distance5081between the cyclone chamber sidewall5041and the vortex finder5049is the same as the diameter5048of the air inlet5042. In this configuration, there is no gap between a radial distance in equal to the diameter of the air inlet5042and the vortex finder5049. In the example illustrated, juncture surfaces5066and5072are both curved surfaces and are configured so that the radiuses5067and5071are the same and are selected to match the curvature of the air inlet5042. In this configuration, substantially all of the lower half of the air inlet5042is aligned with the juncture surfaces5066and5072. In this embodiment, the juncture surface5080is also curved. When configured in this matter, juncture surfaces5066and5072meet so as to form one generally continuous curve surface that extends from the cyclone chamber sidewall5041to vortex finder5049. Referring toFIG.30, in this embodiment, juncture surface6066is curved with a curvature that is selected to match the shape of air inlet6042whereas juncture6070is formed as a sharp corner. Referring toFIG.31, in this embodiment, the cyclone chamber7010and member7068are configured such that the radial distance7081between the cyclone chamber sidewall7041and the vortex finder7049is substantially larger than the diameter7048of the air inlet7042. In this configuration, the width7074of the bridge surface7073is relatively large and in the example illustrated, is greater than the radial width7098of juncture surface7066. In this example, both juncture surfaces7066and7072are both curved surfaces and are configured such that their curvature generally matches the shape of air inlet7042. Referring toFIG.32, in this embodiment, member8068is configured so that the juncture8065has an angled or inclined juncture surface8066and the juncture8070is formed as a sharp corner. Illustrated as a curved, juncture surface8080can optionally be configured as a sharp corner or as an inclined or angled surface. Referring toFIG.33, in this embodiment member9068is configured so that the juncture between9070, between bottom wall9040and vortex finder9049is configured as a sharp corner and juncture9065between the bottom wall9040and the cyclone chamber sidewall9041includes a curved juncture surface9066. The curvature of juncture surface9066is selected to generally match the curvature of air inlet9042. In this configuration, the air inlet9042is provided at a different location within the cyclone chamber9010, but is still positioned generally tangential relative to cyclone chamber sidewall9041. Changing the position of the air inlet9042may affect the air flow within the cyclone chamber and, in the example illustrated, may result in air circulating within the cyclone chamber9010in the direction that is generally opposite to the direction of air circulation in the cyclone chambers of the previous embodiments. Also, in this configuration, the air inlet9042is located adjacent and generally below the dirt outlet slot9044. Referring toFIG.34, in this embodiment, member10068is configured so that outer juncture10065(between cyclone chamber sidewall10041and bottom wall10040) is configured as a generally sharp corner and inner juncture10070is configured as a curved surface. In this embodiment, the air inlet10042is generally rectangular (as opposed to being generally circular as in the previous embodiments) and has an air inlet height10096. In the cited example, the air inlet height10096is still less than the height of the vortex finder10049thereby providing a gap of height10097between the top of the air inlet10042and top of the vortex finder10049. In this embodiment, the sharp corner configure of juncture10065generally matches the shape of the lower portion of the air inlet10042and the air inlet is generally tangential to the cyclone chamber sidewall10041. Referring toFIG.35, in this embodiment the air inlet11042is a partially rectangular partially curved configuration. In the illustrated example, the lower portion of the air inlet11042located towards the inner section of the cyclone chamber sidewall11041, and the lower wall11040is curved, and the surface11072at juncture11070, is a curved surface that is configured to generally match the shape of the air inlet11042. The juncture11065between the lower end wall11040and the vortex finder11049is configured as a sharp corner. Also in this example, the air inlet11042is positioned toward the center of the cyclone bin of the assembly11009and is adjacent to a portion of the cyclone chamber sidewall11041that separates the cyclone chamber11010from the dirt collection chamber11011. Referring toFIG.36, this embodiment is generally similar to the embodiment ofFIG.35but the air inlet12042is of a different configuration than air inlet11042. In this example, the lower portion of the air inlet12042is curved and the juncture12070is also curved so that the juncture surface12072generally matches the shape of the air inlet12042. The juncture12065between the bottom wall12040and the vortex finder12049is configured as a generally sharp corner. Referring toFIG.37, in this embodiment, member13068is configured so that the bottom wall13040of the cyclone chamber13010is spaced below the bottom of the air inlet13042. In the illustrated example, the bottom wall13040is offset below the bottom of the air inlet13042by distance13099. The distance13099may be any suitable distance, and may be between about 0% and about 50% of the diameter13048of the air inlet13042. In this example, junctures13065and13070are both curved but because of the vertical offset13099, portions of the juncture13070are spaced apart from the edges of the air inlet13042. As exemplified in the forgoing, the juncture of the sidewall and the end wall at the cyclone air inlet end is preferably configured to permit air exiting the air inlet to transition smoothly (e.g., without forming eddy currents or other turbulence) as the air enters the cyclone chamber. Accordingly, the juncture of the side and end walls is preferably configured to match the shape of the cyclone air inlet and the cyclone air inlet is preferably positioned adjacent the juncture. However, as exemplified, the juncture may be angled so as to approximate the curvature of the air inlet. Alternately, if the air inlet is not circular, the juncture may be shaped similarly to the portion of the air inlet that abuts the juncture or may approximate the shape. As also exemplified, the air inlet may be spaced from the juncture of the side and end walls (e.g., above and/or inwardly therefrom) but may abut the sidewall and/or end wall inwards of the juncture. Alternately or in addition, the juncture of the sidewall of a vortex finder (or insert) and an end wall may be shaped to match the shaped of the juncture of the sidewall and the end wall at the air inlet or may be angled or curved so as to reduce eddy currents or turbulence. Alternately, or in addition, distance between the sidewall and the vortex finder and/or the innermost end of the vortex finder and the end wall may be greater than the diameter of the air inlet. It will be appreciated that, in a preferred embodiment, each of these features is used. However, the use of any of the features may beneficially reduce eddy currents or other turbulence in the cyclone chamber and thereby reduce back pressure through the cyclone chamber. A reduction in the back pressure through the cyclone chamber mill permit the velocity of air flow at the dirty air inlet to be increased, all other factors remaining the same, and thereby increase the cleaning efficiency of a vacuum cleaner. Barrier Wall The following is a description of a barrier wall that may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features disclosed herein. Referring toFIGS.44-54, schematic representations of alternate embodiments of a cyclone chamber and dirt collection chamber are shown. These schematic representations are generally similar to the cyclone chamber10and dirt collection chamber11, and analogous features are identified using like reference characters with a unique suffix. Referring toFIG.44, a cyclone chamber10gis illustrated in combination with a dirt collection chamber11g. The cyclone chamber10gincludes an air inlet42a, air outlet (not shown), sidewall41aand a dirt outlet44. For ease of description the upper walls of the cyclone chamber10gand dirt collection chamber11ghave been removed, but it is understood that the upper ends of the dirt collection chamber11gand cyclone chamber10gcan be covered with any suitable upper wall or lid. The air inlet42ais provided toward the bottom end of the cyclone chamber10gand the dirt outlet44gis provided toward the top of the cyclone chamber10g. Alternatively, the positions of the air inlet42gand dirt outlet44gmay be reversed. In the illustrated embodiment, a deflector or barrier wall83gis positioned in the dirt collection chamber11ggenerally opposite the dirt outlet44g. In this position, dirty air exiting the cyclone chamber10gmay tend to contact the barrier wall83g, which may help dis-entrain dirt and debris from the air flow. The barrier wall83gmay also guide or direct dirt particles in a desired direction within the dirt collection chamber11g. Alternatively, instead of being positioned within the dirt collection chamber11g, the barrier wall83gmay be provided in any other air passage or conduit that is in air flow communication between the dirt outlet44gand the dirt collection chamber11g(for example if the dirt outlet44gis not in direct communication with the dirt collection chamber11g). The barrier wall83ghas a first or inner face84gthat faces and is spaced from the dirt outlet44gand an opposed outer face85gthat is spaced from and faces the sidewall56gof the dirt collection chamber11g. The barrier wall83galso defines an upstream end86gand a downstream end87grelative to the direction of air circulation within the cyclone chamber10g. Barrier wall may be fixed in position by any means. For example, it may be affixed to the cyclone chamber sidewall, the end wall or a sidewall of the exterior dirt collection chamber. In the illustrated embodiment the barrier wall83gextends from the cyclone chamber sidewall41g, and the upstream end86gof the barrier wall83gis connected to the cyclone chamber sidewall41gat a location upstream from the upstream end of the slot44g, and is sealed against the sidewall41g. The downstream end87gof the barrier wall83gis spaced apart from the cyclone chamber sidewall41g. Alternatively, the upstream end86gof the barrier wall83gmay be spaced apart from the cyclone chamber sidewall41g. If the barrier wall is connected to or extends from the sidewall of the cyclone chamber, then the position from which the barrier wall extends is preferably up to 1 inch and more preferably 0.125 to 0.5 inches upstream from the upstream side of the dirt outlet. The barrier wall83gis radially spaced apart from the dirt outlet44gand the cyclone chamber sidewall by a distance88g. In the illustrated embodiment the distance88gis generally constant and the distance between the upstream end of the dirt slot and the barrier wall83gis the same as the distance between the downstream end of the dirt slot and the barrier wall83g(i.e. most of the barrier wall83gis generally concentric with or parallel to the cyclone chamber sidewall41a). The distance88gmay be selected to be any suitable distance, and preferably is large enough to allow debris to pass between the barrier wall83gand the sidewall41g. For example, the distance88gmay be selected to be up to 1.5 inches or more, and may be configured to be less than 1 inch (e.g., 0.5-0.075 inches) and may be between about 0.125 and 0.5 inches. If the surface cleaning apparatus is to be used to clean, e.g., dry wall dust, then the spacing may be between 0.075-0.2 inches. In configurations in which one end of the barrier wall83flares away from the cyclone chamber sidewall41downstream from the dirt outlet (as explained herein), the distance between the flared portion of the barrier wall and the cyclone chamber sidewall41may exceed the ranges given above. For example, the distance between the cyclone chamber sidewall and the barrier wall at the downstream end of the dirt outlet may be between 10-50% further from the cyclone chamber sidewall than the distance between the cyclone chamber sidewall and the barrier wall at the upstream end of the dirt outlet and is preferably about 10-20% further. In the illustrated embodiment, the barrier wall83gis slightly wider in the axial direction than the dirt outlet slot44g, so that the barrier wall83gcovers or overlaps the full width of the dirt slot44g(e.g., it has a similar angular extent). Alternatively, the barrier wall83gmay have a width that is equal to or less than the width of the dirt slot44g. The height of the barrier wall may be from 35-150% the height of the dirt outlet. For example, in the illustrated embodiment, the barrier wall83gextends substantially the entire height of the cyclone chamber10gin the axial direction, and the height of the barrier wall83gis greater than the height57gof the dirt slot44g. In this embodiment the barrier wall83ghas a constant height along its width, but alternatively the height of the barrier wall83gmay vary along its width (e.g. the upstream end of the wall may be taller than the downstream end, or vice versa). Referring toFIG.45, in another embodiment, the barrier wall83hdoes not extend the full height of the cyclone chamber10h, and the upper end of the barrier wall83his axially offset below the upper end of the cyclone chamber sidewall41h. In this configuration, the barrier wall83hdoes not cover the full axial height of the dirt outlet44h, but does extend to cover the full width of the dirt outlet44h. Also in this embodiment, the barrier wall83his not parallel to or concentric to the sidewall41h. In this configuration, the distance88hbetween the upstream end of the slot44hand the barrier wall83his less than the distance88hbetween the downstream end of the slot44hand the barrier wall83h. Further, the barrier wall83hcontinues to diverge from the sidewall41hso that the distance88between the barrier wall83hand the sidewall41at a location downstream from the slot44his greater than the distance88gat the downstream end of the slot44h. Referring toFIG.46, in another embodiment a barrier wall83iflares more substantially away from the outer surface of the cyclone chamber sidewall41iso that the distance88iat the downstream end of the dirt slot44iis much greater than the distance88iat the upstream end of the slot44i. Referring toFIG.47, in another embodiment a barrier wall83jhas a width that is less than the width of the dirt slot44j. In this configuration, the barrier wall83jcovers the upstream end of the slot44jand a portion of its width, but the downstream end87jof the barrier wall83jdoes not reach or cover the downstream end of the slot44j. Referring toFIG.48, in another embodiment a barrier wall83kextends the full width and full height of the dirt slot44k, but is configured such that the upstream end86kof the barrier wall84kis spaced apart from the sidewall41kto provide a passage89kbetween the wall83kand the sidewall41k. In this configuration the barrier wall83kis not supported by the sidewall41kand instead may extend upward from the bottom wall of the dirt collection chamber11g. Alternatively, or in addition, one or more optional support ribs90k(illustrated as optional using dashed lines) may extend between the dirt collection chamber sidewall56k(and/or from sidewall41k) and the barrier wall83kto help provide support. Alternatively, instead of extending upwardly from the bottom wall of the dirt collection chamber, the barrier wall may depend downwardly from the upper wall of the dirt collection chamber. Referring toFIG.49, in another embodiment a barrier wall83L extends downwardly from the upper wall of the dirt collection chamber11L and is sized to cover dirt slot44L. Optionally, referring toFIG.50, a barrier wall83mthat depends from the upper wall of the dirt collection chamber11mcan be configured to have a height that is less than the height of the cyclone chamber10m, and optionally less than the height57mof the slot44m. Optionally, some or all of the barrier wall may be integral with other portions of the cyclone chamber or dirt collection chamber. Referring toFIG.51, in another embodiment a barrier wall83nis integral with the dirt collection chamber sidewall56nor optionally a passage extending to a dirt collection chamber. In this embodiment, the inner surface84nof the barrier wall83nfaces the cyclone chamber sidewall41nand the outer surface85nmay be part of the exterior surface of the cyclone chamber assembly (or optionally surrounded by another housing, etc.). If the barrier wall is integral with other portions of the cyclone chamber or the dirt collection chamber or a passage thereto, it preferably extends from a position somewhat upstream from the upstream end of the dirt outlet. Referring toFIG.52, in another embodiment the barrier wall88ohas a variable height, and in the configuration illustrated, increases in height from the upstream end86otoward the downstream end87o. In the illustrated configuration, the upstream end86oof the barrier wall83odoes not cover the full height57oof the slot44o, whereas the downstream end87ocovers more of the full height of the slot44o.FIG.53is a section view showing the elevation of the barrier wall83orelative to cyclone chamber10oand slot44o.FIG.54is an alternate embodiment in which the barrier wall83pvaries in height in the opposite direction (the upstream end86pis shorted than the downstream end87p). Dirt Slot of Varying Heights Referring toFIGS.55-57, schematic representations of alternate embodiments of a cyclone chamber10are shown. The schematic embodiments are generally similar to the cyclone chamber10, and analogous features are identified using like reference numerals with a unique suffix. Referring toFIG.55, the cyclone chamber10qincludes a dirt slot44qthat varies in height57qalong its width. In this embodiment, the height57qat the upstream end of the slot44qis less than the height57qat the downstream end of the slot44. Also, in this embodiment the intersection of the upstream edge91qand the bottom edge92qis rounded, as is the intersection between the downstream edge93qand the bottom edge92q. Alternatively, only one of these intersections may be rounded. Referring toFIG.56, in another embodiment the slot44ris configured so that there are sharp corners between edges91rand93rand bottom edge92r, and that the upstream end of the slot44ris taller than the downstream end. The slot44r(and any other dirt outlet slot) can be configured so that the height at the shortest portion of the slot is between about 35% to about 100% (i.e. no change) of the height at the tallest portion of the slot. The features of the dirt slot illustrated in the above embodiments may be used by itself or in any combination or sub-combination with any other feature or features disclosed herein. Pre-Motor Filter Housing Construction The following is a description of a pre-motor filter housing that may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features disclosed herein. Referring toFIG.57, a schematic representation of a surface cleaning unit4is shown. In the illustrated example, two pre-motor filters32and33are positioned within the pre-motor filter chamber31, although a differing number may be used. The pre-motor filter chamber31is defined by a housing that comprises an upper end wall110that may optionally include the downstream end of the vortex finder, a sidewall111and a lower end wall112that may optionally include the upstream end of the suction motor inlet. The open headspace or header between the bottom of the cyclone bin assembly and the upper side123of the filter32defines an upstream air plenum124. Providing the upstream plenum124allows air to flow across the upper side123of the filter32. The open headspace or header downstream of the filters32,33, between the downstream side125of filter33, provides a downstream air plenum. Providing a downstream plenum126allows air exiting the filters32,33to flow inwardly and toward the suction motor inlet. In use, air exiting the cyclone chamber10, via the air outlet43, flows into upstream plenum124, through filters32,33, into downstream plenum126and into the air inlet portion113of the suction motor8. As exemplified inFIG.17, the outer sidewall of the motor housing12may surround some or all of the pre-motor filter chamber31. Further, most or all of the upper end wall110may be provided by the lower surface of the cyclone bin assembly9, including portions of the cyclone chamber end wall40and the dirt collection chamber end wall62. In this configuration, when the cyclone bin assembly9is removed, most of the upper end wall110is also removed, which may “open” the pre-motor filter chamber31and allow a user to access the filters32,33. Similarly, most of the lower end wall112is provided by the suction motor inlet sidewall114. Optionally, the pre-motor filter housing has an upstream and/or a downstream header that is configured to reduce turbulence. Accordingly, some or all of the intersections between, the walls110and111, the walls111and112, and the wall112and the suction motor inlet may include angled or curved surfaces, which may be shaped in a similar manner to the configuration of the junctures of the cyclone chamber10discussed previously. Providing curved or smoother junctures within the pre-motor filter housing31may help reduce backpressure caused by the pre-motor filter chamber. This may help improve the efficiency of the surface cleaning apparatus1by increase the velocity of the air flow at the dirty air inlet, all other factors remaining the same. Improving the efficiency may allow the surface cleaning apparatus to provide improved suction capabilities, and/or may allow the surface cleaning apparatus to maintain its existing suction capabilities while requiring a smaller, less powerful motor8. In the illustrated embodiment, the juncture115between the sidewall111and the upper wall110includes a curved juncture surface116. The curvature of the surface116can be selected to help improve air flow into the upstream plenum124. Optionally, the juncture surface116can remain with the pre-motor filter chamber31when the cyclone bin assembly9is removed, or alternatively the juncture surface116may be part of the cyclone bin assembly9and may be removable from the pre-motor filter chamber31. The juncture117between the sidewall111and the wall112forming part of the suction motor inlet113also includes a curved juncture surface118. The curvature of surface118may be the same as, or different than the curvature of surface116. Optionally, the juncture between the wall112and the inlet sidewall114of the suction motor inlet may also be curved or angled. In the illustrated embodiment, the juncture119between walls112and114includes a curved surface120, which may help improve air flow into the suction motor8. Alternatively, instead of being curved, junctures surfaces116,118and120, as well as the juncture of the vortex finder and wall110, may be generally planar angled or inclined surfaces. The curvature of surfaces116,118and120may be any of suitable magnitude that helps improve air flow efficiency through the pre-motor filter chamber31and suction motor air inlet113. A generally flat bridging surface121forms part of wall112and extends between juncture surfaces118and120and has a length122. Together, the juncture surfaces118and120and surfaces121and114may co-operate to form a generally flared or trumpet-like motor inlet113. As illustrated, the vortex finder may also be flared or trumpet-shaped. Referring toFIG.58, another embodiment of a surface cleaning unit14004is shown. Surface cleaning14004is generally similar to surface cleaning unit4, and analogous features are identified using like reference characters indexed by 14000. In the illustrated embodiment, the surface cleaning unit14004includes a cyclone bin assembly14009that is positioned below the suction motor14008and suction motor housing14012. The pre motored filter chamber14031, containing filter14032and14033, is located between cyclone bin assembly14009and the suction motor14008and the illustrated configuration is positioned above cyclone bin assembly14009. In this embodiment, air enters the cyclone chamber14010via air inlet14042and exits via air outlet14043. Air then flows into the upstream header or plenum14125before contacting the upstream face14123of filter14032and flowing through the filters14032and14033into the downstream headspace or plenum14126. From the downstream plenum14126, air is guided by walls14112,14114, to the air inlet of the suction motor14008. Like the previous embodiment, juncture14115between the end wall14110and the side wall14111includes a curved or a radiused surface14116to help improve air flow. Similarly junctures14117and14119provided in the downstream plenum14126include curved or radius surface14118and14120, respect to the leak. A flat bridging surface14121connects curved surfaces14118and14120and helps provide the flared or trumpet like inlet for the suction motor14008. Referring toFIG.59, the embodiment ofFIG.58is shown having curved juncture surfaces14118and14120that have a larger radius or degree of curvature than those shown inFIG.58. A bridge surface14121is still provided between surfaces14120and14118but its length14122in the embodiment ofFIG.59is substantially less than its length in the previous embodiment. The curvature of juncture surface14116remains unchanged from the embodiment ofFIG.58. Providing a higher degree or curvature and/or larger curved juncture surfaces14118,14120may help improve air flow from the downstream plenum14126to the suction motor14008. Referring toFIG.60another embodiment of the surface cleaning unit15004is shown. Surface cleaning unit15004is generally similar to surface cleaning unit4and analogous features are identified using like referencing characters indexed by 15000. In the illustrated embodiment the cyclone bin assembly15009is positioned above the suction motor15008and surrounding housing15012, and the pre-motor chamber15031is defined there between. In the illustrated embodiment air enters cyclone chamber15010via inlet15042and exists via air outlet15043. In this configuration air outlet15043is not directly connected to upstream plenum15124and instead is connected via an external air flow conduit15127which is provided outside cyclone chamber15010and provides air flow communication between air outlet15043and plenum15124. As in the previous embodiment, air exiting the cyclone chamber15010goes into upstream plenum15124, through filters15032,15033and into downstream plenum15126. In this embodiment, the juncture15115between upper wall15110and side wall15111is not curved, and instead and is formed as a sharp corner. Juncture15117and15119provided downstream of the filters15032,15033are curved in this embodiment and include curved juncture services15118and15120respectively. Suction Motor Air Inlet The following is a description of a suction motor air inlet that may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features disclosed herein. Referring toFIG.61, the suction motor housing12is shown separated from the upper portion2, and with the cyclone bin assembly9, filters32,32and door13removed. In this embodiment, the suction motor housing12includes the sidewall111and the bottom wall112that bound part of the pre-motor filter chamber31. The bottom wall112includes a plurality of optional supporting ribs130that project upwards from the wall112into the chamber31. The ribs130are configured to contact the downstream side125of the filters (in this example felt filter33) in the chamber31and to hold it above the wall112, thereby help to maintaining the downstream plenum126(FIG.57). The ribs130are spaced apart from each other to allow air to flow between them, within the plenum126, and toward the suction motor air inlet113. Optionally, some or all of the support ribs in the pre-motor filter chamber31may be configured to help guide or direct the air flowing through the downstream plenum126. For example, some of the ribs may be configured to help induce rotation of the air within the plenum126, before it flows into the suction motor8. Preferably, this pre-rotation of the air flow can be selected so that the air is rotated in the direction of revolution of the fan of the suction motor8. Pre-rotating the air in this manner may help improve the efficiency of the surface cleaning unit4. The ribs may be configured in any suitable manner to help impart rotation to the air flow. In the illustrated embodiment, the plurality of ribs130includes a plurality of curved ribs131that are provide around the suction motor air inlet113. The ribs131are curved to impart rotation of the air flow in the direction indicated by arrow132, which preferably is the same direction as the direction of revolution of the suction motor8. The ribs130define a rib height133. If the lower wall112of the pre-motor filter is flat, the height133of each rib130,131may remain constant along its entire with. Alternatively, if the lower wall112varies in height (e.g., the extend inwardly along a portion of a trumpet-shaped suction motor inlet), the ribs130,131may also vary in height. Preferably, the ribs130,131are configured such that the upper ends of the ribs130,131lie in a common plane to support the filter33, and the lower ends of the ribs are in contact with the wall112. In the illustrated example, the wall112has a slight curvature and portions of the wall112are generally inclined toward the suction motor air inlet113. In this configuration, the height133at the outer end of the ribs131(disposed away from the air inlet113) is less than the height113at the inner ends of the ribs131(the ends adjacent the suction motor inlet113). Providing constant contact between the lower edges of the ribs131and the wall112may help impart rotation to the air flow and may help prevent air from flowing underneath the ribs131. Also referring toFIG.61, the suction motor housing12optionally includes a shroud135surrounding the suction motor8. The shroud135is configured to protect and optionally support the suction motor8, and may also function as a finger guard to prevent a user from accidently contacting the suction motor8when the door13is open or removed. The shroud135also includes a plurality of air flow apertures136to allow air exiting the suction motor8to flow through the to the clean air outlet6. Suction Motor Housing Construction The following is a description of a suction motor construction that may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features disclosed herein. Optionally, portions of the shroud135and/or motor housing12may be configured to help reduce the amount of suction motor noise that escapes the housing12. This may help reduce the overall amount of noise produced by the surface cleaning apparatus1. Alternatively, or in addition, to reducing the noise output, the shroud135and housing12may be configured to help tune the noise generated and to filter out particular noise frequencies. Referring toFIG.63, a schematic cross-sectional representation of another embodiment of a suction motor shroud16135is illustrated. The suction motor shroud16135is analogous to shroud135, and analogous features may be identified using like reference characters indexed by 16,000. In this embodiment, the housing16012includes a sidewall16137surrounding the suction motor16008and a bottom wall138. The suction motor16008is mounted to a collar16139that is suspended within the housing16012via ribs16140. In this configuration, air enters the suction motor16008via its air inlet16113and exits via the motor outlet16141, which is in the radial direction in the illustrated example. From the air outlet16141, the air is directed downwardly and flows toward the bottom wall16138. In the illustrated embodiment, the bottom wall16138is curved or scalloped to help smoothly redirect the airflow upwards, towards the air outlet16136(which in this example is a generally annular gap between the wall13137and collar16139). Providing curved surfaces on the bottom wall16138may help reduce turbulence in the airflow and may help reduce the noise escaping the suction motor housing by directing some of the noise inwardly. The radius16142of the curved portions of the wall16138may be any suitable radius. Upstanding projection16142extends upwardly from the bottom wall16138and helps form the curved portions of the bottom wall16138into a generally torus-like configuration, instead of forming a single continuous bowl-like surface covering the entire lower end of the shroud16135. This may help prevent air from flowing across the centerline of the shroud16135, which may help prevent mixing or other turbulent behavior. Referring toFIG.64, another embodiment of a motor shroud17135is shown. Shroud17135is generally similarly to shroud135and analogous features are indicated using like reference characters indexed by 17000. In this embodiment the upper end of the shroud17135is closed and supports the upper end of the motor17008. The bottom end of the shroud17135includes a bottom wall17138that is curved. As air exits the air outlet17141of the suction motor17008it can flow downwardly within the shroud17135and may be re-directed smoothly by the rounded wall17138, and then ejected via the air apertures17136. Providing a smooth transition surface on bottom wall17138to re-direct and guide the air flow may help reduce the turbulence and may help smooth the air flow. This may help reduce noise generated by the surface cleaning apparatus. An upstanding projection17142projects inwardly from the bottom wall17138and helps shape the bottom of the shroud17135into a generally torus-shaped configuration as opposed to a generally bowl-like shape. Providing projection17142may help prevent air from flowing across the center of the shroud17135(i.e. from left to right as illustrated, or vice versa) which may help limit mixing or other turbulence inducing flows. Referring toFIG.65, another embodiment of a motor shroud18135is shown. Shroud18135is generally similarly to shroud135and analogous features are indicated using like reference characters indexed by 18000. Alternatively, or in addition, to providing rounded features on the end wall or bottom surface of the shroud18135, the shroud18135may also be configured to include scalloped or rounded portions in the sidewall of the shroud18137.FIG.65is a top view of section motor18008positioned within the shroud18135and the motor18008is configured to receive air via air inlet18113and to eject air radially via outlet18141. In the illustrated example, radial air outlet18141is directed in one direction, to the right as illustrated, such that air exiting the motor will tend to be directed to the right side of the shroud18135as illustrated. In this configuration, portions of the sidewall18137that are facing the air outlet18141may be curved to help guide and direct air exiting the outlet18141and directed inwardly and, optionally, to an opposing side of the shroud18135that comprises the air apertures18136. Optionally, a projection18142can extend inwardly from the sidewall18137to divide the interior of the shroud18135into two portions and to prevent airflow at the outlet18141from mixing. Providing the air outlet18141directly opposite (i.e., 180° apart from) the air apertures18136may help extend the amount of time it takes for air exiting the motor to reach the apertures18136which may increase the likelihood that air exiting the outlets18136will be smooth or laminar which may help reduce noise output. Alternatively, instead of the configuration illustrated, the air outlet has a motor18141may be positioned at any relative orientation to the air outlets18136including for example 90° to the outlets18136or directly opposite the outlets18136. Motor Shroud The following is a description of a suction motor shroud that may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features disclosed herein. Referring toFIG.66, an alternate embodiment of a motor shroud19135is shown. Shroud19135is generally similar to motor shroud135in analogous features will be identified using like reference characters indexed by 19000's. In this embodiment, instead of comprising a single layer, the motor shroud19135includes four concentric sub-shrouds19145,19146,19147and19148. Each sub-shroud19145,19146,19147and19148is positioned to generally surround the motor19008and to nest amongst the other sub-shrouds. Referring also toFIG.67, in this configuration air flowing radially from the suction motor outlets19141will sequentially pass through each sub-shroud19148,19147,19146,19145before reaching the outer most air apertures19136. Optionally, each sub-shroud can be provided with air openings or apertures of a different configuration. For example, apertures in the sub-shrouds may be of different sizes, different shapes and may be in different positions relative to each other. Providing apertures or openings of different sizes and/or configurations may help limit overall noise output as each opening may be relatively more effective at screening noise at a given frequency and therefore stacking the openings in sequence may help sequentially filter out a variety of different frequencies. In the illustrated example, the outer most sub-shroud19145may form the overall outer wall19137of the shroud19135and includes generally rectangular apertures19136. The next sub-shroud19146includes a plurality of generally circular air apertures19149. The apertures19149can be sized so that they have a different cross-sectional area than rectangular apertures19136and can be positioned such that they are generally radially aligned with or alternatively generally radially offset from apertures19136in the outer wall19137. The next shroud19147includes a plurality of generally smaller, triangular shaped apertures19150and the inner most shroud19148contains a plurality of even smaller circular apertures19151. The number of apertures formed on any given shroud and their configuration, shape and/or surface area may be varied and may be selected to help filter out given frequencies generated by suction motor19008and air flow flowing through the shroud19135. While the illustrated with an open top, the shroud19135may have an upper cover or upper wall that is solid to seal the upper ends of all of the shrouds and to help direct air to flow radially outwardly through the apertures. Sound Absorbing Material The following is a description of a sound absorbing material that may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features disclosed herein. Optionally, portions of the surface cleaning apparatus1can be formed from or covered/lined with a sound absorbing or sound dampening material. The material may include a plurality of regions of different density. Portions of the material at a given density may tend to resonate at a given natural frequency, and the densities of the regions in the material may be selected so that the regions will resonate, or not resonate, at frequencies that are likely to be produced by the suction motor8and air flowing through the housing12. Providing different regions with different densities, each having their own natural frequency, may allow the sound absorbing material to counter act noises at a variety of different frequencies. This may be advantageous when compared to a generally homogenous material that may tend to have a single natural frequency. Accordingly, a sheet of sound absorbing material may be constructed from portions of different sound absorbing materials that are adhered together to some a continuous self-supporting sheet. For example, the sound absorbing material may include a plurality of pieces of different sound absorbing material or nodes held within a surrounding matrix. The plurality of nodes may include variety of different nodes having different shapes, sizes and/or densities. Optionally, the nodes may be made from the same material as each other, or some of the nodes may be made from a different material. Similarly, some or all of the nodes may be formed from the same material as the surrounding matrix, or alternatively the matrix may be formed from a different material than the nodes. Each of the nodes and surrounding matrix may be formed from any suitable material, including, for example, one or more of polyurethane, polypropylene, polyethylene, rubber, ABS plastic, other plastics, glass, metal and composite materials. Referring toFIG.68, a schematic representation of a material155that includes three sets of nodes156,157and158held within a surrounding matrix of material159is provided. Each set of nodes156,157,158has a different density, and optionally may have a different shape as illustrated. Alternatively, the nodes156,157,158may have different shapes and the same density, or different densities and the same shapes. Optionally, the nodes156,157,158may be generally randomly distributed within the matrix159. Alternatively, the nodes156,157,158may be arranged in pre-determined patterns. In the illustrated embodiment, each set of nodes156,157,158may tend to resonate at a different natural frequency due to their varying densities and geometries. Excitation of any given set of the nodes156,157,158by sound produced by the surface cleaning apparatus1may cause the set of nodes156,157,158to vibrate. The matrix159may absorb and/or dissipate some or all of the vibrations, thereby dampening sound waves at the given frequency, and reducing the amount of sound that passes through the material155. What has been described above has been intended to be illustrative of the invention and non-limiting and it will be understood by persons skilled in the art that other variants and modifications may be made without departing from the scope of the invention as defined in the claims appended hereto. The scope of the claims should not be limited by the preferred embodiments and examples, but should be given the broadest interpretation consistent with the description as a whole.

11857141

DETAILED DESCRIPTION OF THE EMBODIMENTS Hereinafter, with reference to the accompanying drawings, embodiments of the present disclosure will be described in detail. The same or similar components are given the same reference numerals and redundant description thereof will be omitted. In describing the embodiments disclosed in the present disclosure, when a component is referred to as being “coupled” or “connected” to another component, it may be directly coupled to or connected to the other component, however, it should be understood that other components may exist in the middle. In addition, in describing the embodiments disclosed in the present disclosure, when it is determined that the detailed description of the related known technology may obscure the gist of the embodiments disclosed in the present disclosure, the detailed description thereof will be omitted. In addition, the accompanying drawings are provided only for easy understanding of the embodiments disclosed in the present disclosure, but the technical spirit disclosed in the present disclosure is not limited by the accompanying drawings, and it should be understood that the accompanying drawings include all changes, equivalents, and substitutes included in the spirit and scope of the present disclosure. It is to be understood the term “disclosure” may be replaced with terms such as document, specification, description. FIG.1is a view illustrating a configuration for control of a vacuum cleaner100according to an embodiment of the present disclosure, andFIG.2is a control block diagram of each component constituting a control system of a vacuum cleaner100and a smart device20. Referring toFIG.1, a control system of a vacuum cleaner100according to an embodiment of the present disclosure may include a vacuum cleaner100, a smart device20equipped with an application (“app”) for controlling or managing the vacuum cleaner100, a server30for managing the application, and a network40for communication among the smart device20, the vacuum cleaner100, and the server30. Referring toFIG.2, the vacuum cleaner100may include a processor101, an input unit102, an output unit103, a sensing unit104, a memory105, a communication module106, and a power supply107. The processor101may include a controller. For example, it may include a micro controller unit (MCU), although other types of processors are also contemplated. The input unit102may be formed in a control panel provided near a handle of the vacuum cleaner100, and may be provided in the form of a touch button or a push button. Alternatively, the input unit102may be provided in a microphone form to recognize a voice command. In addition, an input unit including a camera or an image sensor may be provided to recognize a gesture of a user. The output unit103may include a display provided as an image output unit and a speaker provided as a sound output unit. The display may be provided in the control panel or provided as a separate display area, and may include an LCD panel through which an image or a video is output. Alternatively, the display may simply include a singular light emitting unit or a plurality of light emitting units. The speaker may output a selection sound, a warning sound, a cleaning start or cleaning completion notification signal, or the like. In addition, the speaker may be provided in an area other than the handle that can be grabbed by the user. The sensing unit104may include a current sensor for detecting a current value (or voltage value) of a driver to be described later, a load sensor for detecting a load of the driver, a torque sensor for detecting a torque of the driver, and a timer for detecting an operation time and duration. The memory105may include DRAM (RAM that requires refreshing), SRAM (RAM that does not require refreshing), ROM, EPROM, EEPROM, and the like. In addition, the communication module106may include a wired communication module including a power line communication (PLC) capable of internet communication or a wireless communication module including WI-FI. The communication module106may include a transceiver or an antenna. The transceiver may include a transmitter and a receiver. In addition, the vacuum cleaner100may include a power supply107and the driver for operating the vacuum cleaner100. The driver may include a driving motor or a motor pump. The driving motor may include a main driving motor that is installed in a cleaner body to generate a suction force and an auxiliary driving motor that is installed in a suction nozzle provided at a suction end of the vacuum cleaner to generate a rotational force of a roller and the like. The smart device20may include any form of computing device, such as a smart phone that the user can carry. The smart device20may include a processor21, an input unit22, a memory23, a power supply24, a wireless communication unit25, a sound output unit26, and a display27. The input unit22may include various input components, such as a touch type button for inputting a command by touching the display27. In addition, the wireless communication unit25may be a wireless communication module capable of communicating with through network40, which may include the internet. In addition, the sound output unit26may include a speaker. According to the above configuration, the user may execute the application (app) for managing or controlling the vacuum cleaner100installed in the smart device20, and may check a management state of the vacuum cleaner100or input a control command through this application. In addition, the user may receive information related to the management state of the vacuum cleaner100stored in the server30through network40to the smart device20. The control command input to the smart device20is transmitted to the server30of the application through network40, and the server30may transmit a control command to the communication module106of the vacuum cleaner100through network40. In addition, the control command received through the communication module106is received at the processor101of the vacuum cleaner100, and the processor101may control the operation of the driver according to the received control command. In addition, the processor101of the vacuum cleaner100may transmit an event occurring in the cleaning process and being received from the sensing unit104via a wired or wireless signal through the communication module106. The event information transmitted through the communication module106of the vacuum cleaner100may be transmitted to the server30through network40. In addition, the server30may transmit the received event information to the wireless communication unit25of the smart device20through network40. In addition, the event information received by the wireless communication unit25may be displayed on the display27by the processor21of the smart device20. FIG.3illustrates a customized cleaning information providing apparatus100according to an embodiment of the present disclosure. Referring toFIG.3, the customized cleaning information providing apparatus100may include a processor101, an input unit102, an output unit103, a sensing unit104, a memory105, a communication module106, and/or a power supply107. The processor101may include a controller. For example, it may include a micro controller unit (MCU). The input unit102may include a physical button or a touch button that receives a physical signal or a touch signal from outside and a microphone that receives an audio signal based on the control of the processor101. In addition, the input unit102may include a camera or an image sensor that receives an image from outside based on the control of the processor101. The output unit103may include a speaker that outputs an audio signal based on the control of the processor101. For example, the speaker may provide the customized cleaning information in a form of the audio signal. The output unit103may include a display for outputting visual information based on the control of the processor101. The display may implement a touch screen by forming a layer structure or integrally with the touch sensor. The touch screen may function as a user input unit that provides an input interface between the customized cleaning information providing apparatus100and the user. For example, the display may obtain information for user registration from the user. The touch screen may further provide an output interface between the customized cleaning information providing apparatus100and the user. For example, the display may output the customized cleaning information to the user in the form of visual information. That is, the display may be the input interface of the customized cleaning information providing apparatus100and, at the same time, may be the output interface of the customized cleaning information providing apparatus100. The sensing unit104may include sensors for sensing information of any one or more of a current, a voltage, a load, and a torque of the driver of the customized cleaning information providing apparatus100. In addition, the sensing unit104may include a timer capable of determining an operating time and an operating duration of the driver. In addition, the sensing unit104may include a camera or an image sensor to detect the user or an obstacle. The memory105may store data that supports various functions of the customized cleaning information providing apparatus100. The memory105may store a plurality of application programs or applications driven in the customized cleaning information providing apparatus100, and data and instructions for operating the customized cleaning information providing apparatus100. At least some of these applications may be downloaded from an external server through wireless communication. In addition, at least some of these application programs may exist on the customized cleaning information providing apparatus100from the time of shipment for basic functions (e.g. functions of receiving and transmitting data) of the customized cleaning information providing apparatus100. On the other hand, the application program may be stored in the memory105and installed on the customized cleaning information providing apparatus100, so that the application program may be driven by the processor101to perform an operation (or function) of the customized cleaning information providing apparatus100. The communication module106may include one or more modules that enable wireless communication between the customized cleaning information providing apparatus100and the wireless communication system, between the customized cleaning information providing apparatus100and other customized cleaning information providing apparatuses, or between the customized cleaning information providing apparatus100and the external server. In addition, the communication module106may include one or more modules for connecting the customized cleaning information providing apparatus100to one or more networks. In some embodiments, the communication module106may be connected to the 5G communication system. The communication module106may perform wireless communication with other customized cleaning information providing apparatuses, an external server or an external apparatus (e.g. a mobile terminal) through the 5G communication system. The communication module106may include at least one of a short range communication unit and a wireless internet unit. As used herein, a wireless internet unit refers to a module for wireless internet access, and may be built in or external to the customized cleaning information providing apparatus100. The wireless internet unit may be configured to transmit and receive wireless signals in a communication network based on wireless internet technologies. The wireless internet technologies may include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), etc., and the wireless internet unit may transmit and receive data based on at least one of such wireless internet technologies or through internet technologies not listed above. If the wireless internet access by WiBro, HSDPA, HSUPA, GSM, CDMA, WCDMA, LTE, LTE-A, etc. is made through a mobile communication network, the wireless internet unit for performing wireless internet access through the mobile communication network may include a mobile communication module. The short range communication unit may be provided for short range communication, and the short range communication unit may support the short range communication using at least one of Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, and Wireless Universal Serial Bus (Wireless USB) technology. Such a short range communication unit may support wireless communication between the customized cleaning information providing apparatus100and the wireless communication system, between the customized cleaning information providing apparatus100and other customized cleaning information providing apparatuses, or between the customized cleaning information providing apparatus100and a network in which another mobile terminal (or an external server) is located through wireless area networks. The short range wireless communication networks may be short range wireless personal area networks. Here, the other customized cleaning information providing apparatus may be an apparatus capable of exchanging (or interlocking) data with the customized cleaning information providing apparatus100according to the present disclosure. The short range communication unit, around the customized cleaning information providing apparatus100, may detect (or recognize) other customized cleaning information providing apparatuses that can communicate with the customized cleaning information providing apparatus100. Furthermore, when the detected other customized cleaning information providing apparatuses are customized cleaning information providing apparatuses certified to communicate with the customized cleaning information providing apparatus100according to the present disclosure, the processor101may transmit at least a part of data processed by the customized cleaning information providing apparatus100to the other customized cleaning information providing apparatuses through the short range communication unit. Therefore, the user of the other customized cleaning information providing apparatuses may use data processed by the customized cleaning information providing apparatus100through the other customized cleaning information providing apparatuses. For example, according to this, the user can receive cleaning information from the customized cleaning information providing apparatus100, and output the cleaning information through a display of another customized cleaning information providing apparatus100. The power supply107may receive power from an external power source and an internal power source under the control of the processor101to supply power to each component included in the customized cleaning information providing apparatus100. The power supply107may include a battery, which may be a built-in battery or a replaceable battery. According to an embodiment of the present disclosure, the processor101may control the input unit102, the output unit103, the sensing unit104, the memory105, the communication module106, and the power supply107. According to an embodiment of the present disclosure, the processor101may control the input unit102and the output unit103to provide customized cleaning information. According to an embodiment of the present disclosure, the processor101may control the sensing unit104to obtain information necessary for the customized cleaning information providing apparatus100. For example, the processor101may obtain current/voltage values, load values, torque values, operating time and operating duration information, user recognition information, and/or obstacle detection information from the sensing unit104. According to another embodiment of the present disclosure, the processor101may obtain a plurality of images of a user's face stored in the memory105, and may generate and/or learn a face classification model for classifying a user's face by using (meta learning) only a predetermined number of images among the plurality of user's face images. In addition, the processor101may obtain images of a plurality of food items stored in the memory105, and may generate/learn a food classification model for classifying food using only a predetermined number of images among the plurality of food images. According to an embodiment of the present disclosure, the processor101may control the communication module106to transmit the customized cleaning information to an external mobile terminal. A detailed description of the function/operation of the processor101is provided below. FIG.4is a block diagram illustrating an example processor ofFIG.3. As shown inFIG.4, the processor may be an artificial intelligence (“AI”) device50, but is not necessarily limited thereto. The AI device50may include an electronic device including an AI module capable of performing AI processing or a server including the AI module. In addition, the AI device50may be included in at least a part of the customized cleaning information providing apparatus100illustrated inFIG.3and may be provided to perform at least some of the AI processing. The AI processing may include all operations related to the control of the customized cleaning information providing apparatus100shown inFIG.3. For example, the customized cleaning information providing apparatus100may perform processing/determination and control signal generation through AI processing of the sensing data or the obtained data. For example, the customized cleaning information providing apparatus100may control an intelligent electronic device by performing AI processing of the data received through the communication unit. The AI device50may be a client device that directly uses an AI processing result, or a device of a cloud environment that provides the AI processing result to another device. The AI device50may include an AI processor51, a memory55, and/or a communication unit57. The AI device50may be any form of computing device capable of learning neural networks, and may be implemented as various electronic devices such as a server, a desktop PC, a notebook PC, a tablet PC, and the like. In some embodiments, the AI processor51may learn a neural network using a program stored in the memory55. In particular, the AI processor51may learn a neural network for recognizing vehicle-related data. Here, the neural network for recognizing vehicle-related data may be designed to simulate a human brain structure on a computer, and may include a plurality of network nodes having weights, which simulate the neurons of a human neural network. A plurality of network modes may transmit and receive data according to each connection relationship so that neurons simulate the synaptic activity of neurons that transmit and receive signals through synapses. Here, the neural network may include a deep learning model developed from the neural network model. In the deep learning model, the plurality of network nodes may be located at different layers and transmit and receive data according to a convolutional connection relationship. Examples of the neural network models may include various deep learning techniques, such as deep neural networks (DNNs), convolutional deep neural networks (CNNs), recurrent boltzmann machines (RNNs), restricted boltzmann machines (RBMs), and deep belief networks (DBN), and Deep Q-Network, and may be applied to fields such as computer vision, speech recognition, natural language processing, speech/signal processing, and the like. The processor that performs the AI functions described above may be a general purpose processor (e.g. CPU), or may be an dedicated processor (e.g. GPU) for artificial intelligence learning. The memory55may store various programs and data necessary for the operation of the AI device50. The memory55may be implemented as a nonvolatile memory, a volatile memory, a flash-memory, a hard disk drive (HDD), or a solid state drive (SDD), etc. The memory55may be accessed by the AI processor51, and may read/write/modify/delete/update the data by the AI processor51. In addition, the memory55may store a neural network model (e.g. deep learning model56) generated through a learning algorithm for data classifying/recognizing according to an embodiment of the present disclosure. In some embodiments, the AI processor51may include a data learning unit52for learning the neural network for data classification and/or recognition. The data learning unit52may learn a criterion defining what learning data to use to determine the data classification/recognition and how to classify and recognize the data using the learning data. The data learning unit52may learn the deep learning model by obtaining the learning data to be used for learning and applying the obtained learning data to the deep learning model. The data learning unit52may be manufactured in a form of at least one hardware chip and mounted on the AI device50. For example, the data learning unit52may be manufactured in a form of a dedicated hardware chip for artificial intelligence (AI), or may be manufactured as a part of a general purpose processor (CPU) or a graphics dedicated processor (GPU) and mounted on the AI device50. In addition, the data learning unit52may be implemented as a software module. When implemented as a software module (or a program module including instructions), the software module may be stored in a computer readable non-transitory computer readable recording media. In this case, at least one software module may be provided by an operating system (OS) or by an application. The data learning unit52may include a learning data obtaining unit53and a model learning unit54. The learning data obtaining unit53may obtain learning data necessary for a neural network model for classifying and recognizing data. For example, the learning data obtaining unit53may obtain vehicle data and/or sample data for input to the neural network model as the learning data. The model learning unit54may learn to have a criterion about how the neural network model classifies predetermined data using the obtained learning data. In this case, the model learning unit54may learn the neural network model through supervised learning that uses at least some of the learning data as a criterion. Alternatively, the model learning unit54may learn the neural network model through unsupervised learning that finds a criterion by self-learning using the learning data without guidance. In addition, the model learning unit54may learn the neural network model through reinforcement learning using feedback on whether the result of the situation determination according to the learning is correct. In addition, the model learning unit54may learn the neural network model using learning algorithms that include error back-propagation or gradient decent. When the neural network model is learned, the model learning unit54may store the neural network model in the memory. The model learning unit54may store the learned neural network model in the memory of the server connected to the AI device50through a wired or wireless network. The data learning unit52may further include a learning data preprocessor (not shown) and a learning data selector (not shown) in order to improve analysis results of a recognition model, or to save resources or time required for generating the recognition model. The learning data preprocessor may preprocess the obtained data so that the obtained data may be used for learning for situation determination. For example, the learning data preprocessor may process the obtained data to present it in a format such that it may be used by the model learning unit54for image recognition. In addition, the learning data selector may select data necessary for learning among the learning data obtained by the learning data obtaining unit53or the learning data preprocessed by the preprocessor. The selected learning data may be provided to the model learning unit54. For example, the learning data selector may select only data for an object included in a specific area as learning data by detecting a specific area of an image obtained through a camera of the intelligent electronic device. In addition, the data learning unit52may further include a model evaluator (not shown) to improve analysis results of the neural network model. The model evaluator may input the evaluation data into the neural network model, and when the analysis result output from the evaluation data does not satisfy a predetermined criterion, may allow the model learning unit54to learn again. In this case, the evaluation data may be predefined data for evaluating the recognition model. For example, among the analysis results of the learned recognition model on the evaluation data, when the number or ratio of evaluation data that is not accurate in analysis results exceeds a preset threshold, the model evaluator may determine that a predetermined criterion is not satisfied. The communication unit57may transmit the AI processing result by the AI processor51to an external electronic device. The external electronic device may include an autonomous vehicle, a robot, a drone, an AR device, a mobile device, a home appliance, and the like. For example, when the external electronic device is the autonomous vehicle, the AI device50may be defined as another vehicle or 5G network device that communicates with the autonomous module vehicle. On the other hand, the AI device50may be implemented by being functionally embedded in the autonomous module provided in the vehicle. In addition, the 5G network may include a server or a module that performs autonomous related control. On the other hand, the AI device50illustrated inFIG.4has been described to functionally be divided into the AI processor51, the memory55, the communication unit57, and the like, but it should be noted that the above-described components may be integrated into one module and may be referred to as an AI module. FIG.5is an exploded perspective view illustrating a vacuum cleaner100according to an embodiment. Referring toFIG.5, a vacuum cleaner100may include a cleaner body200, a cleaning module210coupled to the cleaner body200, a length adjusting member220for connecting the cleaner body200and the cleaning module210, a battery400coupled to the cleaner body200, and a cleaner holder300on which the cleaner body200is mounted. The cleaner body200may include a body part201in which a suction motor (not shown) for generating a suction force and a cyclone flow device (not shown) for separating dust from the suctioned air are installed, a handle part202connected to the back of the body part201and grabbed by the user, a connecting part203connected to the front of the body part201and coupled to the cleaning module210or the length adjusting member220. The cleaning module210may include a suction part211that suctions dust and the like, and a coupling part212coupled to the cleaner body200or the length adjusting member220. One end of the length adjusting member220may be coupled to the cleaner body200, and the other end of the length adjusting member220may be coupled to the cleaning module210. The length adjusting member220may employ a structure in which the length is variable. In some embodiments, the length adjusting member220may employ a material that can be elastically changed. The one end of the length adjusting member220may be coupled to the cleaner body200, and a suction part (not shown) may be provided at the other end so that a suction function can be performed without coupling of a separate cleaning module. The battery400may be detachably connected to the body part201of the cleaner body200to supply power for driving the vacuum cleaner100. The battery400may be detachably connected to a battery accommodating part302of the cleaner holder300to be rechargeable. Two batteries400may be provided. One may be coupled to the cleaner body200to supply power, and the other may be coupled to the cleaner holder300to be charged. The cleaner holder300may include a stand-type or wall-type body301, a battery accommodating part302in which the battery400is charged, a cleaner support part303which supports the cleaner body200, a charging part304electrically connected to the battery400coupled to the cleaner body200. Although the drawing shows a wall-type body301, it may alternatively include a stand-type body (not shown) provided in a standing state on the floor. The battery400may be electrically connected to the charging part304while the cleaner body200is supported by the cleaner support part303. Therefore, the user may charge the battery400by placing the cleaner body200on the cleaner holder300. The cleaner holder300may be electrically connected to an external outlet311through a power line310. A current transmitted through the power line310may charge a first battery accommodated in the cleaner body200through the charging part304of the cleaner holder, and charge a second battery mounted on the battery accommodating part302. In addition, in the vacuum cleaner100, a suction part for performing various functions may be modularly mounted on the cleaner body200. That is, the cleaning module210may be provided with a plurality of functions, and the user may use a cleaning module210suitable for the desired object to be cleaned in combination with the cleaner body200. The cleaning module210may include a cleaning module having a basic wood floor suction port, a cleaning module having a bedding suction port, a cleaning module having a mattress suction port, a cleaning module having a carpet suction port, a cleaning module having a mop, or cleaning modules for cleaning various other surfaces. In addition, a dedicated cleaning module for performing various functions, such as for difficult to clean dust, cleaning in gaps, or for cleaning raised objects may be provided as a module. FIG.5shows a cleaning module221having a 2-in-1 suction port and a cleaning module222having a suction hole for gaps are mounted on the cleaner holder300. The cleaning module221having the 2-in-1 suction port may be used as a basic type of attachment for cleaning a sofa or a mattress and as a brush type when cleaning a frame or furniture by adjusting the length of the brush by button operation. In addition, the cleaning module222having the suction hole for gaps may have an inlet formed in a narrow nozzle shape to be advantageous for suctioning dust and the like by inserting the nozzle into a narrow gap. FIG.6is a diagram illustrating an example control method of a vacuum cleaner100according to an embodiment. The vacuum cleaner100according to an embodiment of the present disclosure may be provided with a modular cleaning module210that is detachable, and may be used while changing an appropriate cleaning module210as necessary. The cleaner body200may receive information and load information indicating which cleaning module was used from the cleaning module210. For example, a main circuit (MCU: Micro Controller Unit) provided in the cleaner body200may determine and store which cleaning module210is currently being used through the current value (or voltage value) measured at the power line connected to the cleaning module210. Since the current value of the power line may vary depending on the load applied to the cleaning module210, the main circuit may also store and use the load information or torque information applied to the cleaning module210. For reference, the torque of the motor is proportional to the load current flowing through the rotor. As the load of the motor increases, the load current increases, and the torque increases to balance with the load so that stable operation can be continued. The relationship between the torque and the load current may be determined through a torque characteristic curve. In addition, the main circuit may store information regarding which cleaning module210was used at what time and for what duration, that is, usage time information. When the usage mode is determined into strong/medium/weak according to the rotational force of the suction motor of the cleaner body200, the main circuit may store the usage time and usage output for each usage mode used by the user. The main circuit may transmit accumulated usage time and usage frequency information for each cleaning module used by the user to the server30together with the information. The server30may provide cleaning history information to the user by using the accumulated information. In addition, the server30may inform that a cleaning time has arrived by analyzing a cleaning pattern of the user and recommending a cleaning type necessary to the smart device20or the vacuum cleaner100. For example, when analyzing through the accumulated data of the vacuum cleaner100, if the time since the last use of a bedding cleaning module exceeds two months, the application of the smart device20may inform the user that it is time to perform a bedding cleaning. In addition, the server30may inform that it is time for a washing of the cleaning module210component, or that the cleaning module210has failed or the replacement time has elapsed. FIG.7is a block diagram illustrating a connection relationship of a vacuum cleaner100.FIG.7illustrates a plurality of potential connection relationships (a), (b), and (c), that may be implemented in vacuum cleaner100. Referring to connection relationship (a) shown inFIG.7, the cleaning module210and the cleaner body200may be physically connected through a power line, the cleaner body200and the server30may be connected by wireless communication, and the server30and the smart device20may be connected by wireless communication. In some embodiments, a coupling part of the cleaning module210and the cleaner body200may transmit the suction force generated by the cleaner body200to the cleaning module210. The coupling part may include a suction pipe providing a passage for moving dust suctioned from the cleaning module210, and a power line for providing power to the cleaning module210. The main circuit of the cleaner body200can obtain information indicating which cleaning module210is coupled, whether it is currently in use, and how much load or torque is applied through the current value (or voltage value) of the power line. Referring to connection relationship (b) shown inFIG.7, the cleaning module210and the cleaner body200may be physically connected through a power line and wired communication, the cleaner body200and the server30may be connected by wireless communication, and the server30and the smart device20may be connected by wireless communication. In such embodiments, a coupling part of the cleaning module210and the cleaner body200may transmit the suction force generated by the cleaner body200to the cleaning module210, and include a suction pipe providing a passage for moving dust suctioned from the cleaning module210, a power line for providing power to the cleaning module210, and a communication line for transmitting usage information of the cleaning module210. The main circuit of the cleaner body200may obtain information related to which cleaning module210is coupled, whether it is currently in use, and how much load or torque is applied through the information of the communication line. In some embodiments, he current (or voltage) information transmitted through the power line may include noise. When the noise is relatively large, it may not be possible to accurately identify current (or voltage) information through the power line. In this case, by using a separate communication line, only information to be obtained can be transmitted through a separate line. For example, when a bedding cleaning module is used in combination, it may be difficult to obtain usage information through the power line because the operating current may be very weak. In this case, a communication line is provided separately from the power line, thus allowing the cleaning module to transmit information through the communication line without missing information. Referring to connection relationship (c) shown inFIG.7, the cleaning module210and the cleaner body200may be physically connected through the power line and may be connected through wireless communication, the cleaner body200and the server30may be connected by wireless communication, and the server30and the smart device20may be connected by wireless communication. The cleaning module210may be provided with a transmitter for wirelessly transmitting the usage information. The cleaner body200may be provided with a receiver for receiving information of the cleaning module210. In addition, the main circuit of the cleaner body200can obtain information related to which cleaning module210is coupled, whether it is currently in use, and how much load is applied through the information of the receiver. Zigbee, Bluetooth, or the like are example means of wireless communication that may be used FIG.8is a cross-sectional view illustrating an example coupling part of a cleaner body200and a cleaning module210according to a first embodiment, andFIG.9is a plan view illustrating coupling parts of a cleaner body200and a cleaning module210according to a first embodiment, respectively. The cleaner body200may form the connecting part203which is connected to the front of the body part201and is coupled to the cleaning module210or the length adjusting member220. The connecting part203may be provided in a form of a tube protruding in front of the body part201. In addition, one end of the cleaning module210or the length adjusting member220may be formed with a coupling part212coupled to the connecting part203. The coupling part212may be provided in a tubular shape in which the connecting part203may be accommodated. Accordingly, the inner diameter of the coupling part212may be the same or slightly larger than the outer diameter of the connecting part203. In some embodiments, the connecting part203and the coupling part212may be detachably coupled. For example, a coupling groove203cmay be formed as a recess in an outer circumferential surface of the connecting part203and a coupling protrusion212cmay be formed to protrude from an inner circumferential surface of the coupling part212. The coupling protrusion212cmay be connected to the coupling part212by a hinge, and supported by an elastic member such as a coil spring. That is, when the user inserts the connecting part203into the inner space of the coupling part212, the coupling protrusion212cmay be pressed while pressing the elastic member, and when the insertion of the connecting part203is completed, the coupling protrusion212cmay be fitted into the coupling groove203cby a restoring force of the elastic member. Therefore, the connecting part203and the coupling part212can be firmly coupled. To separate the connecting part from the coupling part, a button provided on the outer circumferential surface of the coupling part212may be used. When the user presses the button, the coupling protrusion212cconnected thereto may be moved into a state in which the elastic member is pressed. That is, the coupling protrusion212cmay be separated from the coupling groove203cto separate the connecting part203from the coupling part212. The connecting part203may transmit a suction force generated in the cleaner body200to the cleaning module210, and may include a first suction pipe203aforming a passage through which dust suctioned from the cleaning module210may move, and a first power connection part203bfor providing power to the cleaning module210. In addition, the coupling part212may be provided with a second suction pipe212aproviding a passage through which the suction force of the connecting part203is transmitted and a passage through which dust suctioned by the cleaning module210moves, and a second power connection part212bfor receiving power from the first power connection part203b. The first and second power connection parts203band212bmay be provided at one side of the first and second suction pipes203aand212ain a shape in which two terminals are connected. For example, the second power connection part212bmay be provided so that the positive terminal protrudes, and the first power connection part203bmay be provided so that the negative terminal is recessed, and the second power connection part212bmay be inserted. That is, the suction pipes203aand212aand the power connection parts203band212bmay be simultaneously connected while the connecting part203and the coupling part212are coupled to each other. FIG.10is a plan view illustrating a coupling part of a cleaner body200and a cleaning module210according to a second embodiment, respectively. The connecting part203may be provided with a first suction pipe203adefining a passage through which the suction force generated in the cleaner body200is transmitted to the cleaning module210and through which the dust suctioned in the cleaning module210moves, a first power connection part203bfor providing power to the cleaning module210, and a first information connection part203dwhich is connected to a second information connection part212ddescribed below to receive information. The coupling part212may be provided with a second suction pipe212aforming a passage through which the suction force of the connecting part203is transmitted and dust suctioned from the cleaning module210moves, a second power connection part212bfor receiving power from the first power connection part203b, and a second information connection part212dwhich transmits the information of the cleaning module210to the main circuit of the cleaner body200. The first and second power connection parts203band212bmay be provided at one side of the first and second suction pipes203aand212ain a shape in which two terminals are connected. For example, the second power connection part212bmay be provided so that the positive terminal protrudes, and the first power connection part203bmay be provided so that the negative terminal is recessed, and the second power connection part212bmay be inserted. In addition, the first and second information connection parts203dand212dmay be provided adjacent to the first and second power connection parts203band212b, and may be provided in a shape to which one terminal is connected. For example, the second information connection part212dmay be provided so that one terminal protrudes, and the first information connection part203dmay be provided so that the negative terminal is recessed, and the second power connection part212dmay be inserted. Accordingly, the suction pipes203aand212a, the power connection parts203band212b, and the information connection parts203dand212dmay be simultaneously connected when the connecting part203and the coupling part212are coupled to each other. Hereinafter, a method of providing customized cleaning information using a vacuum cleaner according to an embodiment of the present disclosure will be described. FIG.11is a block diagram illustrating a method of providing customized cleaning information according to a first embodiment in order of time. The vacuum cleaner100may include a modular cleaning module210having various functions, and may be configured to perform various functions in combination with the modular cleaning module210. Referring toFIG.11, the user may combine the cleaning module210of the vacuum cleaner100as necessary (S100). In the memory105(seeFIG.3) of the vacuum cleaner100. Information of available cleaning modules may be stored in advance. For example, the cleaning module210may include a cleaning module having a basic wood floor suction port, a cleaning module having a bedding suction port, a cleaning module having a mattress suction port, a cleaning module having a carpet suction port, a cleaning module having a mop, etc. In addition, a dedicated cleaning module for performing various functions, such as for difficult to remove dust, narrow gaps, or cleaning raised objects may be provided as a module. Next, the processor101(seeFIG.3) of the vacuum cleaner100may recognize and specify which of the cleaning modules stored in the memory105corresponds to the combined cleaning module210(S110). In some embodiments, although shown inFIG.11as being performed by vacuum cleaner100, the step of recognizing the cleaning module may be performed in the server30. In this case, the server may recognize and specify the cleaning module after a cleaning information transmission step S150, described in further detail below. When the user begins cleaning using the vacuum cleaner100(S120), information received from the sensing unit104(seeFIG.3) of the vacuum cleaner100is stored in the memory105(S130). When the user mounts the vacuum cleaner100on the holder (S140), the processor101may transmit information to the server30through the communication module106(S150). The cleaning-related information transmitted from the vacuum cleaner100to the server30may include a type of the cleaning module210executed, a driving start time and end time of the vacuum cleaner100, a duration in which the vacuum cleaner100is driven, a usage mode selected in the vacuum cleaner, load information applied to the vacuum cleaner100, contamination information of the vacuum cleaner100or the cleaning module210, or remaining battery information. The server30may accumulate and store information transmitted from the vacuum cleaner100(S160). For example, the server30may store the usage history of the vacuum cleaner100as data. The server30may determine and store information for each cleaning module210. The server30may analyze the cleaning history information through the accumulated data (S170). For example, the server30may derive information useful to the user by analyzing information related to the cleaning module210, such as whether the cleaning module should be used (e.g., when a time since last usage exceeds a time threshold), whether the cleaning module210needs to be washed or replaced (e.g., when an accumulated usage time exceeds a threshold), a remaining life of the battery, or other information. In addition, the server30may provide a notification to the smart device20in which the application (“app”) synchronized with the vacuum cleaner100is stored (S180). For example, the server30may provide a notification that a cleaning time of an object to be cleaned using the corresponding cleaning module210has arrived when a predefined time has passed since the specific cleaning module210has been used. Alternatively, the server30may provide a notification that a cleaning module210needs to be washed or cleaned when a threshold time since a last washing or cleaning of a specific cleaning module210is exceeded, or a notification that the cleaning module210needs to be replaced or repaired because when an accumulated usage time of a specific cleaning module210since the first time the cleaning module is used exceeds a usage time threshold. Alternatively, the server30may provide a notification that a replacement is necessary because the remaining life of the battery is short. FIG.12is a flowchart illustrating a method of providing customized cleaning information according to a first embodiment. A method of providing customized cleaning information according to the first embodiment starts by obtaining information related to the cleaning module210from the sensor of the vacuum cleaner100(S200). The vacuum cleaner100may determine and specify whether the cleaning module210is in use by using the obtained information (S220). Alternatively, the server30receiving the information from the vacuum cleaner100may perform a task of determining the cleaning module210. The vacuum cleaner100may store last used time information of the specified cleaning module210(S240). In this step, the last used time information for each cleaning module210may be stored. The server30may calculate an unused time by comparing a last used time of the cleaning module210and a current time, and determine whether the unused time is greater than an unused time threshold by comparing it with the unused time threshold (S260). Alternatively, the determination may be performed by a processor in the vacuum cleaner100. When the unused time of the specific cleaning module210is greater than the unused time threshold, the server30may provide a notification that the cleaning module210needs to be used (S280). The notification may be transmitted to the vacuum cleaner100, or may be transmitted to the smart device20in which the application linked with the vacuum cleaner100is stored. Accordingly, the user may be informed that it is time to clean a specific object through the notification. For example, if the unused time threshold for the bedding cleaning module is 30 days, and if 30 days have passed since the last time the bedding cleaning module is used, the smart phone may provide a notification that “30 days have passed since the last bedding cleaning. Start cleaning the bedding!”. FIG.13is a flowchart illustrating a method of providing customized cleaning information according to a second embodiment. In the method of providing customized cleaning information according to the second embodiment, additional notification information may be added as compared with the first embodiment described with reference toFIG.12. The description of the steps overlapping with the first embodiment will be omitted. The method of providing customized cleaning information according to the second embodiment starts by obtaining information related to the cleaning module210from the sensor of the vacuum cleaner100(S200). The vacuum cleaner100may determine and specify whether the cleaning module210is in use by using the obtained information (S220). Alternatively, the server30receiving the information from the vacuum cleaner100may perform a task of determining the cleaning module210. The vacuum cleaner100stores last used time information of the specified cleaning module210(S240). At this time, the last used time information for each cleaning module210may be stored. The server30may calculate total accumulated usage time by adding the use time of the cleaning module210each time it is transmitted to a use time of the cleaning module210accumulated so far, and may determine whether an accumulated usage time is greater than a usage time threshold by comparing it with the usage time threshold (S270). Alternatively, the determination may be performed by a processor in the vacuum cleaner100. When the accumulated usage time of the specific cleaning module210is greater than the usage time threshold, the server30may provide a notification that the cleaning module210needs to be washed or replaced (S290). The notification may be transmitted to the vacuum cleaner100, or may be transmitted to the smart device20in which the application linked with the vacuum cleaner100is stored. The user may be informed that it is time to wash or replace the specific cleaning module210through the notification. For example, if the usage time threshold for cleaning the bedding cleaning module may be 360 minutes, and if 360 minutes have passed since the last time the bedding cleaning module is cleaned, the smart phone may provide a notification that “washing of the bedding cleaning module210is required”. Alternatively, if the usage time threshold for replacing the bedding cleaning module is 3600 minutes, and if 3600 minutes have passed since the first time the bedding cleaning module was used, the smart phone may provide a notification that “replacement of the bedding cleaning module210is required”. FIG.14is a flowchart illustrating a method of providing customized cleaning information according to a third embodiment. In the method of providing customized cleaning information according to the third embodiment, various steps may be added as compared with the second embodiment described with reference toFIG.13. The description of the steps overlapping with the second embodiment will be omitted. The method of providing customized cleaning information according to the third embodiment starts by obtaining information related to the cleaning module210from the sensor of the vacuum cleaner100(S200). The vacuum cleaner100may determine and specify whether the cleaning module210is in use by using the obtained information (S220). Alternatively, the server30receiving the information from the vacuum cleaner100may perform a task of determining the cleaning module210. In addition, the vacuum cleaner100may determine and store usage modes of the cleaning module210(S230). For example, a usage mode may be classified as strong/medium/weak according to the rotational force of the suction motor of the cleaner body200. The vacuum cleaner100may convert the cleaning information data by applying a weight for each usage mode. For example, the strong mode may be given a weight of 3, the medium mode may be given a weight of 2, and the weak mode may be given a weight of 1, and by multiplying a weight corresponding to a total usage time in each usage mode, a new total usage time may be derived to reflect the time in each usage mode. The vacuum cleaner100may store the last used time and usage duration information reflecting the weight in the specified cleaning module210(S240, S250). The subsequent steps are the same as described above with respect toFIG.13. FIG.15is a flowchart illustrating a method of providing customized cleaning information according to a fourth embodiment. The method of providing customized cleaning information according to the fourth embodiment starts by obtaining information related to the cleaning module210from the sensor of the vacuum cleaner100(S200). The vacuum cleaner100may determine and specify whether the cleaning module210is in use by using the obtained information (S220). Alternatively, the server30receiving the information from the vacuum cleaner100may perform a task of determining the cleaning module210. The vacuum cleaner100may store last used time information and usage duration information of the specified cleaning module210(S300). At this time, the last used time information and usage duration information for each cleaning module210may be stored. The server30may generate a cleaning pattern of the user by using the last used time information and the usage duration information for each cleaning module210(S310). For example, based on the recorded cleaning information of the user, a cleaning pattern, which leads to floor cleaning, then bedding cleaning, then mattresses cleaning, and finally mop cleaning, can be generated. Alternatively, the determination may be performed by a processor in the vacuum cleaner100. The server30may provide the user with information related to this cleaning pattern (S320). For example, the server30may determine the location of the cleaning step currently in progress in the cleaning pattern, and may provide the user with information related to the next object or surface to be cleaned and/or the cleaning module210that may be used. The notification may be transmitted to the vacuum cleaner100, or may be transmitted to the smart device20in which the application linked with the vacuum cleaner100is stored. The user may intentionally proceed with the cleaning through the notification, and prevent the cleaning steps from being mixed or avoid accidentally missing some cleaning steps. Some embodiments or other embodiments of the present disclosure described above are not mutually exclusive or distinct from one another. Some embodiments or other embodiments of the present disclosure described above may be used in combination with or combined with each configuration or function. For example, it means that configuration A described in specific embodiments and/or drawings and configuration B described in other embodiments and/or drawings may be combined. In other words, even when the combination between the configurations is not described directly, it means that the combination is possible except when it is described that the combination is impossible. The above detailed description should not be construed as limiting in all respects but should be considered as illustrative. The scope of the present disclosure should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present disclosure are included in the scope of the present disclosure.

11857142

DESCRIPTION OF VARIOUS EMBODIMENTS Numerous embodiments are described in this application, and are presented for illustrative purposes only. The described embodiments are not intended to be limiting in any sense. The invention is widely applicable to numerous embodiments, as is readily apparent from the disclosure herein. Those skilled in the art will recognize that the present invention may be practiced with modification and alteration without departing from the teachings disclosed herein. Although particular features of the present invention may be described with reference to one or more particular embodiments or figures, it should be understood that such features are not limited to usage in the one or more particular embodiments or figures with reference to which they are described. The terms “an embodiment,” “embodiment,” “embodiments,” “the embodiment,” “the embodiments,” “one or more embodiments,” “some embodiments,” and “one embodiment” mean “one or more (but not all) embodiments of the present invention(s),” unless expressly specified otherwise. The terms “including,” “comprising” and variations thereof mean “including but not limited to,” unless expressly specified otherwise. A listing of items does not imply that any or all of the items are mutually exclusive, unless expressly specified otherwise. The terms “a,” “an” and “the” mean “one or more,” unless expressly specified otherwise. As used herein and in the claims, two or more parts are said to be “coupled”, “connected”, “attached”, “joined”, “affixed”, or “fastened” where the parts are joined or operate together either directly or indirectly (i.e., through one or more intermediate parts), so long as a link occurs. As used herein and in the claims, two or more parts are said to be “directly coupled”, “directly connected”, “directly attached”, “directly joined”, “directly affixed”, or “directly fastened” where the parts are connected in physical contact with each other. As used herein, two or more parts are said to be “rigidly coupled”, “rigidly connected”, “rigidly attached”, “rigidly joined”, “rigidly affixed”, or “rigidly fastened” where the parts are coupled so as to move as one while maintaining a constant orientation relative to each other. None of the terms “coupled”, “connected”, “attached”, “joined”, “affixed”, and “fastened” distinguish the manner in which two or more parts are joined together. Further, although method steps may be described (in the disclosure and/or in the claims) in a sequential order, such methods may be configured to work in alternate orders. In other words, any sequence or order of steps that may be described does not necessarily indicate a requirement that the steps be performed in that order. The steps of methods described herein may be performed in any order that is practical. Further, some steps may be performed simultaneously. Some elements herein may be identified by a part number, which is composed of a base number followed by an alphabetical or subscript-numerical suffix (e.g.112a, or1121). Multiple elements herein may be identified by part numbers that share a base number in common and that differ by their suffixes (e.g.1121,1122, and1123). All elements with a common base number may be referred to collectively or generically using the base number without a suffix (e.g.112). General Description of a Hand Vacuum Cleaner Referring toFIGS.1-6, exemplary embodiments of a surface cleaning apparatus are shown generally as100. The following is a general discussion of apparatus100which provides a basis for understanding several of the features which are discussed herein. As discussed subsequently, each of the features may be used individually or in any particular combination or sub-combination in this or in other embodiments disclosed herein. Surface cleaning apparatus100may be any type of surface cleaning apparatus, including for example a stick vacuum cleaner as shown inFIG.1, an upright vacuum cleaner as shown inFIG.5, a canister vacuum cleaner, an extractor or a wet/dry type vacuum cleaner. Optionally, the surface cleaning apparatus100may use one or more cyclones and may therefore be a cyclonic surface cleaning apparatus. InFIGS.1-6, surface cleaning apparatus100is illustrated as including a floor cleaning unit104, and a portable surface cleaning unit108that is connectable to the floor cleaning unit104. The floor cleaning unit104may include a surface cleaning head112adapted to clean floors. Portable surface cleaning unit108may include an air treatment member116. Surface cleaning apparatus100may include an upright configuration (also referred to as a ‘floor cleaning configuration’, seeFIGS.1and5) in which portable surface cleaning unit108is mounted to floor cleaning unit104, and dirty air that enters the surface cleaning head112flows downstream to portable surface cleaning unit108where the dirty air is cleaned by air treatment member116. Surface cleaning apparatus100may also include a ‘portable cleaning configuration’ (also referred to as a ‘hand carriable configuration’, or ‘above-floor cleaning configuration’, seeFIGS.3and6), in which portable surface cleaning unit108is separated from floor cleaning unit104, such as to clean above-floor surfaces and surfaces generally inaccessible to or unsuitable for cleaning with surface cleaning head112for example. In the embodiment ofFIGS.1-4, surface cleaning apparatus100is illustrated as a stick vacuum cleaner, which may also be referred to as a “stickvac”. As used herein and in the claims, a stick vacuum cleaner is one in which portable surface cleaning unit108is a hand vacuum cleaner, which may also be referred to also as a “handvac” or “hand-held vacuum cleaner”. As used herein and in the claims, a hand vacuum cleaner is a vacuum cleaner that can be operated to clean a surface generally one-handedly. That is, the entire weight of the hand vacuum cleaner may be held by the same one hand used to direct a dirty air inlet of the hand vacuum cleaner with respect to a surface to be cleaned. For example, handle120and dirty air inlet124may be rigidly coupled to each other (directly or indirectly), such as being integrally formed or separately molded and then non-removably secured together such as by an adhesive or welding, so as to move as one while maintaining a constant orientation relative to each other. This is to be contrasted with canister and upright vacuum cleaners, whose weight is typically supported by a surface (e.g. a floor) during use. In the embodiment ofFIGS.5-6, surface cleaning apparatus100is illustrated as a convertible upright vacuum, in which portable surface cleaning unit108is a ‘lift away’ pod that, in the portable cleaning configuration, can be hand carried by handle120. As opposed to a hand vacuum cleaner, a lift-away pod typically uses a flexible hose to deliver air for treatment to the air inlet provided in the casing of the lift-away pod. As shown, portable surface cleaning unit108may include a dirty air inlet124upstream of a flexible hose128. For example, dirty air inlet124may be located at an upstream end of a rigid conduit132(e.g. a wand). The user may manipulate rigid conduit132to position dirty air inlet124on or adjacent a surface (e.g. above-floor surface) to be cleaned. Optionally, rigid conduit132may include a handle136for the user to grasp while manipulating rigid conduit132. Referring again toFIGS.1-6, floor cleaning unit104may include surface cleaning head112, an upper section140, a dirty air inlet144, an air outlet148, and an air flow path152extending from dirty air inlet144to air outlet148. As shown, surface cleaning head112may include a front end156opposed to a rear end160, opposed sides164and168, and a lower end172opposed to an upper end176. Dirty air inlet144may be located on lower end172. For example, dirty air inlet144may be provide at front end156. Alternatively or in addition, dirty air inlet may be provided at rear end160, or intermediate front and rear ends156,160. Upper section140may be movably mounted to surface cleaning head112in a manner that allows upper section140to move between an upright storage position (e.g.FIG.1), and an inclined floor cleaning position (e.g.FIG.5). For example, upper section140may have a rotating connection to surface cleaning head112that allows upper section140to rotate between the upright storage and inclined floor cleaning positions. As shown inFIGS.1-4, the portable surface cleaning unit108is a hand vacuum cleaner and inFIGS.5-6, the portable surface cleaning unit108is a lift-away pod. Accordingly, the description of apparatus100and portable surface cleaning unit108below makes frequent reference to figures showing embodiments in which portable surface cleaning unit108is illustrated as a hand vacuum, similar toFIGS.1-4. To be clear and concise and avoid duplication, the description may not reference a lift-way pod version which has an appearance similar to the embodiment ofFIGS.5-6. However, it is expressly contemplated, and will be readily understood by persons skilled in the art, that the features described with reference to hand vacuum cleaners similar to the embodiment ofFIGS.1-4also apply mutatis mutandis to embodiments with a lift-away pod similar toFIGS.5-6, unless expressly stated otherwise. Referring toFIGS.3-4, portable surface cleaning unit108includes a main body180having an air treatment member116(which may be permanently affixed to the main body or may be removable therefrom for emptying), a dirty air inlet124, a clean air outlet184, and an air flow path188extending between the dirty air inlet124and the clean air outlet184. Portable surface cleaning unit108has a front end192, a rear end196, an upper end (also referred to as the top)204, and a lower end (also referred to as the bottom)208. In the embodiment shown, dirty air inlet124is at an upper portion of front end192and clean air outlet184is at rear end196. It will be appreciated that dirty air inlet124and clean air outlet184may be positioned in different locations of portable surface cleaning unit108. For example,FIG.6illustrates an embodiment in which clean air outlet184is located at front end192. Turning toFIG.4, portable surface cleaning unit108may include a suction motor212to generate vacuum suction through air flow path188. Suction motor212may be positioned within a motor housing216. Suction motor212may be a fan-motor assembly including an electric motor and impeller blade(s). In the illustrated embodiment, suction motor212is positioned in the air flow path188downstream of air treatment member116. In this configuration, suction motor212may be referred to as a “clean air motor”. Alternatively, suction motor212may be positioned upstream of air treatment member116, and referred to as a “dirty air motor”. Air treatment member116is configured to remove particles of dirt and other debris from the air flow. In the illustrated example, air treatment member116includes a cyclone assembly (also referred to as a “cyclone bin assembly”) having a single cyclonic cleaning stage with a single cyclone220and a dirt collection chamber224(also referred to as a “dirt collection region”, “dirt collection bin”, “dirt bin”, or “dirt chamber”). Cyclone220has a cyclone chamber228, a cyclone air inlet232, and a cyclone air outlet236. Dirt collection chamber224may be external to the cyclone chamber228(i.e. dirt collection chamber224may have a discrete volume from that of cyclone chamber228). Cyclone220and dirt collection chamber224may be of any configuration suitable for separating dirt from an air stream and collecting the separated dirt respectively and may be in communication by a dirt outlet of the cyclone chamber. In alternate embodiments, air treatment member116may include a cyclone assembly having two or more cyclonic cleaning stages arranged in series with each other. Each cyclonic cleaning stage may include one or more cyclones arranged in parallel with each other and one or more dirt collection chambers, of any suitable configuration. The dirt collection chamber(s) may be external to the cyclone chambers of the cyclones. Alternatively, one or more (or all) of the dirt collection chamber(s) may be internal to one or more (or all) of the cyclone chambers. For example, the internal dirt collection chamber(s) may be configured as a dirt collection area within the cyclone chamber. In other embodiments, air treatment member116may not include a cyclonic cleaning stage. For example, air treatment member116may include a bag, a porous physical filter media (such as, for example foam or felt), one or more screens, or other air treating means. Referring toFIG.4, portable surface cleaning unit108may include a pre-motor filter240provided in the air flow path188downstream of air treatment member116and upstream of suction motor212. Pre-motor filter240may be formed from any suitable physical, porous filter media (also referred to as “porous filter material”). For example, pre-motor filter240may be one or more of a foam filter, felt filter, HEPA filter, or other physical filter media. In some embodiments, pre-motor filter240may include an electrostatic filter, or the like. As shown, pre-motor filter240may be located in a pre-motor filter housing244that is external to the air treatment member116. In the illustrated embodiment, dirty air inlet124is the inlet end252of an air inlet conduit248. Optionally, inlet end252of air inlet conduit248can be used as a nozzle to directly clean a surface. Alternatively, or in addition to functioning as a nozzle, air inlet conduit248may be connected (e.g. directly connected) to the downstream end of any suitable accessory tool such as a rigid air flow conduit (e.g., an above floor cleaning wand), a crevice tool, a mini brush, and the like. As shown, dirty air inlet124may be positioned forward of air treatment member116, although this need not be the case. In the embodiment ofFIG.4, the air treatment member comprises a cyclone220, the air treatment air inlet is a cyclone air inlet232, and the air treatment member air outlet is a cyclone air outlet236. Accordingly, when operated in the portable cleaning configuration, suction motor212may be activated to draw dirty air into portable surface cleaning unit108through dirty air inlet124. The dirty air is directed along air inlet conduit248to the cyclone air inlet232. As shown, cyclone air inlet232may direct the dirty air flow to enter cyclone chamber228in a tangential direction so as to promote cyclonic action. Dirt particles and other debris may be disentrained (i.e. separated) from the dirty air flow as the dirty air flow travels from cyclone air inlet232to cyclone air outlet236. The disentrained dirt particles and debris may discharge from cyclone chamber228through a dirt outlet into dirt collection chamber224external to the cyclone chamber228, where the dirt particles and debris may be collected and stored until dirt collection chamber224is emptied. Air exiting cyclone chamber228may pass through an outlet passage256located upstream of cyclone air outlet236. Cyclone chamber outlet passage256may also act as a vortex finder to promote cyclonic flow within cyclone chamber228. In some embodiments, cyclone outlet passage256may include a screen260(also referred to as a shroud) (e.g. a fine mesh screen) in the air flow path188to remove large dirt particles and debris, such as hair, remaining in the exiting air flow. From cyclone air outlet236, the air flow may be directed into pre-motor filter housing244. The air flow may pass through pre-motor filter240, and then exit pre-motor filter housing244into motor housing216. At motor housing216, the clean air flow may be drawn into suction motor212and then discharged from portable surface cleaning unit108through clean air outlet184. Prior to exiting the clean air outlet184, the treated air may pass through a post-motor filter, which may be one or more layers of filter media. Referring toFIGS.1-4, in the upright configuration (FIG.1), dirty air inlet124of portable surface cleaning unit108is fluidly connected to air outlet148of floor cleaning unit104, whereby air flow path188of portable surface cleaning unit108is located downstream of air flow path152of floor cleaning unit104. In operation, dirty air enters dirty air inlet144of floor cleaning unit104, travels along air flow path152to air outlet148, and then enters portable surface cleaning unit108at dirty air inlet124. From dirty air inlet124, the dirty air flow moves through portable surface cleaning unit108as described above in connection with the portable cleaning configuration. Referring toFIGS.1-2, upper section140of floor cleaning unit104may include a rigid air flow conduit132. Rigid air flow conduit132includes a conduit upper end264downstream of a conduit lower end268. Conduit lower end268may be movably mounted to the surface cleaning apparatus between the upright storage position and the rearwardly inclined floor cleaning position. Portable surface cleaning unit108may be connected to conduit upper end264. As shown, this allows handle120of handvac108to be used as a steering handle for stickvac100. Fast Charging Capacitor A trend in cordless vacuum cleaners is to provide longer runtime in a single charge. For example, some cordless vacuum cleaners can run continuously for 30 minutes or more before recharging. However, such vacuum cleaners require large, expensive, heavy batteries. In use, this can make these vacuum cleaners unwieldy to carry, in both size and weight. Moreover, it can take a long time to fully recharge high capacity batteries, and batteries often degrade and require replacement during the working life of a vacuum cleaner. The battery replacement cost is a significant expense for the user. In some embodiments disclosed herein, a surface cleaning apparatus includes a portable surface cleaning unit equipped with an energy storage member having one or more capacitors. As compared with rechargeable batteries (e.g. lead-acid, Ni-Cad, NiMH, or lithium), a capacitor can be recharged much faster, and have a much longer lifespan (measured in charge cycles). With battery powered vacuums, traditional design philosophy is that it is important to have a long runtime to mitigate having to recharge in the middle of a cleaning session, since the recharge could take several hours (e.g., 4-8), which would be disruptive to the user who wishes to finish their cleaning session in a timely manner. In contrast, with a capacitor powered portable cleaning unit, the need to recharge mid-session may be minimally disruptive as it may only require a few seconds to a few minutes to recharge. Therefore, a capacitor powered portable surface cleaning unit may include comparatively less energy storage capacity because avoiding a recharge mid-session is not a priority. As a result, a capacitor powered portable surface cleaning unit may have a relatively smaller and lighter on board energy storage member (one or more capacitors), as compared with a high capacity battery pack. This can make a capacitor powered portable surface cleaning unit smaller and lighter overall, without compromising performance or user experience. Moreover, the long lifespan of capacitors (often1million charge cycles or more) means that the capacitors will not generally require replacement during the working life of the portable surface cleaning unit. The features in this section may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features described herein. For convenience, reference to “a capacitor” herein means “one or more capacitors”, unless expressly stated otherwise (e.g. “a single capacitor”). Similarly, reference to “a battery” herein means “one or more batteries”, unless expressly stated otherwise (e.g. “a single battery”). Referring toFIG.4, portable surface cleaning unit108is shown including an energy storage member272. Energy storage member272may include a capacitor276. For example, capacitor276may be the only significant energy storage in energy storage member272, or energy storage member272may further include a battery. Some or all of the power consuming elements of portable surface cleaning unit108may be powered by capacitor276. For example, at least suction motor212may be powered by capacitor276. In some embodiments, some or all power consuming elements of portable surface cleaning unit108may be exclusively powered by capacitor276. For example, at least suction motor212may be exclusively powered by capacitor276in some embodiments. Capacitor276may be any capacitor suitable for supplying power required to operate at least suction motor212. For example, capacitor276may be an ultracapacitor (also referred to as a supercapacitor or Goldcap). As compared to an electrolytic capacitor, ultracapacitors have dramatically higher energy density (per unit mass and per unit volume). Types of ultracapacitors include electrostatic double-layer capacitors (EDLCs), electrochemical pseudocapacitors, and hybrid capacitors that store charge both electrostatically and electrochemically. Accordingly, it will be appreciated that a portable surface cleaning unit108may use only a single capacitor276or optionally, for example, 2, 3 or 4 capacitors276. Capacitor276may be recharged by power from a power source external to portable surface cleaning unit108.FIGS.7-8show an example in which energy storage member272is removable from portable surface cleaning unit108for electrically connecting to an external charger280. External charger280may be powered by an electrical connection to a stationary power supply284(e.g. mains power). An advantage of this design is that the external charger280also reduces the size and weight of portable surface cleaning unit108as compared with including charger280within portable surface cleaning unit108. Further, this design may not require portable surface cleaning unit108to have a power cord or power cord connector, which may also reduce the size and weight of portable surface cleaning unit108all else being equal. It will be appreciated that, if the capacitor is charged rapidly (e.g., 1, 2, 3, 4, or 5 minutes), then the user may be able to make a cup of coffee or make a quick call and then return to continue the cleaning operation with a fuller recharged capacitor276. A further advantage of this design is that it can allow the user to swap a discharged energy storage member272for a charged energy storage member272that has been stored on the charger280. Alternatively or in addition to energy storage member272being removable for recharging, energy storage member272may be rechargeable in-situ without removal from portable surface cleaning unit108. For example,FIGS.9-10show an embodiment in which portable surface cleaning unit108includes a power cable288for transmitting power from stationary power supply284towards energy storage member272. An advantage of a non-removable energy storage member272is that it may not require a discrete outer shell for user handling and transportation since it is permanently held within main body180. Further, a non-removable energy storage member272may not require hardware to support easy user removal and insertion of energy storage member272. This may make energy storage member272smaller and lighter, all else being equal. In accordance with the alternate exemplified embodiment ofFIGS.9-10, portable surface cleaning unit108includes charger280within main body180. An advantage of this design is that it may make connecting portable surface cleaning unit108to a stationary power supply284more convenient, in that an external charger does not need to be relocated to the selected stationary power supply284. FIG.11shows an alternative embodiment in which energy storage member272is rechargeable in-situ without removal from portable surface cleaning unit108, by a corded connection to an external charger280. An advantage of this design is that it may reduce the size and weight of portable surface cleaning unit108as compared with including charger280within portable surface cleaning unit108, all else being equal. In an alternate embodiment in which energy storage member272is rechargeable in-situ without removal from portable surface cleaning unit108, the portable surface cleaning unit108may itself be plugged into the charger280. Energy storage member272may have sufficient energy capacity to power at least suction motor212(or all power consuming parts of portable surface cleaning unit108) for at least 3 minutes (e.g. 3 minutes to 15 minutes). For example, an energy storage member272with a capacity of at least 5 Wh can provide 100 W of power to a suction motor212for at least 3 minutes. As mentioned above, all of the energy storage may be provided by capacitor276in some embodiments. A 3 to 5 minute runtime may be sufficient for short cleaning sessions, such as to clean crumbs off a couch, to clean dirt around a planter, or to clean cereal spilled by a child for example. If a task is larger, and requires more runtime than energy storage member272can provide, then energy storage member272can be quickly recharged. For example, charger280(whether external or internal to portable surface cleaning unit108) may be configured to recharge capacitor276at a rate of at least 2 C, 3 C or 4 C (e.g. at least 6 C, such as 4 C to 10 C, or 6 C to 10 C). This can allow capacitor276to be fully recharged in a matter of seconds or minutes, as compared with hours in the case of many batteries. Returning toFIG.10, in some embodiments power cable288may be permanently connected to portable surface cleaning unit108. An advantage of this design is that it may not require portable surface cleaning unit108to have hardware to support a removable connection, and it may make connecting portable surface cleaning unit108to a stationary power supply284more convenient to the extent that a separate power cable288does not need to be relocated to the selected power supply284.FIG.12shows an alternative embodiment in which power cable288is removably connected to portable surface cleaning unit108. For example, power cable288may be connected to portable surface cleaning unit108only to recharge energy storage member272. An advantage of this design is that it does not require the user to carry the weight of power cable288when portable surface cleaning unit108does not require a connection to a stationary power supply284(e.g. when not recharging). Capacitor Rechargeable In Upright Configuration In some embodiments, the floor cleaning unit charges the capacitor of the portable surface cleaning unit when the portable surface cleaning unit is connected to the floor cleaning unit. For example, the capacitor of the portable surface cleaning unit may be recharged while the surface cleaning apparatus is operated in the upright configuration. Several advantages flow from this design. First, this design can mitigate the capacitor of the portable surface cleaning unit being dead when disconnected from the floor cleaning unit for use in the portable cleaning configuration. Second, this design can allow cleaning to continue in the upright configuration if the portable surface cleaning unit runs out of power in the portable surface cleaning mode. For example, if the capacitor of the portable surface cleaning unit runs out of power while cleaning an above-floor surface, the user may connect the portable surface cleaning unit to the floor cleaning unit and resume cleaning floor surfaces while the capacitor recharges. Third, this design can allow the capacitor to recharge while the portable surface cleaning unit is connected to the floor cleaning unit in the storage mode. This mitigates misplacing the floor cleaning unit, as compared to a design that requires the portable surface cleaning unit to be disconnected from the floor cleaning unit to recharge. The features in this section may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features described herein. Reference is now made toFIGS.13-14. As shown, floor cleaning unit104may include a charger280. For example, charger280may be located in surface cleaning head112as shown, or in upper section140. When charger280is connected to a source of power, and portable surface cleaning unit108is connected to floor cleaning unit104, charger280may recharge energy storage member272(including at least capacitor276). In the illustrated example, portable surface cleaning unit108is connected to floor cleaning unit104in an upright configuration. Thus, energy storage member272may be recharged while surface cleaning apparatus100is in a storage position and/or an inclined floor cleaning position. Embodiments that can recharge energy storage member272while apparatus100is in the inclined floor cleaning position can allow the user to continue cleaning without interruption when portable surface cleaning unit108runs out of power in a portable cleaning configuration. The rapid charging rate of capacitor276means that capacitor276may be fully recharged in a short period of time, and therefore allow the user to return to the portable cleaning configuration after only a short time in the upright configuration. In some embodiments, suction motor212may be powered only (i.e. exclusively) by (i) energy storage member272(e.g. when in the portable cleaning configuration), or (ii) by a stationary power supply (e.g. mains power, when in the upright cleaning configuration). As shown, when in the upright cleaning configuration, charger280may be electrically connected by power cable288to stationary power supply284. Power cable288may have a length suitable to allow surface cleaning apparatus100to be used for cleaning floors in the upright configuration while connected to stationary power supply284. For example, power cable288may be at least 10-15 feet long. Power cable288may be permanently connected to floor cleaning unit104. For example, surface cleaning apparatus100may require an electrical connection to a stationary power supply284when in the upright configuration. This may encourage users to arrange their cleaning routine to allow energy storage member272to recharge between short periods of use in the portable cleaning configuration. Alternatively, power cable288may be removably connected to floor cleaning unit104. This allows surface cleaning apparatus100to operate in a cordless manner while in the upright configuration, even if only for a short duration subject to the power capacity of energy storage member272. For example, this can allow surface cleaning apparatus100to be used in an upright configuration to clean floors (e.g. in an unfinished basement) where there is not an electrical outlet within range. FIG.15shows an embodiment in which charger280is located external to floor cleaning unit104. This can reduce the size and weight of floor cleaning unit104as compared with a design having charger280inside floor cleaning unit104. Floor Cleaning Unit Including An Energy Storage Member In some embodiments, the floor cleaning unit may include an energy storage member. The energy storage member may have sufficient power capacity to fully recharge the capacitor of the portable surface cleaning unit several times. This allows a continuous cordless cleaning session with the surface cleaning apparatus wherein the cleaning session includes two or more iterations of (i) cleaning with the portable cleaning unit in the portable cleaning configuration, and (ii) recharging the portable cleaning unit while cleaning in the upright cleaning configuration. The floor cleaning unit may include a relatively inexpensive, rechargeable energy storage member (e.g. a lead acid, NiCad, NiMH, or lithium) with an energy storage capacity that is several times greater than the capacitor of the portable surface cleaning unit. While providing a rechargeable energy storage member in the floor cleaning unit (optionally the surface cleaning head) increases the weight of the floor cleaning unit, this added weight is supported by the floor being cleaned, and may also help stabilize the surface cleaning apparatus100when in the storage configuration by lowering the center of gravity. Alternately, or in addition, it can provide needed weight to help maintain the dirty air inlet of the surface cleaning head a desired distance from the floor being cleaned. The features in this section may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features described herein. Referring toFIG.16, floor cleaning unit104may include an energy storage member292. Floor cleaning unit104may also include a charger280as shown. Charger280may include one or more charging circuits for one or more of:(i) supplying power from a stationary power supply (i.e. via power cable288) to energy storage member292;(ii) supplying power from the floor cleaning unit energy storage member292to the portable surface cleaning unit energy storage member272; and,(iii) supplying power from a stationary power supply (i.e. via power cable288) to energy storage member272. Energy storage member292can be any device suitable to supply power for fully recharging energy storage member272one or several times. For example, energy storage member292may include a battery and/or a capacitor that collectively have an energy storage capacity sufficient to recharge energy storage member272(or at least capacitor276) two or more times (e.g. three or more times, or six or more times). In some embodiments, when portable surface cleaning unit108is connected to floor cleaning unit104, and floor cleaning unit104is disconnected from an external power supply (e.g. power cable288is disconnected from mains power, and/or disconnected from floor cleaning unit104), energy storage member272is charged by charger280with power from energy storage member292. In this situation, surface cleaning apparatus100may be operated in the inclined floor cleaning position to clean floors while energy storage member272is charging. After a short period (e.g. 15 minutes or less), energy storage member272will have been substantially or fully recharged, and portable surface cleaning unit108can be removed for use again in the portable cleaning configuration. While energy storage member272is being charged by charger280from power supplied by energy storage member292, suction motor212may be powered exclusively by energy storage member272. An advantage of this design is that it does not require portable surface cleaning unit108to include circuitry that can electrically reconfigure suction motor212to receive power directly from energy storage member292and/or enable suction motor212to receive power directly from energy storage member292. Further, this design does not require energy storage member292to be capable of discharging at a rate sufficient to supply both (i) recharging of energy storage member272, and (ii) powering suction motor212. Alternatively, while energy storage member272is being charged by charger280from power supplied by energy storage member292, suction motor212may be powered exclusively by energy storage member292. An advantage of this design is that it may reduce or stop the discharge of energy storage member272, so that energy storage member272can sooner attain a substantially or full charge for use in the portable cleaning configuration. Alternatively, while energy storage member272is being charged by charger280from power supplied by energy storage member292, suction motor212may be powered by energy storage members272,292together. In some embodiments, when portable surface cleaning unit108is connected to floor cleaning unit104, and floor cleaning unit104is connected to an external power supply (e.g. power cable288is connected to mains power and floor cleaning unit104) one or more of the following may occur concurrently:(i) energy storage member272may be charged by charger280with power from energy storage member292and/or power from the external power supply;(ii) energy storage member292may be charged by charger280with power from the external power supply; and,(iii) suction motor212may be powered by energy from energy storage member272, and/or energy storage member292, and/or the external power supply. An advantage of partially or completely powering suction motor212from the external power supply in this situation is that it can reduce or stop the discharge of energy due to energy storage members272,292powering the suction motor212so that energy storage members272,292can sooner attain be substantially or fully recharged. Once energy storage members272,292have attained a substantial or full charge, surface cleaning apparatus100can again be used in a cordless configuration (e.g. power cable288can be disconnected from mains power and/or disconnected from floor cleaning unit104). Reference is now made toFIG.17. Alternatively or in addition to providing a charger2801in floor cleaning unit104, floor cleaning unit104may be connectable to an external charger2802. For example, internal charger2801may be configured with a charging circuit for transferring power from energy storage member292to energy storage member272, and external charger2802may be configured with a charging circuit for transferring power from an external power supply (e.g. mains power) to energy storage member292. This design may reduce the size and/or weight of floor cleaning unit104as compared with a design that includes both chargers2801and2802(or a single charger with the functionality of both chargers) inside floor cleaning unit104. Referring toFIGS.16-17, energy storage member292may be located anywhere inside floor cleaning unit104. For example, energy storage member292may be located at (e.g. inside, part of, or attached to) surface cleaning head112as shown, or upper section140. In the illustrated embodiment, surface cleaning head112has a center304located midway between front and rear ends156,160, and energy storage member292has a center of gravity296located forward of cleaning head center304. An advantage of this design is that energy storage member292may help move the center of gravity of surface cleaning apparatus100forwards, and thereby help stabilize surface cleaning apparatus100when in the storage position. For example, a more forward center of gravity of apparatus100may mitigate surface cleaning apparatus tipping over rearwardly when in the storage position. Thermal Cooling During Charging and/or Discharging The rate at which an energy storage member can be charged, without suffering damage or substantial degradation, may be limited by heat generated during charging. When an energy storage member for an appliance is charged, the generated heat can raise the temperature of the energy storage member to dangerous or damaging levels. In some embodiments, a thermal cooling unit that, directly or indirectly, cools an appliance energy storage member during charging is provided. This can help keep the temperature of the energy storage member within safe limits when the energy storage member is charged rapidly (e.g. at a rate of 4 C or faster). If the charger is in a surface cleaning unit, then the surface cleaning apparatus may include the charger and the thermal cooling unit. Alternately, if the charger is remote, then the charger may include the thermal cooling unit. Such a thermal cooling unit may be referred to as an appliance energy storage member thermal cooling unit. As discussed herein, a charger which is used to charge an energy storage member may itself have an onboard energy storage member. The rate at which such an on board energy storage member can be discharged, without suffering damage or substantial degradation, may also be limited by heat generated during discharge. When an energy storage member is rapidly discharged, the generated heat can raise the temperature of the energy storage member to dangerous or damaging levels. In some embodiments, a thermal cooling unit that, directly or indirectly, cools an charger energy storage member during discharging is provided. This can help keep the temperature of the energy storage member of the charger within safe limits when the charger is rapidly charging an energy storage member (e.g. at a rate of 4 C or faster). If the charger is in a surface cleaning unit, then the surface cleaning apparatus may include the charger and the thermal cooling unit. Alternately, if the charger is remote, then the charger may include the thermal cooling unit. Such a thermal cooling unit may be referred to as an charger energy storage member thermal cooling unit. It will be appreciated that, in some embodiments, the appliance energy storage member thermal cooling unit and the charger energy storage member thermal cooling unit may be the same thermal cooling unit. The features in this section may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features described herein. FIGS.18-20illustrate various embodiments of a charger280electrically connected to an energy storage member272or292, and a thermal cooling unit308thermally connected to the energy storage member272,292to remove heat generated during recharging of energy storage member272or292or the discharge of energy storage member292, and thereby keep the temperature of the energy storage member272,292within safe limits when the energy storage member is charged rapidly or the energy storage member292is discharged rapidly. It will be appreciated that the arrangements described herein including a thermal cooling unit308can be used in combination with energy storage member272and/or292in any embodiment of surface cleaning apparatus100, floor cleaning unit104, or portable surface cleaning unit108described elsewhere or illustrated in any figure. Further, a thermal cooling unit308may be included at a location at which the energy storage member is used (e.g., in the portable surface cleaning unit108) or where the energy storage member is recharged (e.g., in the portable surface cleaning unit108if recharged in situ or in charger280if recharged exterior to appliance100). For example, referring toFIGS.22and23, the portable surface cleaning unit108may include a thermal cooling unit308as energy storage member272may be recharged in situ. Alternately, or in addition, as exemplified inFIG.23, surface cleaning head112may include a thermal cooling unit308to cool energy storage member292when energy storage member292is charged and/or discharged. In the alternate embodiment exemplified inFIG.24., energy storage member272is recharged external to the apparatus100. Accordingly, remote charger280is provided with a thermal cooling unit308that may be used to cool energy storage member272and/or292during charging and/or to cool energy storage member292during discharge. It will be appreciated that charger280may have a single thermal cooling unit308that is thermally connected to each of energy storage members272,292when energy storage members272,292are installed in the charger280. Alternately, a first thermal cooling unit308may be provided that is thermally connected to energy storage members272when energy storage member272is installed in the charger280and a second thermal cooling unit308may be provided that is thermally connected to energy storage members292when energy storage member292is installed in the charger280. Referring toFIG.18, in some embodiments, thermal cooling unit308may include active cooling. Any active cooling means known in the art may be used. That is, thermal cooling unit308may include a powered cooling element312. An advantage of this design is that the rate of cooling can be controlled by regulating the power supplied to cooling element312. This may provide better control over the temperature of energy storage member272,292. Powered cooling element312may be any powered device that can be operated to remove heat from energy storage member272,292. For example, powered cooling element312may be a fan as shown, a coolant circulating pump (e.g., the energy storage member or a casing in which the energy storage member is received) may include flow channels through which a cooling fluid may flow due to operation of the coolant circulating pump), or a Peltier cooler. As shown, charger280may be configured to control the operation of powered cooling element312. For example, charger280may include a temperature sensor that provides a signal to a controller that, in turn, controls the speed of fan312according to a signal from the sensor that represents the temperature of energy storage member272,292. Alternatively or in addition to a powered cooling element312, thermal cooling unit308may include a passive cooling element316. A passive cooling element316may be an unpowered device that is effective for removing heat from energy storage member272,292during charging.FIG.19shows an example in which passive cooling element316is a heat sink (e.g. a metal heat sink, such as an aluminum heat sink).FIG.20shows an example in which passive cooling element316is a liquid heat sink. In some embodiments, passive cooling element316may be configured to provide an enlarged surface area to promote natural convective cooling with the ambient air. For example, heat sink316inFIG.19includes a plurality of fins320that collectively provide a large surface area for convective cooling. In use, energy storage member272,292is positioned in thermal (e.g., abutting) contact with heat sink316whereby heat from energy storage member272,292is transferred into heat sink316by conduction, and heat from heat sink316is lost by convection into the ambient air. Alternatively or in addition to promoting convective heat loss, passive cooling element316may have a heat capacity sufficient to absorb the heat generated by one or several charges of energy storage member272,292(e.g. at least 2 charge cycles, at least 3 charge cycles, or at least 4 charge cycles) and/or the rapid discharge of energy storage member292. For example, passive cooling element316may include a volume of material that after absorbing one or several charges of energy storage member272,292, maintains the energy storage member272,292below a target temperature. In the exemplary embodiment ofFIG.19, heat sink316may be composed of a sufficient volume of metal (e.g. aluminum) to achieve this effect. InFIG.20, thermal cooling unit308is shown including a housing324that holds energy storage member272,292in a volume of liquid328(e.g. mineral oil, or other coolant). The liquid328may have sufficient volume to maintain the temperature of energy storage member272,292within safe limits after several charging cycles. After passive cooling element316has absorbed the heat generated by a number of charge cycles, and the user has finished their cleaning session, passive cooling element316will passively cool back to room temperature while surface cleaning apparatus100rests in storage (e.g. overnight). Once at room temperature, passive cooling element316will again be capable of absorbing heat generated by a number of charge cycles. In an alternate embodiment, it will be appreciated that passive cooling element319may also be provided with active cooling using any technique disclosed herein. Method of Cleaning with a Capacitor-Powered Portable Surface Cleaning Unit A surface cleaning apparatus operable in both upright and portable cleaning configurations, and having a portable surface cleaning unit that may be powered by a rapidly rechargeable energy storage member (e.g. a capacitor-powered portable surface cleaning unit) may be operated according to a new paradigm. Whereas conventional philosophy has been that a handvac should have a maximized runtime so that all surfaces requiring use of the handvac can be cleaned at in one continuous operation without recharging the handvac, embodiments disclosed herein promote a cleaning session that includes several iterations of: (i) cleaning in an upright configuration while the portable surface cleaning unit charges, and (ii) cleaning in a portable cleaning configuration with the portable surface cleaning unit powered by its, e.g., capacitor. This method of alternating between upright and portable cleaning configurations, lowers the required energy storage capacity of the portable surface cleaning unit. This means the portable surface cleaning unit can have a smaller, lighter, and possibly less expensive energy storage member. In order to achieve several full charges of the portable surface cleaning unit within a single uninterrupted cleaning session, the energy storage member preferably uses a capacitor which enables very fast charging. It will be appreciated that, in other embodiments, a battery or battery pack that is rapidly chargeable may also be used. For example, if the handvac may have a short run time (e.g., 3, 5, 7 or 10 minutes), then the handvac may have only one or a few (e.g., 2 or 3) batteries. In such a case, the amount of energy required to fully charge the batteries is reduced compared to traditional battery packs that may have 6-7 batteries. Accordingly less heat will be generated during rapid recharging and the handvac may accordingly include a thermal cooling unit308that does not add excessive weight to the handvac. The features in this section may be used by itself in any surface cleaning apparatus or in any combination or sub-combination with any other feature or features described herein. Referring toFIGS.2and21, a method400of cleaning a surface using surface cleaning apparatus100(e.g. a stickvac) is shown. At404, portable surface cleaning unit108(e.g. handvac108) is removed from floor cleaning unit104. For example, portable cleaning unit108may be disconnected from rigid conduit upper end264to reconfigure surface cleaning apparatus100into a portable cleaning configuration. At408, portable surface cleaning unit108is used to clean surface(s) in the portable cleaning configuration. For example, portable surface cleaning unit108may be used to clean surfaces unsuitable for surface cleaning head112, such as seat cushions, counters, drapes, and ceilings. Portable surface cleaning unit108may be powered by a capacitor276(FIG.4). At412, portable surface cleaning unit108is remounted to floor cleaning unit104. For example, portable cleaning unit108may be reconnected to rigid conduit upper end264to reconfigure surface cleaning apparatus100into an upright configuration. At416, surface cleaning apparatus100is used in the upright configuration to clean a floor, simultaneously while portable surface cleaning unit108recharges. Capacitor276(FIG.4) may be recharged by an internal or external charger280with power from an external power supply and/or another energy storage member292, as described above in connection withFIGS.9-17. Cleaning and recharging in step416may continue for a period sufficient to substantially or fully recharge capacitor276(FIG.4). For example, step416may continue for up to 15 minutes or for up to 10 minutes or for up to 5 minutes or for up to 3 minutes, during which capacitor276(FIG.4) may be substantially recharged or fully recharged. As shown, after step416, method400may return to step404and continue until the cleaning session is completed. Accordingly, a user may remove the portable cleaning unit108and use it in the portable cleaning unit configuration until portable cleaning unit108requires recharging or until the cleaning job is finished. While the above description provides examples of the embodiments, it will be appreciated that some features and/or functions of the described embodiments are susceptible to modification without departing from the spirit and principles of operation of the described embodiments. Accordingly, what has been described above has been intended to be illustrative of the invention and non-limiting and it will be understood by persons skilled in the art that other variants and modifications may be made without departing from the scope of the invention as defined in the claims appended hereto. The scope of the claims should not be limited by the preferred embodiments and examples, but should be given the broadest interpretation consistent with the description as a whole.

11857143

DETAILED DESCRIPTION Example Operating Environment FIG.1illustrates an operating environment100for an improved activity monitoring system that includes wearable computer102wirelessly connected to fitness machine101, according to an embodiment. User100is wearing computer102on her wrist while she runs on fitness machine101, which in this example is a treadmill. Other examples of fitness machines include but are not limited to: cross-trainers (elliptical trainers), step/stair climbers, indoor bikes, indoor rowing machines and skiing machines. Wearable computer102can be a smart watch, fitness band, chest band, headband, earbud, activity/fitness tracker, headset, smart glasses, or any other wearable computer capable of communicating with fitness machine101and calculating a fitness metric. Wearable computer102establishes a bi-directional, wireless communication session103with a processor in fitness machine101using a wireless communication protocol. In an embodiment, session103can be a Bluetooth session or near field communication (NFC) session, which can be established using a “pairing” process, as described in reference toFIGS.4and5. In an embodiment, fitness machine101is authenticated and the user's consent to share data is confirmed before bi-directional data sharing is allowed between wearable computer102and fitness machine101. Wearable computer102includes a processor and memory that includes instructions for running a fitness application that can be executed by the processor. The fitness application runs on wearable computer102during the user's workout session on fitness machine101. A processor in fitness machine101monitors the workout session and computes various data (hereinafter referred to as “machine data”) related to the workout session, including but not limited to: total energy used, total distance run, elapsed time, instantaneous speed, average speed, inclination and positive elevation gain. The machine data is transferred over link103to computer102where it is used by the fitness application, together with data known to computer102(hereinafter referred to as “wearable computer data,”) to calculate one or more fitness metrics, such as calories burned. As described in further detail below, wearable computer102can include a heart rate monitor for determining the user's heart rate, which can be combined with machine data to determine calories burned. During the workout session, one or more fitness metrics calculated by wearable computer102are transferred back to fitness machine101where the metrics are displayed on a monitor of fitness machine101. During the workout session and/or after the workout session ends, a workout summary including the fitness metrics is transferred to computer102. The user can view the details of the workout session at any time on fitness machine101, or on wearable computer102. In an embodiment, wearable computer102displays an in-session view with metrics received from fitness machine101, as well as heart rate and calories (total/active) computed by wearable computer102. The user can use computer102to transfer the workout summary to another device by syncing directly with the other device or indirectly through a network (e.g., the Internet). In an embodiment, the workout session summary can be shared with other user devices in the gym through a wireless local area network (WLAN) or a multi-peer ad hoc mesh network. In this manner, users can compare their fitness metrics with friends, trainers and other individuals for a particular fitness machine while in the gym. In an embodiment, and with the consent of users, anonymous summary data can be processed by a server computer to provide workout statistics for a particular fitness machine over a large sample set. Such statistics can be used by gym operators, fitness machine manufacturers and other interested entities to determine what machines are most popular, the average time spent on a machine and other useful information. In addition to calculating fitness metrics, wearable computer102can use machine data to calibrate a digital pedometer running on wearable computer102. For example, the total distance traveled during a workout session computed by fitness machine101can be used with an estimated distance traveled during the workout session based on pedometer step count to determine a calibration factor (e.g., a ratio of the two numbers). The calibration factor can be used to scale the estimated distance traveled calculated by computer102to correct out the error in the estimate. Example System FIG.2is a block diagram of an example activity monitoring system for improved activity monitoring using wearable computer data combined with fitness machine data, according to an embodiment. System200can be implemented in wearable computer102, such as a smartwatch or fitness band. System200includes wireless interface201, motion sensor(s)202(e.g., accelerometers, gyros, magnetometer), fitness application203, digital pedometer204, activity data205, physiological sensor(s)206and pedometer data207. System200can be wired or wirelessly coupled to network212through WLAN access point208(e.g., a Wi-Fi router) to transfer data and/or sync with activity data211through network server computers210. In an embodiment, wireless interface201includes a wireless transceiver and other hardware (e.g., an antenna) and software (e.g., a software communication stack) for establishing, maintaining and ending a wireless communication session with fitness machine101, as described in reference toFIG.1. In an embodiment, wireless interface201can also be configured to establish, maintain and end a wireless communication session with WLAN access point208, and/or other devices213through a multi-peer ad hoc mesh network. In an embodiment, motion sensors, such as accelerometers provide acceleration data that can be used by digital pedometer204to determine step count and calculate an estimated distance traveled based on the step count and a stride length of the user. The stride length can be based on an average stride length for the user given the gender and height of the user, or it can be determined automatically based on sensor data. Pedometer data207including step count and distance traveled can be stored on wearable computer102(e.g., stored in flash memory). Fitness application203can be a software program that is executed by one or more processors of wearable computer102. Fitness application203use pedometer data207to track a user's daily movements and provide customize notifications related to progress and workout results, such as distance traveled and calories burned. Fitness application203also monitors the user's heart rate and other physiology of the user, which can be calculated from sensor data provided by physiological sensor(s)206. Some examples of physiological sensors206include but are not limited to: heart rate (pulse) sensors, blood pressure sensors, skin temperature and/or conductance response sensors and respiratory rate sensors. In an embodiment, physiological sensor(s)206include a heart rate sensor comprising a number of light emitting diodes (LEDs) paired with photodiodes that can sense light. The LEDs emit light toward a user's body part (e.g., the user's wrist), and the photodiodes measure the reflected light. The difference between the sourced and reflected light is the amount of light absorbed by the user's body. Accordingly, the user's heart beat modulates the reflected light, which can be processed to determine the user's heart rate. The measured heart rate can be averaged over time to determine an average heart rate. A heart rate monitor (HRM) does not measure caloric expenditure. Rather, the HRM estimates caloric expenditure during steady-state cardiovascular exercise using a relationship between heart rate and oxygen uptake (VO2). A commonly accepted method for measuring the calories burned for a particular activity is to measure oxygen uptake (VO2). During steady-state aerobic exercise, oxygen is utilized at a relatively consistent rate depending on the intensity of the exercise. There is an observable and reproducible relationship between heart rate and oxygen uptake. When workload intensity increases, heart rate increases and vice versa. If the user's resting heart rate, maximum heart rate, maximum oxygen uptake and weight are known, caloric expenditure can be estimated based on a percentage of their maximum heart rate or a percentage of their heart rate reserve. The metabolic equivalent of tasks (MET) is the ratio of the rate of energy expended during a specific physical activity to the rate of energy expended at rest. By convention, the resting metabolic rate (RMR) is 3.5 ml O2·kg−1·min−1, and 1 MET is defined by Equation 1: 1⁢MET=1⁢kcalkg*h=4.1⁢8⁢4⁢kJkg*h=1.1⁢6⁢2⁢Wkg.[1] Using Equation [1], a 3 MET activity expends 3 times the energy used by the body at rest. If a person does a 3 MET activity for 30 minutes she has done 3×30=90 MET-minutes of physical activity. Since the rate of energy expenditure is dependent on the intensity of the physical activity, it follows that the energy expenditure is also dependent on the type of fitness machine used in the workout session. For example, a vigorous jog on a treadmill may have a MET greater than 6 and a light workout on a stationary indoor bike may have a MET of 3 or less. In an embodiment, a look-up table of MET values can be stored as activity data211. During a workout session, fitness machine101sends machine data includes the fitness machine type that can be used by fitness application203to identify the physical activity and select a suitable MET for the physical activity. For example, if the fitness machine type indicates a treadmill, then a MET that is suitable for jogging on a treadmill can be selected for calculation of calories expended C using Equation [2]: C=MET×time(minutes)×weight(kg),  [2] where MET is the MET associated with a particular fitness activity and can be retrieved from, for example, a look-up table stored by wearable computer102. Published MET values and values used by fitness machines for specific physical activities are often averages that are experimentally or statistically derived from a sample of people. The level of intensity at which the user performs a specific physical activity (e.g., walking pace, running speed) will deviate from the average MET values. To personalize caloric expenditure to the user, a more accurate model can be used on wearable computer102to calculate caloric expenditure, as described in reference toFIGS.8and9. Example Use Cases FIG.3is an example process flow300for connecting a wearable computer with a fitness machine, according to an embodiment. There are four use cases for connecting a wearable computer with a fitness machine: 1) the user pairs first with the fitness machine, then starts their workout, 2) the user starts their workout with the wearable computer and then pairs with the fitness machine, 3) the user starts their workout with the fitness machine and then pairs with the wearable computer, and 4) the user has simultaneous workouts on the wearable computer and the fitness machine. Each use case will be described in turn. In the first use case, the user visits the gym and finds a fitness machine with a badge (e.g., an RFID tag) indicating the machine can be paired to a wearable computer, which in this example is a smartwatch strapped to the user's wrist. The user starts a new workout session (301) by placing their wearable computer near the badge to begin pairing. When the wearable computer is near the badge (e.g., less 10 cm) its proximity to the badge is detected using, for example, magnetic induction between loop antennas located in the wearable computer and the badge. If it is the user's first time pairing with the fitness machine, the user is requested to consent to share data (303) with the fitness machine. The request for consent can be in the form of a GUI affordance presented on a display of the wearable computer. If the user has already consented (e.g., based on a previous connection with the fitness machine), the user will be requested to pair with the fitness machine. Since, in this first use case, the user is not in a current workout session, step302is not applicable. If the user agrees to pair, a pairing/authentication process begins (305). If an error occurs during the pairing/authentication the error is reported to the user (304). An error can be due to a connection failure and/or an authentication failure. Since personal physiological data is being transferred to a public fitness machine, the wearable computer and fitness machine perform an authentication procedure before sharing of the user's personal fitness data is allowed. During the authentication process, and in an embodiment that uses public-private key encryption, the fitness machine generates and securely stores a public key-private key pair, which can be in the format of elliptical curve digital signature algorithm (ECDSA) or any other suitable digital signature algorithm. The fitness machine then calculates a message digest (e.g., a SHA256 message digest) using the private key and other data. The other data can be, for example, a random number, a connection confirmation value, local name data, etc. The fitness machine then uses the encoded public key and message digest to perform the authentication process. Upon successful authentication of the fitness machine, the wearable computer and fitness machine begin pairing. After successful pairing, the user begins the physical workout on the fitness machine (306) by, for example, starting the machine (e.g., starting the treadmill). During the workout session, the wearable computer displays an affordance indicating that the wearable computer and fitness machine are paired and the workout session is active. During an active workout session all of the current metrics are displayed by the wearable computer. If the fitness machine is paused, the workout session on the wearable computer is also paused, and the wearable computer displays a GUI stating that the workout on the wearable computer cannot pause. If the pause is extended (307) (e.g., more than 1.5 minutes), the workout session ends (309) and a workout session summary is displayed to the user (310). If the wearable computer becomes disconnected from the fitness machine during the workout session, the wearable computer reports to the user that it has disconnected from the fitness machine. If the disconnect is extended (308) (e.g., more than 1.5 minutes), the workout session ends (309) and a workout session summary is displayed to the user (310). In an embodiment, a GUI affordance is displayed by the wearable computer that allows the user to disconnect and end the active workout session on the wearable computer without effecting the workout on the fitness machine. In the second use case, the user is already in a workout session on their wearable computer. For example, the user may have entered the gym after an outdoor run with a workout session running on their wearable computer. In this second use case, the user starts a new workout session (301) by placing the wearable computer near the badge on the fitness machine. In an embodiment, if the user already consented to share data, the user is prompted with an affordance to end and save the current workout session and begin pairing with the fitness machine. If the user agrees, the current workout session is terminated and saved (302) and the pairing/authentication process begins (305). If the user does not agree, the pairing/authentication is not performed and the current workout session remains active on the wearable computer. In an embodiment, the current workout session is automatically terminated and saved by the wearable computer, and a pairing screen is displayed on the wearable computer. After a successful pairing/authentication process, the user begins the physical workout (306). When the new workout session ends (309) (including by extended pause307or extended disconnect308), data from both the previous and current workout sessions are displayed in a workout session summary (310). In an embodiment, if the user did not consent to share data, the user is prompted with a GUI affordance requesting the user's consent to share data (303), end and save their current workout session and begin the pairing/authentication process. If the user consents to share data, the current workout session is terminated and saved (302) and the pairing/authentication process begins (305). If the user does not consent to share data, the pairing/authentication process ends and the current workout session remains active on the wearable computer. In an embodiment, the current workout session is automatically terminated and saved by the wearable computer, and a pairing screen is displayed on the wearable computer. In the third use case, the user starts a new workout session (301) on the fitness machine but not the wearable computer. During the workout session, the user notices the badge and places their wearable computer near the badge. If the user already consented to share data, the user is prompted to pair. If the user agrees to pair, the pairing/authentication process begins (305). If the pairing/authentication process is successful, the wearable computer and fitness machine are paired. The user can continue their physical workout on the fitness machine (306). The fitness data accrued by the user on the fitness machine is ingested into the wearable computer so that the user does not lose any data, even though they may have started the workout session on the wearable computer after they started the workout session on the fitness machine. When the workout session ends (309) (including by extended pause307or extended disconnect308), a summary of the workout session is displayed (310). If the user did not previously consent to share data, the user is requested to consent (303). If the user consents, pairing begins (305). If the pairing/authentication process is successful, the wearable computer and fitness machine are paired. The user continues the physical workout on the fitness machine (306). When the workout session ends (309) (including by extended pause307or extended disconnect308) a summary of the workout session is displayed (310). If the user does not consent to share data, pairing/authentication is not performed and the user can continue with the physical workout on the fitness machine without the wearable computer running a workout session. In the fourth use case, the user is simultaneously engaged in a fitness machine workout and a wearable computer workout. The user starts a new workout (301) by placing their wearable computer near a badge on the fitness machine. In an embodiment, if the user has already consented to share data, the user is prompted to end and save their current workout and begin pairing. If the user agrees, the current workout is terminated and saved (302) and pairing/authentication begins (305). If the user does not agree, the pairing/authentication process is not performed. In an embodiment, the current workout session is automatically terminated and saved by the wearable computer, and a pairing screen is displayed on the wearable computer. If the pairing/authentication process is successful, the wearable computer and fitness machine are paired. When the new workout session ends (309) (including by extended pause307or extended disconnect308), both the summary of the previously saved workout session and the new workout session are displayed (310). If the user has not consented to share data, the user is requested to end and save the current workout session (302) and consent to sharing data (303), if the user agrees, the current workout session ends, a summary of the workout session is saved and pairing begins (305). If the pairing/authentication process is successful, the user begins the new workout (306). When the new workout session ends (309) (including by extended pause307or extended disconnect308), a summary of the saved workout session and the new workout session are displayed (310). FIG.4is a swim lane diagram illustrating example connection establishment procedures using NFC, according to an embodiment. In the diagram there are three actors including user401, wearable computer402and fitness machine403. Each step in the diagram is indicated by a letter, starting with the letter “a” and ending with the letter “q”. The connection establishment procedures begin when user401signals to fitness machine403their intent to pair with fitness machine403(step “a”) by placing the wearable computer near the badge on the fitness machine. During a timed connecting interval TconnectionReady, fitness machine403is detected by wearable computer402(step “b”), wearable computer402sends a SessionID (e.g., a unique number per pairing attempt) and out-of-band (OOB) secret data (unique per connection) to fitness machine403(step “c”) and fitness machine403calculates an identify digital signature (step “d”) using for example, ECDSA. In an embodiment, the OOB secret data can comply with Security Manager Specification of Bluetooth Core Specification, Volume 3, Part H. Fitness machine403can include an NFC reader for reading the SessionID and OOB secret data. During a timed discovery interval Tdiscovery, fitness machine403advertises a fitness machine service (FTMS) and the Session ID (step “e”). Wearable computer402discovers fitness machine403via the advertisement (step “f”) and provides a public key and signature request (step “g”). Fitness machine403sends to wearable computer402the public key and a signature response (step “h”). Wearable computer402sends a consent request to user401(step “i”), user401grants the request (step “j”). During a timed pairing interval Tpair, wearable computer402sends an OOB pairing request (step “k”) to fitness machine403and fitness machine403sends an OOB pairing response to wearable computer402(step “l”). During a timed authentication interval TaccessoryAuth, wearable computer402sends an authentication challenge to fitness machine403(step “m”) and receives an authentication response from fitness machine403(step “n”). Upon successful authentication, user401starts the workout (step “o”), machine data (e.g., fitness machine type, total energy used, elapsed time, total distance) is sent to wearable computer402(step “p”) and fitness data (e.g., instantaneous and average heart rate, active and total calories) is sent from wearable computer402to fitness machine403(step “q”). The data is communicated using, for example, NFC or Bluetooth standard protocols (e.g., Bluetooth Core Specification version 4.2, NFC Suite B version 1.0). FIG.5is a diagram illustrating an example state machine500implemented by a fitness machine processor for connecting and establishing a session with a wearable computer, according to an embodiment. Each state is indicated by a letter, starting from “a” and ending with “f”. The fitness machine starts in a discovery state501(state “a”) where the fitness machine is idle and its NFC reader is ready to rea a user's tag. When a user intent to connect is detected (“tap”), state501transitions to connectable advertising state502(state “b”) and the fitness machine advertises at a timed interval TconnectionAdv. Included in the advertising packet is the SessionID and FTMS. When a pairing request is received from a wearable computer, state502transitions to pairing state503(state “c”). In state503, the fitness machine responds to an identity verification request, authentication challenge and pairing request. When pairing is complete, state503transitions to connected discoverable state504(state “d”), where the fitness machine is paired to the wearable computer. If the link is lost, connected discoverable state504transitions to a disconnected advertising state505(step “e”). In state505, the fitness machine is no longer able to communicate with the wearable computer and starts advertising as non-discoverable to facilitate reconnection. When a reconnect time Treconnectexpires, disconnected advertising state505transitions to unpairing state506(step “f”). In state506, the fitness machine deletes its current pairing record. If the fitness machine is in the connected discoverable state504, and the user initiates disconnect, the connected discoverable504transitions to the unpairing state506. If the fitness machine is in the disconnected advertising state505, and the wearable computer initiates a reconnect, the disconnected advertising state505transitions to the disconnected discoverable state504. If the fitness machine is in the pairing state503, and a pairing time Tpairexpires, the pairing state503transitions to the discoverable state501. If the fitness machine is in the connectable advertising state502, and a discovery time Tdiscoveryexpires, the connectable advertising state502transitions to the discoverable state501. In an embodiment, the user may determine how pairing will operate on their wearable computer. The user can select various pairing options using one or more GUI affordances or hardware input mechanisms. For example, a switch can allow the user to turn auto pairing on and off. Auto pairing is where the user does not have to say yes to pair if they have accepted pairing with a fitness machine in the past. Another switch allows the user to select automatic pairing to be always turned on or turned on only when the user has launched the fitness application on the wearable computer. If automatic pairing is only allowed when the workout application is launched, the user will have to launch the workout application to pair with a fitness machine. In an embodiment, if the wearable computer determines that the user has completed at least one workout session on the wearable computer, then automatic pairing remains turned on regardless of whether or not the fitness application is launched. If the user has not completed a workout session, the user will need to launch the fitness application to turn on automatic pairing. In an embodiment, a GUI affordance or hardware input mechanism can be used to clear a particular fitness machine, or all fitness machines, listed in a pairing record stored on the wearable computer. If, however, the wearable computer was paired with a particular fitness machine in the past, and the user attempts to pair within x days (e.g., 90 days) from the last pairing, the wearable computer will auto-connect with the fitness machine. Otherwise, the user will be prompted to perform a pairing/authentication process with the fitness machine, as described in reference toFIGS.3-5. FIG.6is a flow diagram of an example process performed by a wearable computer for calculating fitness data, according to an embodiment. Process600can be implemented by architecture600, as described in reference toFIG.8. Process600can begin by establishing wireless communication with a fitness machine (601). For example, a Bluetooth or NFC session can be established with the fitness machine, as described in reference toFIGS.3-5. A unique SessionID and OOB secret data can be calculated on the wearable computer and sent to the fitness machine for use in pairing and authentication. Process600continues after pairing by obtaining machine data from the fitness machine (602). After successful pairing and authentication, machine data can be transferred to the wearable computer using Bluetooth or NFC session data packets. The machine data can include, for example, data that describes the fitness machine, including but not limited to: manufacturer name, model number, hardware revision, software revision, vendor ID, product ID. Additionally, various fitness metrics can be included in the machine data, such as total energy, total distance and elapsed time. Some fitness metrics for different types of fitness machines is described in Table I below. TABLE IFitness Machine MetricsFitness MachineMetricUnitsResolutionTreadmillTotal Energykilo calories1 kilo calorieTotal Distancemeters1 meterElapsed Timeseconds1 secondInstantaneous Speedkilometers per hour0.01 kilometer per hourAverage Speedkilometers per hour0.01 kilometer per hourInclinationpercent grade0.1 percent gradePositive Elevation Gainmeters0.1 metersCross TrainerTotal Energykilo calories1 kilo caloriesTotal Distancemeters1 meterElapsed Timeseconds1 secondPositive Elevation Gainmeters1 meterStride Count—1Resistance Level—1Instantaneous Powerwatts1 wattStep/Stair ClimberTotal Energykilo calories1 kilo calorieElapsed Timeseconds1 secondPositive Elevation Gainmeters1 meterFloors—1Stride/Step Count—1Indoor/Stationary BikeTotal Energykilo calories1 kilo calorieTotal Distancemeters1 meterElapsed Timeseconds1 secondInstantaneous Cadence—0.5Average Cadence—0.5Resistance Level—1Instantaneous Powerwatts1 wattAverage Powerwatts1 wattRowing MachineTotal Energykilo calories1 kilo calorieTotal Distancemeters1 meterElapsed Timeseconds1 secondStroke Count—1Resistance Level—1Instantaneous Powerwatts1 watt Process600continues by determining a workout session according to the machine data (603). Based on the machine data, the wearable computer learns the specific physical activity the user will be engaged in during the workout session. For example, if the fitness machine is a treadmill then the wearable computer will know what fitness metrics may be received from the fitness machine and how to calculate fitness data for the workout. This can include adjusting parameters of a calorie model, such as, for example, determining an appropriate MET for calculating calorie expenditure. Process600continues by initiating a workout session (604). For example, the user starts the fitness machine. Process600continues by obtaining, during the workout, the user's physiological data (605). The physiological data can be any data that measures the physiology of the user during the workout, including but not limited to: heart rate sensors, pulse detectors, blood pressure sensors, skin temperature and/or conductance response sensors, respiratory rate sensors, etc. The sensors can be included in any suitable housing, including but not limited to: a smartwatch or watchband, fitness band, chest band, headband, finger clip, ear clip, earbud, strapless heart rate monitor, etc. Process600continues by determining fitness data, during the workout session, for the user based on the physiological data, machine data and user characteristic(s) (606). For example, calories burned can be calculated using knowledge of the physical activity, the total energy, total distance, elapsed time any other data shown in Table I that can be used in a calorie expenditure model. Any suitable calorie expenditure model can be used, including models that are dependent on MET and not dependent MET, and models that include any type and combination of user characteristics, such as height, weight, age and gender. Process600continues by sending the fitness data, during the workout session, to the fitness machine (607). After calculating the fitness data, the wearable computer sends the fitness data to the fitness machine where it can be displayed on a monitor of the fitness machine. In an embodiment, the fitness data is also stored on the wearable computer. The stored fitness data can be synced to another device including a network-based server computer and shared with other devices through a client-server architecture. In an embodiment, the fitness data can be shared directly with other devices (e.g., devices owned by friends, trainers, etc.) in a multi-peer ad hoc mesh network. FIG.7is a flow diagram of an example process700performed by a wearable computer to calibrate a digital pedometer, according to an embodiment. Process700can be implemented by architecture700, as described in reference toFIG.8. Process700begins by establishing wireless communication with a fitness machine (701). For example, a Bluetooth or NFC session can be established with the fitness machine, as described in reference toFIGS.4and5. Process700continues by launching a pedometer calibration application on the wearable computer (702). The pedometer application can measure step counts based on sensor data, such as accelerometer data provided by an accelerometer on the wearable computer. Process700continues by obtaining machine data from the fitness machine (703). After a successful pairing/authentication process, the fitness machine can send data to the wearable computer that indicates the specific physical activity engaged in by the user during the workout. Additionally, the machine data can include information that can be used to calibrate the digital pedometer, such as total distance data from a treadmill. Process700continues by obtaining pedometer data (704). Pedometer data can include step count or distance traveled which can be calculated from the step count and the user's stride length. Process700continues by determining a pedometer calibration factor based on the machine data and the pedometer data (705). For example, a ratio can be formed from the total distance provided in the machine data over the estimated distance provided by the digital pedometer. The ratio can be used as a calibration scale factor to correct future pedometer measurements by scaling the estimated distance by the ratio. Process700continues by storing the calibration factor (706). The calibration can be performed each time the user uses a treadmill. Example Calorie Expenditure Models That Use Fitness Machine Data An effective and accurate way of calculating caloric expenditure for a user is through the use of oxygen uptake VO2. VO2is a good indicator of exercise intensity because it is tied closely to energy expenditure. The higher the intensity, the more oxygen a user consumes and the more calories the user burns. American College of Sports Medicine (ACSM) provides VO2models that can be used to predict caloric expenditure for various types of fitness machines (e.g., treadmill, rower, stair climber, indoor bike, elliptical). For example, for walking, VO2=(0.1×speed)+(1.8×speed×grade)+3.5. This equation is appropriate for fairly slow speed ranges—from 1.9 to approximately 4 miles per hour (mph). Speed is calculated in meters per minute (m/min). The numbers 0.1 and 1.8 are constants that refer to the following: 0.1=oxygen cost per meter of moving each kilogram (kg) of body weight while walking (horizontally) and 1.8=oxygen cost per meter of moving total body mass against gravity (vertically). For running, the VO2=(0.2×speed)+(0.9×speed×grade)+3.5. This equation is appropriate for speeds greater than 5.0 mph (or 3.0 mph or greater if the subject is truly jogging). Speed is calculated in m/min. The constants refer to the following: 0.2=oxygen cost per meter of moving each kg of body weight while running (horizontally) and 0.9=oxygen cost per meter of moving total body mass against gravity (vertically). These ACSM models, however, are often inaccurate because they were developed using a few adult men of average height. The wearable computer described herein can provide more accurate caloric expenditure calculations by using fitness machine data, such as speed and grade data provided by a treadmill machine, and then applying new models to the fitness machine data to calculate more accurate caloric expenditure for the fitness machine user. In the description that follows, calorimetry modeling is used to improve work rate (WR) calorie estimates based on fitness machine input for parameters, such as speed, elevation, etc. calorimetry modeling also improves the estimation of VO2max by calibrating VO2max when a user is in a fitness machine workout session. Example Data Flows FIG.8Ais a block diagram of data flow for determining caloric expenditure based on treadmill data, according to an embodiment. System800includes fitness machine101in wireless communication with wearable computer102, which operate as described in reference toFIGS.1-7. Wearable computer102includes software that implements the data flow. In the example shown, fitness machine101is a treadmill and provides treadmill data (e.g., distance, pace, incline) calculated by a treadmill computer to wearable computer102. Wearable computer102includes one or more inertial sensors801(e.g., an accelerometer, gyroscope) that provide sensor data (e.g., accelerations, angular rates) to digital pedometer802. Digital pedometer802uses the sensor data to determine a step count of the user. Stride calibrator804calculates a calibration factor based on the treadmill data (e.g., considered truth data) and the pedometer output data (e.g., considered estimated data). The calibration factor is applied to the pedometer output data, and the calibrated pedometer output data is displayed as workout session data on a display of wearable computer102, or sent back to treadmill101for display, or sent to another device for display or storage. In an embodiment, stride calibrator804calculates a calibrated stride length that is input into work rate calorie model805. A work rate can be calculated for each type of fitness machine. For treadmill101, the applied power output or work rate (WR) can be calculated using the treadmill data. Generically, WR=f(energy the machine is calculating), where f(.) denotes a function of the parameter(s) within parentheses. For a treadmill, WR=f(pace)*g(grade correction), and for a stationary bike WR=f(speed)*g(resistance). In the example shown, work rate calorie model805calculates the caloric expenditure (in METs) of the user based on the work rate calculated using the treadmill data (e.g., using pace and grade). The work rate METs can then be input into VO2max calibrator807as an implicit estimate of VO2. Optical sensors806in wearable computer102provide heart rate data as another input into VO2Max calibrator807. VO2max calibrator807uses the implicit estimate of VO2and the heart rate data to calibrate VO2max. The heart rate data and the calibrated VO2max are then input into heart rate calorie model808. Heart rate calorie model808calculates the caloric expenditure (in METs) of the user based on the user's heart rate data and the calibrated VO2max. The work rate METs and the heart rate METs can be displayed as workout session data on wearable computer102or sent back over the communication connection to treadmill101to be displayed, or can be sent to another device for display or storage. In an embodiment, WR and HR calorie expenditure values (MET values) are estimated over successive, non-overlapping intervals of time referred to herein as “epochs.” In an embodiment, an “epoch” can be x seconds (e.g., 2.56 seconds, corresponding to 256 samples of accelerometer sensor data sampled at 100 Hz). Over each epoch, a single MET value is reported, which is the best estimate of METs expended by the user. This best MET estimate is chosen by arbitration logic which compares the magnitude of the MET values for work rate and heart rate, and the confidence associated with each of those values. For example, the heart rate MET value could be preferred if it is greater than the work rate MET value by x % (e.g., 10%). As an example, the user exertion on an incline could be under-estimated by work rate METs but tracked more accurately by heart rate METs. In an embodiment, two calibration methods are implemented by calibrator804: a cadence-based look-up table and an accelerometer-energy method. The cadence-based look-up table includes cadence and stride length (SL), where cadence=Steps/unit_time, SL=D/Steps, Steps is the step count calculated by wearable computer102and D is the truth distance received from the treadmill. In an embodiment, Steps is measured by wearable computer102using sensor data. Under a constant cadence, cadence is highly correlated with SL. When the user is not on treadmill101, wearable computer102can use the current cadence to look-up SL from the cadence-based look-up table. In the accelerometer-energy method, wearable computer102calculates an uncalibrated SL (SL_uncal) based on a function of the acceleration data (SL_uncal=f(accel)). An uncalibrated distance (D_uncalibrated) is then calculated from Steps and SL_uncal, such that D_uncalibrated=Steps*SL_uncal and Pace_uncalibrated=time/(Steps*SL_uncap. While the user is on treadmill101, a calibration factor is calculated as Kval=D/D_uncalibrated. When the user is off treadmill101, D calibrated=Steps*SL_uncal*Kval. For both the cadence-based look-up table and the accelerometer-energy method, grade can be included. Also, a separate cadence-based look-up table can be used for walking and running. Any desired model can be used for work rate calorie model805. In an embodiment, a quadratic model can be used for walking and a linear model for running, where a switch from the quadratic model to the linear model at a specified speed (e.g., 4.5 mph) and the quadratic model is based on the user's height. The quadratic model accounts for the difference in stride length when transitioning from walking to running. In an embodiment, walking METs are computed as: METs=k*(a*s2+b*s+c), where s=speed in miles/hour, k is a grade correction factor, such that k=1 on flat (zero uphill grade) and k>1 if uphill grade is detected, and a, b, c are constants that can be determined empirically. Run METs are computed as: METs=k*(a*s+c). The speed at which the model switches from walk to run METs is determined in the range of 4.2-4.8 miles/hour as a function of the user's height. Any desired model can be used for heart rate calorie model808. In an embodiment, HR calorie model808linearly scales VO2max output from VO2max calibrator807by a fractional heart rate (heart rate normalized by the user's observed minimum and maximum heart rates). VO2max can be estimated using any known method. For example, using Uth-Sørensen-Overgaard-Pedersen estimation VO2max can be estimated using the following equation. VO2⁢max≈H⁢RmaxH⁢Rrest×15.3⁢mLkg·minute×15.3⁢⁢mL/kg, where HRmaxis the maximum heart rate and HRrestis the resting heart rate. FIG.8Bis a block diagram of a data flow performed by a wearable computer for determining calories burned based on data from an elliptical, indoor bike, rower or stair climber, according to an embodiment. System800includes fitness machine101in wireless communication with wearable computer102, which operate as described in reference toFIGS.1-7. Wearable computer102includes software that implements the data flow. WR calorie model805takes as input fitness machine data and outputs an estimate of work rate (in METs). The details of the treadmill WR calorie model were previously described above. If fitness machine101is an elliptical, indoor cycle or rower, than fitness machine data includes resistance, stride/stroke count and power. If the fitness machine101is a stair climber, the fitness machine data includes stride count and elevation gain. For an indoor cycle, METs are a linear function of the power (normalized by user weight). In an embodiment, METs=a*normalized_power +c, and power is a function of user-selected resistance level and cadence, and user weight. Elliptical and rower METs are a function of power, cadence and resistance level, similar to the indoor cycle. Stair climber METs are a function of elevation gain and step cadence. Example Process FIG.9is a flow diagram of an example process900performed by a wearable computer to determine calories burned based on data from a treadmill, according to an embodiment. Process900can be implemented using the wearable computer architecture1000disclosed in reference toFIG.10. Process900begins by establishing, by a processor of a wireless wearable computer worn by a user, a wireless communication connection with a fitness machine (901). Process900continues by obtaining, by the processor using the communication connection, machine data from the fitness machine while the user is engaged in a workout session on the fitness machine (902). Process900continues by obtaining, from one or more motion sensors of the wireless wearable device, motion data generated in response to motion of the user on the fitness machine (903). Process900continues by obtaining, from a heart rate sensor of the wireless device, heart rate data of the user (904). Process900continues by determining, by a digital pedometer of the wearable computer, pedometer output data based on the motion data (905). Process900continues by determining, by the processor, a stride length of the user based on the pedometer output data and the machine data (906). Process900continues by determining, by the processor, a work rate based on the machine data (907). Process900continues by determining, by the processor, a work rate caloric expenditure by applying a work rate calorie model to the work rate (908). Process900continues by determining, by the processor, a maximal oxygen consumption of the user based on the heart rate data and the work rate caloric expenditure (909). Process900continues by determining, by the processor, a heart rate caloric expenditure by applying a heart rate calorie model to the heart rate data and the maximal oxygen consumption (910). Process900continues by sending, by the processor to the treadmill via the communication connection, at least one of the work rate caloric expenditure or the heart rate caloric expenditure (911). Exemplary Wearable Computer Architecture FIG.10illustrates example wearable computer architecture1000implementing the features and operations described in reference toFIGS.1-9. Architecture1000can include memory interface1002, one or more data processors, image processors and/or processors1004and peripherals interface1006. Memory interface1002, one or more processors1004and/or peripherals interface1006can be separate components or can be integrated in one or more integrated circuits. Sensors, devices and subsystems can be coupled to peripherals interface1006to provide multiple functionalities. For example, one or more motion sensors1010, light sensor1012and proximity sensor1014can be coupled to peripherals interface1006to facilitate motion sensing (e.g., acceleration, rotation rates), lighting and proximity functions of the wearable computer. Location processor1015can be connected to peripherals interface1006to provide geo-positioning. In some implementations, location processor1015can be a GNSS receiver, such as the Global Positioning System (GPS) receiver. Electronic magnetometer1016(e.g., an integrated circuit chip) can also be connected to peripherals interface1006to provide data that can be used to determine the direction of magnetic North. Electronic magnetometer1016can provide data to an electronic compass application. Motion sensor(s)1010can include one or more accelerometers and/or gyros configured to determine change of speed and direction of movement of the wearable computer. Barometer1017can be configured to measure atmospheric pressure around the mobile device. Heart rate monitoring subsystem1020for measuring the heartbeat of a user who is wearing the computer on their wrist. In an embodiment, subsystem1020includes LEDs paired with photodiodes for measuring the amount of light reflected from the wrist (not absorbed by the wrist) to detect a heartbeat. Communication functions can be facilitated through wireless communication subsystems1024, which can include radio frequency (RF) receivers and transmitters (or transceivers) and/or optical (e.g., infrared) receivers and transmitters. The specific design and implementation of the communication subsystem1024can depend on the communication network(s) over which a mobile device is intended to operate. For example, architecture1000can include communication subsystems1024designed to operate over a GSM network, a GPRS network, an EDGE network, a Wi-Fi™ network and a Bluetooth™ network. In particular, the wireless communication subsystems1024can include hosting protocols, such that the mobile device can be configured as a base station for other wireless devices. Audio subsystem1026can be coupled to a speaker1028and a microphone1030to facilitate voice-enabled functions, such as voice recognition, voice replication, digital recording and telephony functions. Audio subsystem1026can be configured to receive voice commands from the user. I/O subsystem1040can include touch surface controller1042and/or other input controller(s)1044. Touch surface controller1042can be coupled to a touch surface1046. Touch surface1046and touch surface controller1042can, for example, detect contact and movement or break thereof using any of a plurality of touch sensitivity technologies, including but not limited to capacitive, resistive, infrared and surface acoustic wave technologies, as well as other proximity sensor arrays or other elements for determining one or more points of contact with touch surface1046. Touch surface1046can include, for example, a touch screen or the digital crown of a smart watch. I/O subsystem1040can include a haptic engine or device for providing haptic feedback (e.g., vibration) in response to commands from processor1004. In an embodiment, touch surface1046can be a pressure-sensitive surface. Other input controller(s)1044can be coupled to other input/control devices1048, such as one or more buttons, rocker switches, thumb-wheel, infrared port and USB port The one or more buttons (not shown) can include an up/down button for volume control of speaker1028and/or microphone1030. Touch surface1046or other controllers1044(e.g., a button) can include, or be coupled to, fingerprint identification circuitry for use with a fingerprint authentication application to authenticate a user based on their fingerprint(s). In one implementation, a pressing of the button for a first duration may disengage a lock of the touch surface1046; and a pressing of the button for a second duration that is longer than the first duration may turn power to the mobile device on or off. The user may be able to customize a functionality of one or more of the buttons. The touch surface1046can, for example, also be used to implement virtual or soft buttons. In some implementations, the mobile device can present recorded audio and/or video files, such as MP3, AAC and MPEG files. In some implementations, the mobile device can include the functionality of an MP3 player. Other input/output and control devices can also be used. Memory interface1002can be coupled to memory1050. Memory1050can include high-speed random access memory and/or non-volatile memory, such as one or more magnetic disk storage devices, one or more optical storage devices and/or flash memory (e.g., NAND, NOR). Memory1050can store operating system1052, such as the iOS operating system developed by Apple Inc. of Cupertino, California Operating system1052may include instructions for handling basic system services and for performing hardware dependent tasks. In some implementations, operating system1052can include a kernel (e.g., UNIX kernel). Memory1050may also store communication instructions1054to facilitate communicating with one or more additional devices, one or more computers and/or one or more servers, such as, for example, instructions for implementing a software stack for wired or wireless communications with other devices. Memory1050may include graphical user interface instructions1056to facilitate graphic user interface processing; sensor processing instructions1058to facilitate sensor-related processing and functions; phone instructions1060to facilitate phone-related processes and functions; electronic messaging instructions1062to facilitate electronic-messaging related processes and functions; web browsing instructions1064to facilitate web browsing-related processes and functions; media processing instructions1066to facilitate media processing-related processes and functions; GNSS/Location instructions1068to facilitate generic GNSS and location-related processes and instructions; and heart rate instructions1070to facilitate hear rate measurements. Memory1050further includes activity application instructions for performing the features and processes described in reference toFIGS.1-9. Each of the above identified instructions and applications can correspond to a set of instructions for performing one or more functions described above. These instructions need not be implemented as separate software programs, procedures, or modules. Memory1050can include additional instructions or fewer instructions. Furthermore, various functions of the mobile device may be implemented in hardware and/or in software, including in one or more signal processing and/or application specific integrated circuits. The described features can be implemented advantageously in one or more computer programs that are executable on a programmable system including at least one programmable processor coupled to receive data and instructions from, and to transmit data and instructions to, a data storage system, at least one input device, and at least one output device. A computer program is a set of instructions that can be used, directly or indirectly, in a computer to perform a certain activity or bring about a certain result. A computer program can be written in any form of programming language (e.g., SWIFT, Objective-C, C#, Java), including compiled or interpreted languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, a browser-based web application, or other unit suitable for use in a computing environment. While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any inventions or of what may be claimed, but rather as descriptions of features specific to particular embodiments of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable sub combination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a sub combination or variation of a sub combination. Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Moreover, the separation of various system components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products. As described above, some aspects of the subject matter of this specification include gathering and use of data available from various sources to improve services a mobile device can provide to a user. The present disclosure contemplates that in some instances, this gathered data may identify a particular location or an address based on device usage. Such personal information data can include location-based data, addresses, subscriber account identifiers, or other identifying information. The present disclosure further contemplates that the entities responsible for the collection, analysis, disclosure, transfer, storage, or other use of such personal information data will comply with well-established privacy policies and/or privacy practices. In particular, such entities should implement and consistently use privacy policies and practices that are generally recognized as meeting or exceeding industry or governmental requirements for maintaining personal information data private and secure. For example, personal information from users should be collected for legitimate and reasonable uses of the entity and not shared or sold outside of those legitimate uses. Further, such collection should occur only after receiving the informed consent of the users. Additionally, such entities would take any needed steps for safeguarding and securing access to such personal information data and ensuring that others with access to the personal information data adhere to their privacy policies and procedures. Further, such entities can subject themselves to evaluation by third parties to certify their adherence to widely accepted privacy policies and practices. In the case of advertisement delivery services, the present disclosure also contemplates embodiments in which users selectively block the use of, or access to, personal information data. That is, the present disclosure contemplates that hardware and/or software elements can be provided to prevent or block access to such personal information data. For example, in the case of advertisement delivery services, the present technology can be configured to allow users to select to “opt in” or “opt out” of participation in the collection of personal information data during registration for services. Therefore, although the present disclosure broadly covers use of personal information data to implement one or more various disclosed embodiments, the present disclosure also contemplates that the various embodiments can also be implemented without the need for accessing such personal information data. That is, the various embodiments of the present technology are not rendered inoperable due to the lack of all or a portion of such personal information data. For example, content can be selected and delivered to users by inferring preferences based on non-personal information data or a bare minimum amount of personal information, such as the content being requested by the device associated with a user, other non-personal information available to the content delivery services, or publically available information.

11857144

DETAILED DESCRIPTION Marking grids are commonly used during radiographic imaging procedures, such as a CT-guided biopsy procedure, to provide a radiologist or technician, also referred to herein as a “user”, with reference markers for biopsy needle insertion. Conventional marking grids, such as marking grid300depicted inFIG.3, generally include a plurality of lateral-positioning guidelines, i.e. a series of elongated, parallel, and coextensive guidelines that are regularly spaced apart and formed from a radiopaque substance so that the guidelines appear clearly in a radiographic image. Neighboring guidelines may be separated from one another by an elongated aperture. The marking grid can be applied to a recipient, also referred to herein as “a patient,” so that when the recipient is in a supine position, the elongated guidelines are aligned substantially orthogonally to the transverse plane and positioned over an area of interest containing an internal structure to be scanned. When a CT scan is performed of the area of interest, a predetermined number of sequential CT images are captured, which depict the transverse slices of the internal structure along with the guidelines from the marking grid. The guidelines appear in cross-section on each of the CT images as solid white circles. Needle insertion into the scanned internal structure can be achieved by determining, from a selected CT image, depth and lateral positioning (i.e., a lateral-positioning coordinate) based on the reference markers, and longitudinal positioning (i.e., a longitudinal-positioning coordinate) based on the patient's table position. Thereafter, the location for needle insertion can be identified on a user's skin with reference to the lateral-positioning guidelines on the marking grid, which establishes the lateral-positioning coordinate, and a patient's table position, which establishes the longitudinal-positioning coordinate. Inadvertent translation and/or rotation of the patient on the scanning table can result in inaccurate location determination. Thus, novel aspects of this disclosure recognize a need for providing a reference marker that can indicate a longitudinal position in a radiographic image so that a single radiographic image can be used to determine a lateral-positioning coordinate, longitudinal-positioning coordinate, and a depth for biopsy needle insertion. The lateral and longitudinal-positioning coordinates are provided by indicators that can convey the positioning information from a cross-section of the indicators, taken in the transverse plane so that the positioning information can be determined from a radiographic image. In the disclosure that follows,FIGS.1-7are directed to a longitudinal-positioning indicator that can be applied to existing marking grids that are only capable of providing a lateral-positioning coordinate.FIGS.8-14are directed to an improved marking grid that includes lateral-positioning guidelines and longitudinal-positioning guidelines that are capable of providing both a lateral-positioning coordinate and a longitudinal-positioning coordinate. FIGS.1A and1Bare drawings depicting a plan view and a perspective view, respectively, of a longitudinal-positioning indicator in accordance with an illustrative embodiment. The longitudinal-positioning indicator100has a length L that extends in the longitudinal direction and a width W that extends in a lateral direction that is substantially orthogonal to the longitudinal direction. As used herein, the lateral direction may also be referred to in the alternative as the transverse direction. The longitudinal-positioning indicator100is configured to indicate a relative position along the length L of the longitudinal-positioning indicator100from a cross-section taken in a transverse plane. Thus, the longitudinal-positioning indicator100can be used to indicate a relative position along the length L of the longitudinal-positioning indicator100from a radiographic image, as described in more detail in the discussion of the various embodiments that follow. The longitudinal-positioning indicator100includes a substrate102that is generally radiolucent. The substrate102is flexible and can be elastic in some embodiments to conform to the contours of a patient's body. Non-limiting examples of materials for forming the substrate102can include paper, plastic, or fabric. The substrate102has a first side102′ and a second side102″ opposite to the first side102′. An adhesive104is applied to at least a portion of the second side102″ to enable the longitudinal-positioning indicator100to be affixed to target location, such as a marking grid or to a patient's skin. Prior to use, the longitudinal-positioning indicator100can be releasably adhered to a releasable backing material106via the adhesive104. In this illustrative embodiment inFIG.1, a set of longitudinal-positioning guidelines108is disposed on the first side102′ of the longitudinal-positioning indicator100. As used herein, the term “set” means one or more. Thus, the set of longitudinal-positioning guidelines108can be a single guideline or two or more longitudinal-positioning guidelines. With particular reference toFIGS.1A and1B, the set of longitudinal-positioning guidelines108includes five guidelines108a-108ealigned at their respective first ends and extend in a longitudinal direction. As used herein, the “longitudinal direction” corresponds to the length L of the longitudinal-positioning indicator100so that so that a cross-sectional view of the longitudinal-positioning indicator100is orthogonal to each of the guidelines in the set of longitudinal-positioning guidelines108. Each of the guidelines in the set of longitudinal-positioning guidelines108has a different length, arranged based on their respective lengths. For example, in the embodiment depicted inFIG.1the set of longitudinal-positioning guidelines108are arranged in order of increasing length from left to right, i.e., in a stairstep pattern. In another embodiment, as depicted inFIG.5, the set of longitudinal-positioning guidelines508are aligned at their respective second ends and are arranged in order of increasing length from left to right, i.e., in an inverted stairstep pattern. The set of longitudinal-positioning guidelines108can be formed from a substance that is at least partially radiopaque, or in some embodiments substantially entirely radiopaque. In another embodiment, the set of longitudinal-positioning guidelines108is formed from substance that has a radiopacity that is greater than the radiopacity of the substrate102so that the structure associated with the substrate102can be differentiated from the structures associated with the set of longitudinal-positioning guidelines108in a radiographic image. For example, the set of elongated indicators can be formed from metal wire or printed onto the substrate102using an ink that is at least partially radiopaque. In another embodiment, the set of elongated indicators can be radiopaque particles suspended in a carrier, such as glue, which can be applied to the first side102′ of the substrate102. In other embodiments, rather than being disposed on the first side102′ of the substrate, the longitudinal-positioning guidelines108can be wholly or partially embedded within the substrate102. In this illustrative embodiment inFIG.1, the longitudinal-positioning indicator100includes an index110including values110aand/or demarcations110b, each of which corresponds to a length of a guideline in the set of longitudinal-positioning guidelines108. For example, each of the values110aand/or demarcations110bin the index110allows a user to identify a particular guideline in the set of longitudinal-positioning guidelines108quickly and easily. By extrapolating each of the demarcations in a transverse direction, an imaginary horizontal axis can be derived. Thus, when the longitudinal-positioning indicator100is applied to a conventional marking grid, such as marking grid300inFIG.3or marking grid400inFIG.4, subsequently captured radiographic image will include reference markers for determining a longitudinal-positioning coordinate that can be correlated to a location on a patient's skin with reference to the index110. In this illustrative embodiment inFIG.1, the substrate102of longitudinal-positioning indicator100includes a body portion102athat supports the set of longitudinal-positioning guidelines108and an optional margin portion102b. In some embodiments, the body portion102acan be separated from the margin portion102bby a perforation112that allows the body portion102ato be detached from the margin portion102b. The perforation112permits the body portion102ato be separated from the margin portion102bso that the longitudinal-positioning indicator100can be at least partially adhered to conventional marking grids, as depicted inFIGS.3and4, or alongside conventional marking grids to permit identification in a longitudinal direction. In some embodiments, the perforation112extends through the substrate102, the adhesive104, and the releasable backing material106. In other embodiments, the perforation112extends only through the releasable backing material106so that the adhesive104is selectively exposed from either the body portion102aor the margin portion102bfor ease of application. FIGS.2A-2Eare drawings depicting cross-sectional views of the longitudinal-positioning indicator taken along lines2a-2a,2b-2b,2c-2c,2d-2d, and2e-2e, respectively, inFIG.1B. As briefly discussed above, the set of longitudinal-positioning guidelines108can be used to indicate a longitudinal-positioning coordinate, i.e., a position along a length L of the longitudinal-positioning indicator100from a cross-section of the longitudinal-positioning indicator100. For example, a cross-section of the longitudinal-positioning indicator100taken along line2A-2A will depict five of the set of longitudinal-positioning guidelines108, e.g.,108a-108e. A cross-section of the longitudinal-positioning indicator100taken along lines2B-2B will depict only four of the set of longitudinal-positioning guidelines108, e.g.,108b-108e. A cross-section of the longitudinal-positioning indicator100taken along lines2C-2C will depict only three of the set of longitudinal-positioning guidelines108, e.g.,108c-108e. A cross-section of the longitudinal-positioning indicator100taken along lines2D-2D will depict only two of the set of longitudinal-positioning guidelines108, e.g.,108dand108e. A cross-section of the longitudinal-positioning indicator100taken along lines2E-2E will depict only one of the set of longitudinal-positioning guidelines108, e.g.,108e. Thus, from a cross-section of the longitudinal-positioning indicator100, a relative position can be determined along a length L. Because the set of longitudinal-positioning guidelines108are at least partially radiopaque, the set of longitudinal-positioning guidelines108can serve as reference markers on a radiographic image. When used in conjunction with a marking grid that only includes a set of lateral-positioning guidelines, i.e., only provides a lateral-positioning coordinate, the longitudinal-positioning indicator100can provide a longitudinal-positioning coordinate for identifying a location for biopsy needle placement without the need for referring to a patient's table position. The longitudinal-positioning indicator100can be at least partially adhered to conventionally available marking grids. For example, the longitudinal-positioning indicator100can be adhered entirely to a conventional marking grid, as depicted inFIG.3, or the partially adhered to the conventional marking grid as depicted inFIG.4. Although not depicted, the longitudinal-positioning indicator100can be aligned with a conventional marking grid but adhered entirely to a patient's skin. FIG.3is a drawing depicting a plan view of a longitudinal-positioning indicator applied to a marking grid according to an illustrative embodiment. The marking grid300is an example of a conventionally available marking grid, which includes a substrate302on which a plurality of lateral-positioning guidelines350are disposed. Each of the lateral-positioning guidelines350are formed from a generally radiopaque substance and are configured to provide reference markers in a radiographic image. The marking grid300also includes a plurality of elongated apertures352extending substantially co-extensively with each of the plurality of lateral-positioning guidelines350. The marking grid300can be used to determine a lateral-positioning coordinate in a manner that is known in the art. When used in conjunction with the marking grid300, the longitudinal-positioning indicator100provides a longitudinal-positioning coordinate in the manner that was described in detail with reference toFIG.2. In this illustrative embodiment inFIG.3, only the body portion102aof the longitudinal-positioning indicator100is used. In particular, the body portion102ais adhered directly to the marking grid300. If the longitudinal-positioning indicator100includes the optional margin portion102b, then the margin portion102bcan be detached from the body portion102aso that the body portion102acan be adhered to the marking grid300. In one embodiment, the margin portion102bis detached from the body portion102aalong a perforation, such as perforation112that was described in more detail inFIG.1, above. In another embodiment, the longitudinal-positioning indicator100can be adhered directly to a patient's skin, positioned adjacent to the marking grid300with the set of longitudinal-positioning guidelines108oriented substantially parallel to the set of lateral-positioning guidelines306. In yet another embodiment, the longitudinal-positioning indicator100can be partially adhered to the marking grid300, as described in the figure that follows. FIG.4is a drawing depicting a plan view of a longitudinal-positioning indicator applied to a marking grid according to another illustrative embodiment. The marking grid400is an example of a conventionally available marking grid, like marking grid300inFIG.3. The marking grid300can be used to determine a lateral-positioning coordinate in a manner that is known in the art. When used in conjunction with the marking grid400, the longitudinal-positioning indicator100provides a longitudinal-positioning coordinate in the manner that was described in detail with reference toFIG.2. In this illustrative embodiment inFIG.4, only the margin portion102bof the longitudinal-positioning indicator100is adhered to the marking grid400. The body portion102aextends past the edge of the marking grid400and can be adhered directly to a patient's skin. However, in another embodiment the entirety of the longitudinal-positioning indicator100inFIG.4can be adhered to the marking grid400if space permits, or the entirety of the longitudinal-positioning indicator100can be adhered to a patient's skin and positioned adjacent to the marking grid400with the set of longitudinal-positioning guidelines108aligned substantially parallel to the lateral-positioning guidelines. At least one benefit of applying the longitudinal-positioning indicator100depicted inFIG.4is the ability to easily align the longitudinal-positioning indicator100with the marking grid400. For example, one side of the longitudinal-positioning indicator can be aligned with the marking grid400, e.g., the margin portion102bcan be aligned with the edge of the marking grid400, while the releasable backing material106is removed from the other side of the longitudinal-positioning indicator100and adhered to a patient's skin or the marking grid400. Thereafter, the releasable backing material106can be removed from the one side of the longitudinal-positioning indicator100and adhered. FIG.5is a drawing depicting a plan view of a longitudinal-positioning indicator in accordance with another illustrative embodiment. The longitudinal-positioning indicator500is similar to the longitudinal-positioning indicator100depicted inFIG.1, except that each of longitudinal-positioning guidelines508are aligned at their respective second ends and arranged in order of increasing size from left to right, forming an inverted stair-step pattern. FIG.6is a drawing depicting a plan view of a longitudinal-positioning indicator in accordance with yet another illustrative embodiment. The longitudinal-positioning indicator is similar to the longitudinal-positioning indicator inFIG.5but includes a margin portion602bextending outwardly from the body portion602a. The margin portion602bis formed from a set of tabs602b′ and602b″. In this illustrative embodiment, each of the tabs602b′ and602b″ are integrally formed with the body portion602aof the substrate602. However, in another embodiment, the set of tabs602b′ and602b″ are removably attached to the body portion602a, e.g., via a perforated edge. In either embodiment, each of the tabs602bmay be releasably adhered to a releasable backing material that is detachable from the releasable backing material adhered to the back of the body portion602ato allow the releasable backing material of the set of tabs602b′ and/or602b″ to be selectively exposed independently from the releasable backing material adhered to the body portion602a. FIG.7is a drawing illustrating the application of a marking grid and a supplemental longitudinal-positioning indicator onto a patient in accordance with an illustrative embodiment. The marking grid300is applied to the skin of patient700and oriented so that the longitudinal-positioning guidelines are extended from head to foot, i.e., in the longitudinal direction. Further, the marking grid300is applied to the patient700so that when the patient700is in a supine position on the scanning table702, the marking grid300and the longitudinal-positioning indicator100is above the targeted internal structure. Radiographic images of the patient700are taken in the transverse plane, an example of which is depicted inFIG.8, taken along line8-8inFIG.7. The longitudinal-positioning indicator100can be adhered to the marking grid300before or after the marking grid300is adhered to the skin of the patient700or after. When radiographic images are taken of the patient700, the set of lateral-positioning guidelines350from the marking grid300and the set of longitudinal-positioning guidelines108from the longitudinal-positioning indicator100provide reference markers that appear on the radiographic image800, which can be used to identify a lateral position and a longitudinal position, respectively, on the patient's body for inserting a biopsy needle for tissue extraction. For example, a user analyzing the plurality of radiographic images taken of a patient700may determine that a tissue sample should be extracted from location802. Accordingly, the user can identify a lateral-positioning coordinate from radiographic image800by counting the number of guidelines350from a reference location, e.g., the lateral-positioning guideline350′ closest to the longitudinal-positioning indicator100, or the lateral-positioning guideline350′ separated from the others by the widest elongated aperture352. In this illustrative embodiment, a user can count the lateral-positioning guidelines350to determine that the lateral-positioning coordinate should be located between the third and fourth lateral-positioning guideline350, in the area defined by the elongated aperture352′. The user can also determine the longitudinal-positioning coordinate based on the reference markers provided by the set of lateral-positioning guidelines108, and a depth D for needle insertion. Thereafter, a location for needle placement on the skin of user700can be identified from visual indicators on the marking grid300and the longitudinal-positioning indicator100. A visual indicator for the lateral-positioning coordinate can include a numerical value printed on the marking grid300associated with each of the lateral-positioning guidelines350and a visual indicator for the longitudinal-positioning coordinate can be the index110that was previously described in more detail inFIG.1. FIGS.9A and9Bare drawings depicting a plan view and a perspective view, respectively, of a marking grid with a set of lateral-positioning guidelines and a set of longitudinal-positioning guidelines in accordance with yet another illustrative embodiment. The marking grid900includes a substrate902, which is like substrate102inFIG.1. Further, the substrate has a first side902aand a second side902bthat is at least partially coated with an adhesive904. In a non-limiting embodiment, a releasable backing material906is adhered to the substrate902via the adhesive904prior to use. The substrate902supports the set of lateral-positioning guidelines950and the set of longitudinal-positioning guidelines908. As previously described, the substrate902can be formed from a substantially radiolucent material, whereas the set of lateral-positioning guidelines950and the set of longitudinal-positioning guidelines908can be formed from a substantially radiopaque material to provide a sufficient contrast between the substrate902and the positioning guidelines908and950on a radiographic image. In this non-limiting embodiment inFIG.9A, the set of lateral-positioning guidelines950includes seven elongated guidelines950a-950gof generally equal length, arranged in parallel fashion to divide the marking grid into a number of segments, each of which contains an elongated aperture952. Each of the guidelines in the set of lateral-positioning guidelines950can be identified by a unique value, i.e., a visual indicator, for ease of identification/differentiation. In this illustrative embodiment, the unique values are arranged along the top edge. The set of lateral-positioning guidelines950can be used to determine a lateral-positioning coordinate in a manner that is known in the art. The set of longitudinal-positioning guidelines908is arranged in a stair-step fashion, as described in more detail inFIG.1, and can be used to determine a longitudinal-positioning coordinate in a manner that was described in more detail inFIG.2. The marking grid900can be applied to a patient in a manner similar to the methodology described in inFIG.7. Further, the resultant radiographic image is similar to the radiographic image800inFIG.8, and the manner in which a location can be determined, e.g., for biopsy needle placement, is determined similarly and will not be repeated for the sake of brevity. In some embodiments, the marking grid900also includes notation areas954aand954b, which can be used to write down position information, such as depth, lateral position, and/or longitudinal position which may be conveyed to a user in close proximity to the patient. In this illustrative embodiment inFIG.9, the first elongated aperture952is wider than the remaining elongated apertures952. Conventionally available marking grids utilized a wider elongated aperture on one side to provide context for differentiating between the left side and the right side. The marking grid900inFIG.9also includes the wider elongated aperture on one side to help users familiar with the conventional marking grids to properly align the marking grid900. However, in another embodiment, all the elongated apertures952have the same width, as described inFIG.11. FIG.10is a schematic depicting a plan view of a marking grid with a set of lateral-positioning guidelines and a set of longitudinal-positioning guidelines in accordance with yet another illustrative embodiment. The marking grid1000is similar to marking grid900with the exception of the set of longitudinal-positioning guidelines1008differs. In particular, the set of longitudinal positioning guidelines1008is arranged like the set of longitudinal-positioning guidelines508inFIG.5. FIG.11is a schematic depicting a plan view of a marking grid with a set of lateral-positioning guidelines and a set of longitudinal-positioning guidelines in accordance with yet another illustrative embodiment. The marking grid1100is similar to marking grid1000with the exception that each of the plurality of elongated apertures1152have the same width. FIGS.12and13are drawings depicting a plan view and a cross-sectional view, respectively, of a marking grid with a set of lateral-positioning guidelines and a set of longitudinal-positioning guidelines in accordance with yet another illustrative embodiment. The marking grid1200includes a substrate1202, which is like substrate102inFIG.1. Further, the substrate1202has a first side1202aand a second side1202bthat is at least partially covered by an adhesive1204. The adhesive1204adheres the substrate1202to releasable backing material1206that can be removed prior to use. The substrate1202asupports the set of lateral-positioning guidelines1250and the set of longitudinal-positioning guidelines1208. As previously described in various earlier embodiments, the substrate1202can be formed from a substantially radiolucent material, whereas the set of lateral-positioning guidelines1250and the set of longitudinal-positioning guidelines1208can be formed from a substantially radiopaque material to provide a sufficient contrast between the substrate1202and the positioning guidelines1250and1208on a radiographic image. In this non-limiting embodiment inFIGS.12and13, the set of lateral-positioning guidelines1250includes seven elongated guidelines of generally equal length, arranged in parallel fashion to divide the marking grid into a number of segments, each of which contains an elongated aperture1252. Each of the guidelines in the set of lateral-positioning guidelines1250can be identified by a unique value, i.e., a visual indicator, for ease of identification/differentiation. In this illustrative embodiment, the unique values are arranged along the bottom edge. The set of lateral-positioning guidelines1250can be used to determine a lateral-positioning coordinate in a manner that is known in the art. The set of longitudinal-positioning guidelines1208includes a set of reference lines1208aand an auxiliary guideline1208bthat is apart from the set of reference lines1208a. In this illustrative embodiment inFIGS.12and13, the auxiliary guideline1208bis angled relative to the set of reference lines1208a, and the set of reference lines1208aincludes two reference lines positioned in close proximity to each other, which allows for easy differentiation from the set of lateral-positioning guidelines1250in a radiographic image. In one embodiment, the phrase “close proximity” means that the two reference lines are touching, or just barely touching so that they that they appear as two distinct reference markers in a radiographic image. In another embodiment, the phrase “close proximity” also means a distance that is less than the distance between each of the set of lateral-positioning guidelines1250. In one embodiment, the auxiliary guideline1208bhas a distinguishing feature that allows it to be easily differentiated from the plurality of guidelines that form the set of lateral-positioning guidelines1250. For example, the auxiliary guideline1208bcan have a larger diameter, a different shape, a different radiopacity, or different layers having different radiopacities. In the non-limiting embodiment inFIGS.12and13the auxiliary guideline1208bhas a square cross-section with a lower radiopacity than the set of lateral-positioning guidelines150, which facilitates differentiation. The marking grid1200also includes an index1210printed on the marking grid1200that can be used to determine a longitudinal-positioning coordinate on a patient once the longitudinal-positioning coordinate is identified from a radiographic image, as will be described in more detail below with reference to the cross-sectional view of marking grid1200shown inFIG.13. The cross-sectional view of marking grid1200inFIG.13is similar to the depiction of the marking grid1200in a radiographic image taken in a transverse plane corresponding to line13-13inFIG.12. The cross-sectional view depicts each of the guidelines that form the set of lateral-positioning guidelines1250, which can be used to determine a lateral-positioning coordinate in a manner known to those having ordinary skill in the art. A distance d between the set of reference lines1208aand the auxiliary guideline1208bcan be determined from the radiographic image and used to determine a corresponding longitudinal-positioning coordinate, which can then be identified and/or marked on a patient's skin with reference to the various visual indicators on marking grid1200. In one embodiment, a known relationship between the set of reference lines1208aand the auxiliary guideline1208bcan be used to easily determine a distance between the set of reference lies1208aand the auxiliary guideline1208bfor easily determining a longitudinal-positioning coordinate without the need for measurement. For example, the marking grid1200can be configured such that the set of reference lines1208ais considered a vertical axis in a Cartesian coordinate system (i.e., a Y-axis), and an imaginary line spanning the marking grid1200along the bottom and in the transverse direction, i.e., passing through the ends of each of the lateral-positioning guidelines1250, is considered a horizontal axis in a Cartesian coordinate system (i.e., an X-axis). Further, the auxiliary line1208bcan be configured with a slope that satisfies the equation y=mx+b where the slope (x) is 1 and the y-intercept (b) is 0. Thus, with reference toFIG.13, the distance d on the X-axis also corresponds to the same distance on the Y-axis, which is the longitudinal-positioning coordinate for determining the location on a patient's skin. FIGS.14and15are drawings depicting a plan view and a cross-sectional view, respectively, of a marking grid with a set of lateral-positioning guidelines and a set of longitudinal-positioning guidelines in accordance with yet another illustrative embodiment. The marking grid1400is similar to marking grid1200except that the set of reference lines1408ais a single line having a square cross-section. The square cross-section of reference line1408acan be easily differentiated from the circular cross-sections of the guidelines that form the set of lateral-positioning guidelines1450. In each of the embodiments depicted inFIGS.9-15, the marking grids were depicted as having a set of elongated apertures disposed throughout the marking grid, which allows for marking a patient's skin and conducting the biopsy needle insertion without removing the marking grid. However, in another embodiment, the elongated apertures may be omitted entirely and replaced with a semipermeable material, such as a paper or fabric, that permits transfer of ink through to a patient's skin and which permits biopsy needle insertion without removing the marking grid. In this alternate embodiment, the substrate may be partially or entirely formed from the semipermeable material. FIG.16illustrates a flowchart of a process for location identification using a marking grid in accordance with an illustrative embodiment. Flowchart1600begins at Step1602by identifying, from a radiographic image, a target internal structure. In Step1604, a lateral-positioning coordinate is identified from reference markers associated with the set of lateral-positioning guidelines. In Step1606, a longitudinal-positioning coordinate is identified from reference markers associated with the set of longitudinal-positioning guidelines. In one embodiment, the set of longitudinal-positioning guidelines includes a plurality of guidelines configured to indicate a longitudinal position within the area bounded by the marking grid based on a number of guidelines that appear in the cross-section of the marking grid. In another embodiment, the set of longitudinal-positioning guidelines includes a set of reference guidelines and an auxiliary guideline, the longitudinal-positioning coordinate determined based on a distance between the set of reference guidelines and the auxiliary guideline. In Step1608, a location for needle insertion is determined with positional information derived from the radiographic image. In some embodiments, an optional depth measurement can be determined from the radiographic image and used for biopsy needle insertion for tissue extraction. ADDITIONAL EMBODIMENTS The following descriptive embodiments are offered in further support of the disclosed invention: In a first embodiment, novel aspects of the present disclosure are directed to a longitudinal-positioning indicator that comprises a substrate including a first side and a second side, wherein the second side is at least partially coated with an adhesive; and a set of longitudinal-positioning guidelines secured with the substrate, wherein the set of longitudinal-positioning guidelines is configured to indicate a position along a length of the longitudinal-positioning guidelines based on a cross-section of the longitudinal-positioning indicator taken substantially orthogonally to the set of longitudinal-positioning guidelines. In another aspect of the first embodiment, the longitudinal-positioning indicator comprises a substrate including a first side and a second side, wherein the second side is at least partially coated with an adhesive; a set of longitudinal-positioning guidelines secured with the substrate, wherein the set of longitudinal-positioning guidelines is configured to indicate a position along a length of the longitudinal-positioning guidelines based on a cross-section of the longitudinal-positioning indicator taken substantially orthogonally to the set of longitudinal-positioning guidelines; and further comprises one or more limitations selected from the following:wherein the set of longitudinal-positioning guidelines is disposed on the first side of the substrate;wherein the substrate has a first radiopacity, and the set of longitudinal-positioning guidelines has a second radiopacity that is greater than the first radiopacity;wherein the set of longitudinal-positioning guidelines is formed from a plurality of guidelines of different lengths;wherein the plurality of guidelines of different lengths are spaced apart and oriented substantially parallel to each other, and each of the plurality of guidelines is aligned at one end and arranged based on length;wherein the longitudinal-positioning indicator further comprises an index with a plurality of demarcations, each of the plurality of demarcations corresponding to a length of a guideline in the plurality of guidelines;wherein the substrate of the longitudinal-positioning indicator further comprises an elongated body portion for the set of longitudinal-positioning guidelines and a margin portion extending from the elongated body portion;wherein the margin portion includes a set of tabs; andwherein the longitudinal-positioning indicator further comprises a releasable backing secured to the substrate by the adhesive. In a second embodiment, novel aspects of the present disclosure are directed to a marking grid that comprises a substrate including a first side and a second side, wherein the second side is at least partially coated with an adhesive; a set of longitudinal-positioning guidelines supported by the substrate, and wherein the set of lateral-positioning guidelines and the set of longitudinal-positioning guidelines are configured to provide a pair of orthogonal coordinates that indicate a location within an area bounded by the marking grid, the location based on a cross-section of the marking grid taken substantially orthogonally to the set lateral-positioning guidelines. In another aspect of the second embodiment, novel aspects of the present disclosure are directed to a marking grid that comprises a substrate including a first side and a second side, wherein the second side is at least partially coated with an adhesive; a set of longitudinal-positioning guidelines supported by the substrate, wherein the set of lateral-positioning guidelines and the set of longitudinal-positioning guidelines are configured to provide a pair of orthogonal coordinates that indicate a location within an area bounded by the marking grid, the location based on a cross-section of the marking grid taken substantially orthogonally to the set lateral-positioning guidelines; and further comprises one or more limitations selected from the following:wherein the substrate comprises a set of elongated apertures interspersed with the set of lateral-positioning guidelines in alternating fashion;wherein the set of longitudinal-positioning guidelines includes a plurality of guidelines, and wherein the set of longitudinal-positioning guidelines is configured to indicate a longitudinal position within the area bounded by the marking grid based on a number of guidelines that appear in the cross-section of the marking grid;wherein the plurality of guidelines includes guidelines of a different length, arranged in a stair-step configuration;wherein the marking grid further comprises an index with a plurality of demarcations, each of the plurality of demarcations corresponding to a length of a guideline in the plurality of guidelines;wherein the set of longitudinal-positioning guidelines includes a set of reference guidelines and an auxiliary guideline, and wherein a longitudinal-positioning coordinate is determined based on a distance between the set of reference guidelines and the auxiliary guideline;wherein the set of reference guidelines includes two parallel lines, and wherein the auxiliary guideline has a cross-section that differs from cross-sections of the two parallel lines; andwherein the set of reference guidelines includes one line, and where the set of reference guidelines and the auxiliary guideline have rectangular cross-sections. In a third embodiment, novel aspects of the present disclosure are directed to a method for identifying a location for needle insertion into a patient within an area defined by a marking grid, the marking grid including a set of lateral-positioning guidelines and a set of longitudinal-positioning guidelines configured to provide reference markers based on a cross-section of the marking grid taken substantially orthogonally to the set of lateral-positioning guidelines, the method comprising: identifying, from a radiographic image, a target internal structure; identifying, from reference markers associated with the set of lateral-positioning guidelines, a lateral-positioning coordinate for the target internal structure; identifying, from reference markers associated with the set of longitudinal-positioning guidelines, a longitudinal-positioning coordinate for the target internal structure; and determining, with reference to visual indicators on the marking grid, a location for the needle insertion using the longitudinal-positioning coordinate and the lateral-positioning coordinate. In another aspect of the third embodiment, novel aspects of the present disclosure are directed to a method for identifying a location for needle insertion into a patient within an area defined by a marking grid, the marking grid including a set of lateral-positioning guidelines and a set of longitudinal-positioning guidelines configured to provide reference markers based on a cross-section of the marking grid taken substantially orthogonally to the set of lateral-positioning guidelines, the method comprising: identifying, from a radiographic image, a target internal structure; identifying, from reference markers associated with the set of lateral-positioning guidelines, a lateral-positioning coordinate for the target internal structure; identifying, from reference markers associated with the set of longitudinal-positioning guidelines, a longitudinal-positioning coordinate for the target internal structure; determining, with reference to visual indicators on the marking grid, a location for the needle insertion using the longitudinal-positioning coordinate and the lateral-positioning coordinate; and further comprises one or more limitations selected from the following:wherein the set of longitudinal-positioning guidelines includes a plurality of guidelines, and wherein the set of longitudinal-positioning guidelines is configured to indicate a longitudinal position within the area bounded by the marking grid based on a number of guidelines that appear in the cross-section of the marking grid; andwherein the set of longitudinal-positioning guidelines includes a set of reference guidelines and an auxiliary guideline, and wherein a longitudinal-positioning coordinate is determined based on a distance between the set of reference guidelines and the auxiliary guideline. Although embodiments of the invention have been described with reference to several elements, any element described in the embodiments described herein are exemplary and can be omitted, substituted, added, combined, or rearranged as applicable to form new embodiments. A skilled person, upon reading the present specification, would recognize that such additional embodiments are effectively disclosed herein. Additionally, where an embodiment is described herein as comprising some element or group of elements, additional embodiments can consist essentially of or consist of the element or group of elements. Also, although the open-ended term “comprises” is generally used herein, additional embodiments can be formed by substituting the terms “consisting essentially of” or “consisting of.” While this disclosure has been particularly shown and described with reference to preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention. The inventors expect skilled artisans to employ such variations as appropriate, and the inventors intend the invention to be practiced otherwise than as specifically described herein. Accordingly, this invention includes all modifications and equivalents of the subject matter recited in the claims appended hereto as permitted by applicable law. Moreover, any combination of the above-described elements in all possible variations thereof is encompassed by the invention unless otherwise indicated herein or otherwise clearly contradicted by context.

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DETAILED DESCRIPTION OF THE EXAMPLE EMBODIMENTS The drawings are to be regarded as being schematic representations and elements illustrated in the drawings are not necessarily shown to scale. Rather, the various elements are represented such that their function and general purpose become apparent to a person skilled in the art. Any connection or coupling between functional blocks, devices, components, or other physical or functional units shown in the drawings or described herein may also be implemented by an indirect connection or coupling. A coupling between components may also be established over a wireless connection. Functional blocks may be implemented in hardware, firmware, software, or a combination thereof. Various example embodiments will now be described more fully with reference to the accompanying drawings in which only some example embodiments are shown. Specific structural and functional details disclosed herein are merely representative for purposes of describing example embodiments. Example embodiments, however, may be embodied in various different forms, and should not be construed as being limited to only the illustrated embodiments. Rather, the illustrated embodiments are provided as examples so that this disclosure will be thorough and complete, and will fully convey the concepts of this disclosure to those skilled in the art. Accordingly, known processes, elements, and techniques, may not be described with respect to some example embodiments. Unless otherwise noted, like reference characters denote like elements throughout the attached drawings and written description, and thus descriptions will not be repeated. The present invention, however, may be embodied in many alternate forms and should not be construed as limited to only the example embodiments set forth herein. It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, components, regions, layers, and/or sections, these elements, components, regions, layers, and/or sections, should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention. As used herein, the term “and/or,” includes any and all combinations of one or more of the associated listed items. The phrase “at least one of” has the same meaning as “and/or”. Spatially relative terms, such as “beneath,” “below,” “lower,” “under,” “above,” “upper,” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below,” “beneath,” or “under,” other elements or features would then be oriented “above” the other elements or features. Thus, the example terms “below” and “under” may encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. In addition, when an element is referred to as being “between” two elements, the element may be the only element between the two elements, or one or more other intervening elements may be present. Spatial and functional relationships between elements (for example, between modules) are described using various terms, including “connected,” “engaged,” “interfaced,” and “coupled.” Unless explicitly described as being “direct,” when a relationship between first and second elements is described in the above disclosure, that relationship encompasses a direct relationship where no other intervening elements are present between the first and second elements, and also an indirect relationship where one or more intervening elements are present (either spatially or functionally) between the first and second elements. In contrast, when an element is referred to as being “directly” connected, engaged, interfaced, or coupled to another element, there are no intervening elements present. Other words used to describe the relationship between elements should be interpreted in a like fashion (e.g., “between,” versus “directly between,” “adjacent,” versus “directly adjacent,” etc.). The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms “a,” “an,” and “the,” are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the terms “and/or” and “at least one of” include any and all combinations of one or more of the associated listed items. It will be further understood that the terms “comprises,” “comprising,” “includes,” and/or “including,” when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. Expressions such as “at least one of,” when preceding a list of elements, modify the entire list of elements and do not modify the individual elements of the list. Also, the term “exemplary” is intended to refer to an example or illustration. When an element is referred to as being “on,” “connected to,” “coupled to,” or “adjacent to,” another element, the element may be directly on, connected to, coupled to, or adjacent to, the other element, or one or more other intervening elements may be present. In contrast, when an element is referred to as being “directly on,” “directly connected to,” “directly coupled to,” or “immediately adjacent to,” another element there are no intervening elements present. It should also be noted that in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may in fact be executed substantially concurrently or may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which example embodiments belong. It will be further understood that terms, e.g., those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. Before discussing example embodiments in more detail, it is noted that some example embodiments may be described with reference to acts and symbolic representations of operations (e.g., in the form of flow charts, flow diagrams, data flow diagrams, structure diagrams, block diagrams, etc.) that may be implemented in conjunction with units and/or devices discussed in more detail below. Although discussed in a particularly manner, a function or operation specified in a specific block may be performed differently from the flow specified in a flowchart, flow diagram, etc. For example, functions or operations illustrated as being performed serially in two consecutive blocks may actually be performed simultaneously, or in some cases be performed in reverse order. Although the flowcharts describe the operations as sequential processes, many of the operations may be performed in parallel, concurrently or simultaneously. In addition, the order of operations may be re-arranged. The processes may be terminated when their operations are completed, but may also have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, subprograms, etc. Specific structural and functional details disclosed herein are merely representative for purposes of describing example embodiments of the present invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to only the embodiments set forth herein. Units and/or devices according to one or more example embodiments may be implemented using hardware, software, and/or a combination thereof. For example, hardware devices may be implemented using processing circuitry such as, but not limited to, a processor, Central Processing Unit (CPU), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a System-on-Chip (SoC), a programmable logic unit, a microprocessor, or any other device capable of responding to and executing instructions in a defined manner. Portions of the example embodiments and corresponding detailed description may be presented in terms of software, or algorithms and symbolic representations of operation on data bits within a computer memory. These descriptions and representations are the ones by which those of ordinary skill in the art effectively convey the substance of their work to others of ordinary skill in the art. An algorithm, as the term is used here, and as it is used generally, is conceived to be a self-consistent sequence of steps leading to a desired result. The steps are those requiring physical manipulations of physical quantities. Usually, though not necessarily, these quantities take the form of optical, electrical, or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It has proven convenient at times, principally for reasons of common usage, to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. It should be borne in mind, however, that all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. Unless specifically stated otherwise, or as is apparent from the discussion, terms such as “processing” or “computing” or “calculating” or “determining” of “displaying” or the like, refer to the action and processes of a computer system, or similar electronic computing device/hardware, that manipulates and transforms data represented as physical, electronic quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission or display devices. In this application, including the definitions below, the term ‘module’ or the term ‘controller’ may be replaced with the term ‘circuit.’ The term ‘module’ may refer to, be part of, or include processor hardware (shared, dedicated, or group) that executes code and memory hardware (shared, dedicated, or group) that stores code executed by the processor hardware. The module may include one or more interface circuits. In some examples, the interface circuits may include wired or wireless interfaces that are connected to a local area network (LAN), the Internet, a wide area network (WAN), or combinations thereof. The functionality of any given module of the present disclosure may be distributed among multiple modules that are connected via interface circuits. For example, multiple modules may allow load balancing. In a further example, a server (also known as remote, or cloud) module may accomplish some functionality on behalf of a client module. Software may include a computer program, program code, instructions, or some combination thereof, for independently or collectively instructing or configuring a hardware device to operate as desired. The computer program and/or program code may include program or computer-readable instructions, software components, software modules, data files, data structures, and/or the like, capable of being implemented by one or more hardware devices, such as one or more of the hardware devices mentioned above. Examples of program code include both machine code produced by a compiler and higher level program code that is executed using an interpreter. For example, when a hardware device is a computer processing device (e.g., a processor, Central Processing Unit (CPU), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a microprocessor, etc.), the computer processing device may be configured to carry out program code by performing arithmetical, logical, and input/output operations, according to the program code. Once the program code is loaded into a computer processing device, the computer processing device may be programmed to perform the program code, thereby transforming the computer processing device into a special purpose computer processing device. In a more specific example, when the program code is loaded into a processor, the processor becomes programmed to perform the program code and operations corresponding thereto, thereby transforming the processor into a special purpose processor. Software and/or data may be embodied permanently or temporarily in any type of machine, component, physical or virtual equipment, or computer storage medium or device, capable of providing instructions or data to, or being interpreted by, a hardware device. The software also may be distributed over network coupled computer systems so that the software is stored and executed in a distributed fashion. In particular, for example, software and data may be stored by one or more computer readable recording mediums, including the tangible or non-transitory computer-readable storage media discussed herein. Even further, any of the disclosed methods may be embodied in the form of a program or software. The program or software may be stored on a non-transitory computer readable medium and is adapted to perform any one of the aforementioned methods when run on a computer device (a device including a processor). Thus, the non-transitory, tangible computer readable medium, is adapted to store information and is adapted to interact with a data processing facility or computer device to execute the program of any of the above mentioned embodiments and/or to perform the method of any of the above mentioned embodiments. Example embodiments may be described with reference to acts and symbolic representations of operations (e.g., in the form of flow charts, flow diagrams, data flow diagrams, structure diagrams, block diagrams, etc.) that may be implemented in conjunction with units and/or devices discussed in more detail below. Although discussed in a particularly manner, a function or operation specified in a specific block may be performed differently from the flow specified in a flowchart, flow diagram, etc. For example, functions or operations illustrated as being performed serially in two consecutive blocks may actually be performed simultaneously, or in some cases be performed in reverse order. According to one or more example embodiments, computer processing devices may be described as including various functional units that perform various operations and/or functions to increase the clarity of the description. However, computer processing devices are not intended to be limited to these functional units. For example, in one or more example embodiments, the various operations and/or functions of the functional units may be performed by other ones of the functional units. Further, the computer processing devices may perform the operations and/or functions of the various functional units without subdividing the operations and/or functions of the computer processing units into these various functional units. Units and/or devices according to one or more example embodiments may also include one or more storage devices. The one or more storage devices may be tangible or non-transitory computer-readable storage media, such as random access memory (RAM), read only memory (ROM), a permanent mass storage device (such as a disk drive), solid state (e.g., NAND flash) device, and/or any other like data storage mechanism capable of storing and recording data. The one or more storage devices may be configured to store computer programs, program code, instructions, or some combination thereof, for one or more operating systems and/or for implementing the example embodiments described herein. The computer programs, program code, instructions, or some combination thereof, may also be loaded from a separate computer readable storage medium into the one or more storage devices and/or one or more computer processing devices using a drive mechanism. Such separate computer readable storage medium may include a Universal Serial Bus (USB) flash drive, a memory stick, a Blu-ray/DVD/CD-ROM drive, a memory card, and/or other like computer readable storage media. The computer programs, program code, instructions, or some combination thereof, may be loaded into the one or more storage devices and/or the one or more computer processing devices from a remote data storage device via a network interface, rather than via a local computer readable storage medium. Additionally, the computer programs, program code, instructions, or some combination thereof, may be loaded into the one or more storage devices and/or the one or more processors from a remote computing system that is configured to transfer and/or distribute the computer programs, program code, instructions, or some combination thereof, over a network. The remote computing system may transfer and/or distribute the computer programs, program code, instructions, or some combination thereof, via a wired interface, an air interface, and/or any other like medium. The one or more hardware devices, the one or more storage devices, and/or the computer programs, program code, instructions, or some combination thereof, may be specially designed and constructed for the purposes of the example embodiments, or they may be known devices that are altered and/or modified for the purposes of example embodiments. A hardware device, such as a computer processing device, may run an operating system (OS) and one or more software applications that run on the OS. The computer processing device also may access, store, manipulate, process, and create data in response to execution of the software. For simplicity, one or more example embodiments may be exemplified as a computer processing device or processor; however, one skilled in the art will appreciate that a hardware device may include multiple processing elements or processors and multiple types of processing elements or processors. For example, a hardware device may include multiple processors or a processor and a controller. In addition, other processing configurations are possible, such as parallel processors. The computer programs include processor-executable instructions that are stored on at least one non-transitory computer-readable medium (memory). The computer programs may also include or rely on stored data. The computer programs may encompass a basic input/output system (BIOS) that interacts with hardware of the special purpose computer, device drivers that interact with particular devices of the special purpose computer, one or more operating systems, user applications, background services, background applications, etc. As such, the one or more processors may be configured to execute the processor executable instructions. The computer programs may include: (i) descriptive text to be parsed, such as HTML (hypertext markup language) or XML (extensible markup language), (ii) assembly code, (iii) object code generated from source code by a compiler, (iv) source code for execution by an interpreter, (v) source code for compilation and execution by a just-in-time compiler, etc. As examples only, source code may be written using syntax from languages including C, C++, C#, Objective-C, Haskell, Go, SQL, R, Lisp, Java®, Fortran, Perl, Pascal, Curl, OCaml, Javascript®, HTML5, Ada, ASP (active server pages), PHP, Scala, Eiffel, Smalltalk, Erlang, Ruby, Flash®, Visual Basic®, Lua, and Python®. Further, at least one embodiment of the invention relates to the non-transitory computer-readable storage medium including electronically readable control information (processor executable instructions) stored thereon, configured in such that when the storage medium is used in a controller of a device, at least one embodiment of the method may be carried out. The computer readable medium or storage medium may be a built-in medium installed inside a computer device main body or a removable medium arranged so that it can be separated from the computer device main body. The term computer-readable medium, as used herein, does not encompass transitory electrical or electromagnetic signals propagating through a medium (such as on a carrier wave); the term computer-readable medium is therefore considered tangible and non-transitory. Non-limiting examples of the non-transitory computer-readable medium include, but are not limited to, rewriteable non-volatile memory devices (including, for example flash memory devices, erasable programmable read-only memory devices, or a mask read-only memory devices); volatile memory devices (including, for example static random access memory devices or a dynamic random access memory devices); magnetic storage media (including, for example an analog or digital magnetic tape or a hard disk drive); and optical storage media (including, for example a CD, a DVD, or a Blu-ray Disc). Examples of the media with a built-in rewriteable non-volatile memory, include but are not limited to memory cards; and media with a built-in ROM, including but not limited to ROM cassettes; etc. Furthermore, various information regarding stored images, for example, property information, may be stored in any other form, or it may be provided in other ways. The term code, as used above, may include software, firmware, and/or microcode, and may refer to programs, routines, functions, classes, data structures, and/or objects. Shared processor hardware encompasses a single microprocessor that executes some or all code from multiple modules. Group processor hardware encompasses a microprocessor that, in combination with additional microprocessors, executes some or all code from one or more modules. References to multiple microprocessors encompass multiple microprocessors on discrete dies, multiple microprocessors on a single die, multiple cores of a single microprocessor, multiple threads of a single microprocessor, or a combination of the above. Shared memory hardware encompasses a single memory device that stores some or all code from multiple modules. Group memory hardware encompasses a memory device that, in combination with other memory devices, stores some or all code from one or more modules. The term memory hardware is a subset of the term computer-readable medium. The term computer-readable medium, as used herein, does not encompass transitory electrical or electromagnetic signals propagating through a medium (such as on a carrier wave); the term computer-readable medium is therefore considered tangible and non-transitory. Non-limiting examples of the non-transitory computer-readable medium include, but are not limited to, rewriteable non-volatile memory devices (including, for example flash memory devices, erasable programmable read-only memory devices, or a mask read-only memory devices); volatile memory devices (including, for example static random access memory devices or a dynamic random access memory devices); magnetic storage media (including, for example an analog or digital magnetic tape or a hard disk drive); and optical storage media (including, for example a CD, a DVD, or a Blu-ray Disc). Examples of the media with a built-in rewriteable non-volatile memory, include but are not limited to memory cards; and media with a built-in ROM, including but not limited to ROM cassettes; etc. Furthermore, various information regarding stored images, for example, property information, may be stored in any other form, or it may be provided in other ways. The apparatuses and methods described in this application may be partially or fully implemented by a special purpose computer created by configuring a general purpose computer to execute one or more particular functions embodied in computer programs. The functional blocks and flowchart elements described above serve as software specifications, which can be translated into the computer programs by the routine work of a skilled technician or programmer. Although described with reference to specific examples and drawings, modifications, additions and substitutions of example embodiments may be variously made according to the description by those of ordinary skill in the art. For example, the described techniques may be performed in an order different with that of the methods described, and/or components such as the described system, architecture, devices, circuit, and the like, may be connected or combined to be different from the above-described methods, or results may be appropriately achieved by other components or equivalents. In one embodiment, the invention relates to a method for providing image data of a hollow organ, comprisingapplying a first contrast agent to a lumen of the hollow organ, to obtain a contrast agent filling of the lumen and/or thereby obtaining a contrast agent filling of the lumen,applying a second contrast agent to a blood vessel system, the blood vessel system supplying a wall of the hollow organ, the second contrast agent having a different absorption spectrum than the first contrast agent,generating spectrally resolved computed tomography data of an examination area, in particular an examination area of a patient, in particular, a human patient, the examination area comprising the hollow organ,calculating first image data indicative of a presence of the first contrast agent and second image data indicative of a presence of the second contrast agent by applying a material separation algorithm onto the spectrally resolved computed tomography data, andproviding the image data of the hollow organ comprising the first image data and the second image data. The spectrally resolved computed tomography data may be generated, for example, by scanning the examination area using a spectral CT technique. In particular, the spectrally resolved computed tomography data are acquired while the first contrast agent and the second contrast agent both are present in the examination area comprising the hollow anatomical structure. For example, if the first contrast agent is applied orally and the second contrast agent is applied intravenously, the first contrast agent may be applied significantly earlier than the second contrast agent. The contrast agent filling of the lumen may be a liquid contrast agent filling and/or may consist substantially of the first contrast agent. The spectrally resolved computed tomography data may be, for example, photon counting computed tomography data, dual source computed tomography data or split filter computed tomography data. In particular, spectrally resolved computed tomography data may be generated that allow extraction of at least two energy levels, preferable three energy levels. The material separation algorithm may be, for example, a k-edge imaging algorithm. The material separation algorithm may be configured to separate both contrast agents from each other and quantify each of the contrast agents. For example, the material separation algorithm may be configured to calculate a two or three material decomposition based on the spectrally resolved computed tomography data. A region of interest in the image data may be determined, for example, based on a user input in a graphical user interface that displays the image data. The region of interest in the image data may be classified, in particular automatically classified, in respect of the presence of the first contrast agent and the presence of the second contrast agent. The region of interest may be classified, for example, as either comprising both the first contrast agent and the second contrast agent or missing at least one of the first contrast agent and the second contrast agent. Only when both agents are present in a region of interest (ROI), that ROI is close to the wall (according to the presence of the first contrast agent) and perfusion is happening (according to the presence of the second contrast agent). If first contrast agent is not in the ROI, the assessed ROI is not close to the wall of the lumen at all. This allows removal of intrinsically distracting, non-relevant structures. A representation of a border of the contrast agent filling of the lumen may be generated based on the first image data. The representation of the border of the contrast agent filling of the lumen can be generated, for example, by applying a segmentation algorithm onto the first image data. A representation of the wall of the hollow organ may be generated based on the representation of the border of the contrast agent filling of the lumen and the second image data. A position of the wall of the hollow anatomical structure can be determined, for example, based on the representation of the border of the contrast agent filling of the lumen. For example, pixels of the second image data that are located adjacent to and/or in very close surroundings of the border of the contrast agent filling of the lumen and show presence of the second contrast agent, in particular, exceeding a predefined threshold value for the presence of the second contrast agent, may be assigned to the representation of the wall of the hollow organ. The presence of the second contrast agent at the position of the wall of the hollow anatomical structure is indicative, in particular, of a perfusion of the wall, and therefore of a vitality of the wall. Missing the second contrast agent at the position of a given region of the wall may indicate potential presence of necrosis and/or ischemia in that region of the wall. In another embodiment, a representation of a plurality of anatomical structures comprising the second contrast agent is generated based on the second image data. A region of the representation of the plurality of anatomical structures may be determined, the region being adjacent to the representation of the border of the contrast agent filling of the lumen. The representation of the wall of the hollow organ may be generated based on the region of the representation of the plurality of anatomical structures that is adjacent to the representation of the border of the contrast agent filling of the lumen. For example, at least one part of the representation of the plurality of anatomical structures can be selected that is adjacent to the representation of the border of the contrast agent filling of the lumen, thereby obtaining the representation of the wall of the hollow organ. For example, a region of the representation of the plurality of anatomical structures can be considered adjacent to the representation of the border of the contrast agent filling of the lumen, if for each pixel of that region the distance between that pixel and the representation of the border of the contrast agent filing of the lumen is below a predefined threshold value for the distance. The lumen of the hollow organ may comprise at least one portion external to the contrast agent filling of the lumen and adjacent to the wall of the hollow structure. A representation of the at least one portion of the lumen may be generated based on the representation of the border of the contrast agent filling of the lumen and the representation of the wall of the hollow organ. The image data may comprise at least one of the representation of the border of the contrast agent filling of the lumen, the representation of the wall of the hollow organ, and the representation of the at least one portion of the lumen that is external to the contrast agent filling of the lumen and adjacent to the wall of the hollow structure. The image data can be provided, for example, by transmitting a signal that carries the image data and/or by writing the image data into a computer-readable medium and/or by displaying the image data on a display. Each of the representations mentioned herein may be visualized, for example, using two-dimensional and/or three-dimensional methods, in particular in form of a layer and/or a surface. In particular, a 2D and/or 3D image of the wall of the hollow organ may be generated, showing only the areas of double contrast, i. e. presence of both agents in close surrounding, being an indicator for vital tissue of the wall of the hollow organ. Holes and missing structures in such an image indicate necrosis and/or ischemia. This allows a faster and more comfortable reading of the image data. The hollow organ may be an organ of the digestive system, for example, a bowel. The hollow organ may be, for example, a colon or a small intestine. The at least one portion of the lumen may comprise, in particular may consist of, a solid material, for example, dense stool, and/or a gas, for example, air. The first contrast agent may be applied, for example, orally or in form of a rectal filling. The second contrast agent may be applied intravenously. In another embodiment, the first contrast agent is based on a first material with a first k-edge and the second contrast agent is based on a second material with a second k-edge. The second contrast agent has a different absorption spectrum than the first contrast agent, for example, if the distance between the first k-edge and the second k-edge is non-zero, in particular, at least 1 Kiloelectronvolt, for example, at least 10 Kiloelectronvolts, and/or if the absorption spectrum of the second agent has a different shape than the absorption spectrum of the first agent. The distance between the first k-edge and the second k-edge may be at least 10 Kiloelectronvolts, for example at least 15 Kiloelectronvolts, in particular, at least 20 Kiloelectronvolts. In another embodiment, the first contrast agent is based on tungsten, holmium or gadolinium and/or the second contrast agent is based on iodine or barium. In another embodiment, the second contrast agent is based on tungsten, holmium or gadolinium and/or the first contrast agent is based on iodine or barium. For example, the first contrast agent may be gadolinium-based, and the second contrast agent may be iodine-based. In another embodiment, the first contrast agent is based on iron or manganese and/or the second contrast agent is based on iodine or barium. Wherever not already described explicitly, individual embodiments, or their individual aspects and features, can be combined or exchanged with one another without limiting or widening the scope of the described invention, whenever such a combination or exchange is meaningful and in the sense of this invention. Advantages which are described with respect to one embodiment of the present invention are, wherever applicable, also advantageous of other embodiments of the present invention. In the context of the present invention, the expression “based on” can in particular be understood as meaning “using, inter alia”. In particular, wording according to which a first feature is calculated (or generated, determined etc.) based on a second feature does not preclude the possibility of the first feature being calculated (or generated, determined etc.) based on a third feature. Reference is made to the fact that the described methods and the described units are merely preferred example embodiments of the invention and that the invention can be varied by a person skilled in the art, without departing from the scope of the invention as it is specified by the claims. FIG.1shows a hollow organ O with a first contrast agent C1and a second contrast agent C2applied to the hollow organ O. The first contrast agent C1is applied to the lumen L of the hollow organ O. The first contrast agent C1accumulates in the lumen L of the hollow organ O and forms a contrast agent filling of the lumen L. The second contrast agent C2is applied to a blood vessel system V using an injector N. The blood vessel system V supplies the wall W of the hollow organ O and a parenchymal organ Y. The second contrast agent C2accumulates in the blood vessel system V, the wall W of the hollow organ O and the parenchymal organ Y. The wall W of the hollow organ O is encompassing the lumen L of the hollow organ O. The parenchymal organ Y is separated from the hollow organ O, for example by an interlayer of fat. The hollow organ O shown inFIG.1is a bowel. The lumen L of the hollow organ O comprises two portions A and S, each being external to the contrast agent filling of the lumen L and adjacent to the wall W of the hollow organ O. Portion A consists of air. Portion S consists of stool. The parenchymal organ Y shown inFIG.1is spleen. FIG.2shows a plurality P of anatomical structures comprising the second contrast agent C2and a border B of a contrast agent filling of the lumen L. The plurality P of anatomical structures comprises the blood vessel system V, the wall W of the hollow organ O and the parenchymal organ Y. Significant amounts of the second contrast agent C2are present in each of these anatomical structures. In the second image data, the plurality P of anatomical structures is enhanced by the second contrast agent C2. The border B of the contrast agent filling of the lumen L follows the wall W of the hollow organ O with exception of those parts, where the border B of the contrast agent filling of the lumen L is separated from the wall W of the hollow organ O by portion A or portion S. FIG.3shows representations of different parts of the hollow organ O, in particular the representation of the wall W of the hollow organ O, the representation of the border B of the contrast agent filling of the lumen L, a representation of the portion A and a representation of the portion S. Furthermore, a representation of the border BL of the lumen L is shown. The representation of the border BL of the lumen L can be generated based on the representation of the border B of the contrast agent filling of the lumen L and the representation of the wall W of the hollow organ O. In particular, based on the representation of the wall W of the hollow organ O a course of the border BL of the lumen L can be estimated for those parts, where the border B of the contrast agent filling of the lumen L is separated from the wall W of the hollow organ O by portion A or portion S. FIG.4shows a diagram illustrating a method for providing image data of a hollow organ O, comprisingapplying A1a first contrast agent C1to a lumen L of the hollow organ O, thereby obtaining a contrast agent filling of the lumen L,applying A2a second contrast agent C2to a blood vessel system V supplying a wall W of the hollow organ O, the second contrast agent C2having a different absorption spectrum than the first contrast agent C1,generating GD spectrally resolved computed tomography data of an examination area of a patient comprising the hollow organ O,calculating CI first image data indicative of a presence of the first contrast agent C1and second image data indicative of a presence of the second contrast agent C2by applying a material separation algorithm onto the spectrally resolved computed tomography data, andproviding PI the image data of the hollow organ O comprising the first image data and the second image data. The patent claims of the application are formulation proposals without prejudice for obtaining more extensive patent protection. The applicant reserves the right to claim even further combinations of features previously disclosed only in the description and/or drawings. References back that are used in dependent claims indicate the further embodiment of the subject matter of the main claim by way of the features of the respective dependent claim; they should not be understood as dispensing with obtaining independent protection of the subject matter for the combinations of features in the referred-back dependent claims. Furthermore, with regard to interpreting the claims, where a feature is concretized in more specific detail in a subordinate claim, it should be assumed that such a restriction is not present in the respective preceding claims. Since the subject matter of the dependent claims in relation to the prior art on the priority date may form separate and independent inventions, the applicant reserves the right to make them the subject matter of independent claims or divisional declarations. They may furthermore also contain independent inventions which have a configuration that is independent of the subject matters of the preceding dependent claims. None of the elements recited in the claims are intended to be a means-plus-function element within the meaning of 35 U.S.C. § 112(f) unless an element is expressly recited using the phrase “means for” or, in the case of a method claim, using the phrases “operation for” or “step for.” Example embodiments being thus described, it will be obvious that the same may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the present invention, and all such modifications as would be obvious to one skilled in the art are intended to be included within the scope of the following claims.

11857146

MODE FOR INVENTION An embodiment of the present disclosure will be described in more detail below with reference to the accompanying drawings. FIG.1is a reference view schematically illustrating a region of anus10, where hemorrhoids12occur. The hemorrhoids12, illustrated inFIG.1, are external hemorrhoids. An application example of a banana clip according to the present embodiment will be described below for convenience in description. However, it is also possible that the banana clip finds application in internal hemorrhoids. As illustrated, the hemorrhoids12are positioned inside the anus10. As described above, the hemorrhoids12are swollen or inflamed vascular structures in the anus10, which become prolapsed and are exposed to the outside. As illustrated inFIG.1, the hemorrhoids protrude outward from the anus10. A banana clip50according to the present embodiment, which will be described below, is tied tightly around roots of the hemorrhoids12. Accordingly, the banana clip50blocks blood from being supplied into the hemorrhoids12, and thus the hemorrhoids12are separated off. In addition, in a state where the banana clip50is positioned to encircle the hemorrhoids12, particularly, the clip applier30, included in a surgical tool set20described below, presses a pressing surface33c(FIG.2) against tissue in the vicinity of the hemorrhoids12. Thus, the banana clip50is positioned in the vicinity of the roots of the hemorrhoids12. The banana clip50includes a clip main-body and a holding guide. The clip main-body has a first clip arm and a second clip arm that are connected to each other by a flexible bending portion in a manner that maintains a predetermined bend angle with respect to each other. The first clip arm and the second clip arm are closed with an outside force in a state where the hemorrhoids12to be removed are interposed therebetween, and thus are tied tightly around the hemorrhoids12. When the clip main-body is bent inward, the holding guide prevents the first clip arm and the second clip from being slid off the hemorrhoids12therebetween. In addition, the surgical tool set includes the banana clip50for removing the hemorrhoids12, and the clip applier30. The banana clip50for removing the hemorrhoids12includes the clip main-body and the holding guide. The clip main-body has the first and second clip arms that are connected to each other by the flexible bending portion in a manner that maintains a predetermined bend angle with respect to each other. The first and second clip arms are closed with the outside force in the state where the hemorrhoids12to be removed are interposed therebetween, and thus are tied tightly around the hemorrhoids12. When the clip main-body is bent inward, the holding guide guides relative motions of the first and second clip arms with respect to each other and thus prevents misalignment between the first and second clip arms. The clip applier30picks up the banana clip50, positions the first and second clip arms in the vicinity of the hemorrhoids12to be removed, closes the first and second clip arms, and ties the first and second clip arms tightly around the hemorrhoids12. FIG.2is a perspective exploded view illustrating the surgical tool set20according to an embodiment of the present disclosure.FIG.3is a perspective view illustrating that the clip applier30illustrated inFIG.2picks up the banana clip50. As illustrated, the surgical tool set20according to the present embodiment includes the banana clip50and the clip applier30. The banana clip50is tied tightly around the hemorrhoids12to be removed. The clip applier30is a tool that picks up the banana clip50and ties the banana clip50tightly around the hemorrhoids12. First, a detailed configuration of the banana clip50is described with reference toFIG.4. As illustrated inFIG.4, the banana clip50, made of flexible synthetic resin, includes a clip main-body52and a holding guide53. The clip main-body52is bent inward at the predetermined bend angle. The clip main-body52has a bending portion52r, a first clip arm52a, and a second clip arm52b. The first clip arm52aand a second clip arm52b, integrally combined with the bending portion52r, are opened at the predetermined bend angle. The first clip arm52aand the second clip arm52beach are curved to a constant curvature. The first clip arm52aand the second clip arm52b, when the outside force is not applied thereto, are kept curved, as illustrated inFIG.4. The first clip arm52aand the second clip arm52b, when tied tightly around the hemorrhoids12, are brought into contact with each other and thus has the form of a banana, as illustrated inFIG.5d. Slippage prevention protrusions52care formed on each of the respective opposing surfaces of the first and second clip arms52aand52b. The slipping prevention protrusions52cserve as slipping prevention portions that prevent each of the first and second clip arms52aand52bfrom being slid along the hemorrhoids12. While the ligation is in progress, or in a state where the ligation is finished, the slipping prevention protrusions52cserve to prevent the first and second clip arms52aand52bfrom being slid along the hemorrhoids12. Another reason for providing in this manner the slippage prevention protrusions52cthat protrude as the sliding prevention portions is to more effectively press the slipping prevention protrusions52cagainst blood vessels in the hemorrhoids12and thus completely block blood from flowing through the hemorrhoids12. Moreover, a hook portion52qis provided on an end portion of the first clip arm52a, and a ligation-keeping portion52pis provided on an end portion of the second clip arm52b. The hook portion52q, like a hook, is bent back. As illustrated inFIG.5d. The hook portion52qis engaged with the ligation-keeping portion52p, and thus the first and second clip arms52aand52bare kept tied tightly around the hemorrhoids12. In addition, a guide groove52gwith the top side open is formed in an upper surface of the ligation-keeping portion52p. The guide groove52gis brought into contact with the hook portion52qimmediately before the first and second clip arms52aand52bare brought into contact with each other, and guides a motion of the hook portion52q, thereby preventing misalignment between the first and second clip arms52aand52b. That is, the hook portion52qis guided in such a manner as not to move sideways. A directional motion in which the first and second clip arms52aand52bare closed and a directional motion in which the first and second clip arms52aand52bare opened are hereinafter collectively referred to a rotational motion. A center edge portion52kis formed on the hook portion52q. The center edge portion52k, when inserted into the guide groove52g, is supported on the guide groove52g. The center edge portion52kis a sharp arc-shaped portion formed on a center portion, in the width direction, of the first clip arm52a. The center edge portion52kis brought into linear contact with the deepest bottom of the guide groove52gand thus is supported on the guide groove52g. That is, immediately before the hook portion52qis engaged with the ligation-keeping portion52p, the center edge portion52kis supported in a state of being inserted into the guide groove52g. An inclination portions52mis formed on both sides of the center edge portion52k. The inclination portions52mare portions that, when the hook portion52qis introduced into an upper portion of the ligation-keeping portion52p, are guided by second pressing protrusions52hdescribed below. When the center edge portion52kis smoothly guided by the hook portion52q, the inclination portions52mare not brought into contact with the second pressing protrusions52h, respectively. Moreover, a jaw portion52sis formed on a front-end portion of the first clip arm52a. The jaw portion52s, as illustrated inFIG.5d, passes over the ligation-keeping portion52pand is engaged with an upper end portion of the first clip arm (52b), thereby being kept held in place.first pressing protrusions52nare formed on both sides, respectively in the width direction, of the end portion of the first clip arm52a. The first pressing protrusions52nare force application portions that transfer an outside force acting thereon to the first clip arm52a. The first pressing protrusions52nare inserted into support grooves33a, respectively, in the clip applier30. That is, in a state where the first pressing protrusions52nare inserted into the support grooves33a, a clip pressing portion33exerts a pushing force, in an z-direction indicated by an arrow, on the first pressing protrusions52n. In addition, a guide hole52fis formed in the end portion of the first clip arm52a, and a guide holding groove52eis formed in an end portion of the second clip arm52b. The guide hole52fis a rectangular hole that is pierced, in the rotational direction of the first clip arm52a, through the first clip arm52a. A holding guide53described below passes through the guide hole52f. Moreover, the guide holding groove52eis a groove accommodating and supporting a front-end portion of the holding guide53. The front-end portion of the holding guide53is inserted into the guide holding groove52eand is supported thereon. It is possible that the holding guide53is easily separated from the guide holding groove52e. For example, for the separation of the holding guide53, a user can pull the holding guide53with his/her one hand while holding the second clip arm52bwith his/her other hand. After the clip main-body52is tied tightly around the hemorrhoids12, the holding guide53, as illustrated inFIG.5d, is separated from the guide holding groove52e. The second pressing protrusions52hare provided on the end portion of the second clip arm52b. Like the first pressing protrusions52n, the second pressing protrusions52hserve as force application portions that transfer an outside force acting thereon to the second clip arm52b. Likewise, a pushing force is also exerted, in a z-direction indicated by an arrow, on the second pressing protrusions52hinserted into the support grooves33ain the clip applier30. The bending portion52rconnecting the first clip arm52aand the second clip arm52bto each other is integrally combined with the first and second clip arms52aand52b. The bending portion52rprovides a supporting force in such a manner that the first and second clip arms52aand52bare closed or opened. Particularly, a transformation guidance hole52dis formed in the bending portion52r. When the first and second clip arms52aand52bare closed, the transformation guidance hole52dserves to facilitate transformation of the bend portion52rand to prevent concentration of stress on the bending portion52r. In this manner, the formation of the transformation guidance hole52dmakes it possible to close the first and second clip arms52aand52bmore smoothly. Furthermore, since low stress acts on the bending portion52r, there is no concern that the bending portion52rwill be split or broken in a state where the ligation is finished, The holding guide53is a curved bar-shaped member that is made of the same material as the clip main-body52. A front-end portion of the holding guide53passes through the guide hole52fand then is inserted into the guide holding groove52e, thereby being held in place. As described above, it is possible that the holding guide53is separable from the guide holding groove52ewith the user's finger. Reference character53adenotes a handle that is used when the holding guide53is separated from the second clip arm52b. When the first clip arm52aand the second clip arm52bare closed, the holding guide53serves to block the first clip arm52aand the second clip arm52bfrom being slid off the hemorrhoids12interposed therebetween. As illustrated inFIGS.2and3, the clip applier30has approximately the shape of scissors and has the clip pressing portion33on a front-end portion thereof. The banana clip50is inserted between the clip pressing portions33and thus is bent inward. The clip applier30serves to pick up the banana clip50, position the first and second clip arms52aand52bin the vicinity of the hemorrhoids12and tie the first and second clip arms52aand52btightly around the hemorrhoids12. The clip applier30is configured with a pair of applier halves30athat are movably fastened together by a connection pin35in such a manner as to cross each other. The applier halves30aare fastened together by the connection pin35and move in a way resembling the action of scissors. Each of the applier halves30aincludes a handle31, an extension portion32, and the clip pressing portion33. The connection pin35is positioned between the handle31and the extension portion32. The handle31is held with the user's hand. For example, the user opens or closes the applier halves30awith his/her fingers and thumb inserted into holes in the handles31. In addition, the extension portion32is connected to the handle31with the connection pin35interposed therebetween. The extension portion32is integrally combined with the handle31. The clip pressing portion33is integrally combined with an end portion of the extension portion32. Particularly, the clip pressing portion33is bent to a bend angle of approximately 90 degrees with respect to the extension portion32. The reason for bending the clip pressing portion33in this manner is to press the pressing surface33cof the clip pressing portion33against a region in the vicinity of the hemorrhoids12in the direction a indicated by an arrow inFIG.3. In other words, in a state where the hemorrhoids12are positioned within a space formed by the first and second clip arms52aand52band the holding guide53, the clip applier30is pressed in the direction a indicated by the arrow. Thus, the hemorrhoids12passing through such a space are positioned by the greatest possible distance in the direction b indicated by an arrow away from the first and second clip arms52aand52band the holding guide53. In this manner, the banana clip50is positioned up to the vicinity of roots of the hemorrhoids12and, in some cases, is positioned beyond the vicinity of the roots thereof. The support grooves33aand accommodation slits33bare formed in each of the clip pressing portions33. The first pressing protrusions52nand the second pressing protrusions52hare accommodated into the support grooves33aon one of the clip pressing portions30and the support grooves33aon the other of the clip pressing portions30, respectively, that are open in a manner that faces each other. The pushing force is applied to the first pressing protrusions52nand the second pressing protrusions52h. The first and second clip arms52aand52bare accommodated into the accommodation slits33b, respectively. Reference character37denotes a leaf spring. Both end portions of the leaf spring37are supported on spring holding grooves31a, respectively. The spring holding grooves31aare formed in the applier halves30a, respectively. The leaf spring37keeps the handles31open. With operation of the leaf spring37, the clip pressing portions33are kept open in a state where an outside force is applied thereto. FIGS.5A to5Dare views each illustrating operation of the surgical tool set20according to the embodiment of the present disclosure. First, the banana clip50to be used is inserted between the clip pressing portions33. At this point, of course, the first pressing protrusions52nand the second pressing protrusions52hof the banana clip50need to be inserted into the support grooves33aon one of the clip pressing portions30and the support grooves33aon the other of the clip pressing portions30, respectively. When the preparation step described above is finished, as illustrated inFIG.5a, the hemorrhoids12are caused to pass through a space between the first and second clip arms52aand52bin a state where the first and second clip arms52aand52bare opened. Then, the clip applier30is pressed in the direction a indicated by the arrow inFIG.3, thereby positioning the roots of the hemorrhoids12between the first and second clip arms52aand52b. Subsequently, the handles31are brought together to close the first and second clip arms52aand52bin the direction z inFIG.2. Thus, the hook portion52qis engaged with the ligation-keeping portion52p. At this point, the first and second clip arms52aand52bare pressed and thus is tied tightly around hemorrhoids12in a state where the hemorrhoids12interposed between the first and second clip arms52aand52bare held in place among the holding guide53and the first and second clip arms52aand52b. As illustrated inFIG.5c, when finishing the ligation, the user removes the holding guide53from the clip main-body52that is tied tightly around the hemorrhoids12to finish the operation on the hemorrhoids12. The holding guide53is for providing alignment between the first and second clip arms52aand52bthat are suture materials. After the ligation is finished, the holding guide50is no longer necessary, and therefore is removed. The specific embodiment of the present disclosure is described in detail above. However, the present disclosure is not limited to the specific embodiment. It would be apparent to a person of ordinary skill in the art that various modifications to the present disclosure are possible within the scope of the technical idea of the present disclosure.

11857147

The accompanying drawings illustrate various examples. The skilled person will appreciate that the illustrated element boundaries (e.g., boxes, groups of boxes, or other shapes) in the drawings represent one example of the boundaries. It may be that in some examples, one element may be designed as multiple elements or that multiple elements may be designed as one element. Common reference numerals are used throughout the figures, where appropriate, to indicate similar features. DETAILED DESCRIPTION The following description is presented by way of example to enable a person skilled in the art to make and use the invention. The present invention is not limited to the embodiments described herein and various modifications to the disclosed embodiments will be apparent to those skilled in the art. Embodiments are described by way of example only. Described herein are electrosurgical connection units for a surgical robot arm for connecting an electrosurgical instrument attached to the arm to an electrosurgical generator in a manner that allows the electrosurgical instrument to be dynamically driven by a desired waveform. Specifically, the electrosurgical connection units described herein comprise an input port connectable to an electrosurgical generator and an output port connectable to an electrosurgical instrument attached to the arm. The electrosurgical connection unit is configured to receive a driving electrosurgical signal via the input port and transmit one or more activation signals via the input port. The input port and the output port are connected such that any driving electrosurgical signal received on the input port is output on the output port. The electrosurgical connection units also comprise one or more activation switch units. When an activation switch unit is activated it causes an activation signal to be transmitted to the electrosurgical generator via the input port. The activation signal indicates a driving electrosurgical signal with a desired waveform from a plurality of waveforms is to be activated by the electrosurgical generator. The electrosurgical connection units also comprise a control unit which is configured to activate one of the one or more activation switch units in response to receiving one or more control signals (which may be generated in response to input from the surgeon or other user indicating that the electrosurgical instrument is to be activated by a driving electrosurgical signal with a desired waveform). Reference is now made toFIG.7which shows an example surgical robot system700in which the electrosurgical connection units described herein may be implemented. The system700comprises a robot arm702which comprises an electrosurgical connection unit703for connecting an electrosurgical instrument attached to the arm to an electrosurgical generator. The robot arm702extends from a proximal end attached to a base704. The arm comprises a number of rigid links706. The links are coupled by revolute joints708. The most proximal link706ais coupled to the base by joint708a. It and the other links are coupled in series by further ones of the joints708. Suitably, a wrist710is made up of four individual revolute joints. The wrist710couples one link (706b) to the most distal link (706c) of the arm. The most distal link706cis at the distal end of the arm and carries an attachment structure717for a surgical instrument712. Each joint708of the arm has one or more motors714which can be operated to cause rotational motion at the respective joint, and one or more position and/or torque sensors716which provide information regarding the current configuration and/or load at that joint. The motors may be arranged proximally of the joints whose motion they drive, so as to improve weight distribution. For clarity, only some of the motors and sensors are shown inFIG.7. The arm may be generally as described in our co-pending patent application PCT/GB2014/053523. The arm terminates in an attachment structure717for interfacing with the instrument712. The instrument712may take the form described with respect toFIG.2. The attachment structure717comprises a drive assembly for driving articulation of the instrument. Movable interface elements of the drive assembly interface mechanically engage corresponding movable interface elements of the instrument interface in order to transfer drive from the robot arm to the instrument. One instrument is exchanged for another several times during a typical operation. Thus, the instrument is attachable and detachable from the robot arm during the operation. Features of the drive assembly interface and the instrument interface aid their alignment when brought into engagement with each other, so as to reduce the accuracy with which they need to be aligned by the user. The instrument712comprises an end effector for performing an operation. The end effector may take any suitable form. For example, the end effector may be smooth jaws, serrated jaws, a gripper, a pair of shears, a needle for suturing, a camera, a laser, a knife, a stapler, a cauteriser, a suctioner. A variety of instrument types are known, each adapted to perform a particular surgical function. One example type of instrument is an electrosurgical instrument which is adapted to perform an electrosurgical function. As described above, electrosurgery is the passing of a high frequency (i.e. radio frequency) current through tissue to cause a desired effect (e.g. cutting the tissue or coagulating the tissue). There are two types of electrosurgery—monopolar and bipolar. In monopolar electrosurgery the high frequency current passes through the patient from a live or active electrode of the electrosurgical instrument to a separate return electrode placed on the patient, which may also be referred to as a dispersive electrode pad, a grounding pad, a neutral electrode, a grounding mat, an indifferent electrode or a patient electrode. In bipolar electrosurgery the active and return electrodes are both within the electrosurgical instrument and the current passes through the patient from the active electrode of the electrosurgical instrument to the return electrode of the electrosurgical instrument. An electrosurgical instrument which is configured for monopolar electrosurgery (e.g. an electrosurgical instrument that comprises an active electrode only) will be referred to herein as a monopolar electrosurgical instrument, and an electrosurgical instrument which is configured for bipolar electrosurgery (e.g. an electrosurgical instrument that comprises both an active electrode and a return electrode) will be referred to herein as a bipolar electrosurgical instrument. As described with respect toFIG.2the instrument comprises an articulation between the instrument shaft and the end effector. The articulation comprises several joints which permit the end effector to move relative to the shaft of the instrument. The joints in the articulation are actuated by driving elements, such as cables. These driving elements are secured at the other end of the instrument shaft to the interface elements of the instrument interface. Thus, the robot arm transfers drive to the end effector as follows: movement of a drive assembly interface element moves an instrument interface element which moves a driving element which moves a joint of the articulation which moves the end effector. Controllers for the motors, torque sensors and encoders are distributed with the robot arm. The controllers are connected via a communication bus to a robot control unit718. The robot control unit718comprises a processor720and a memory722. Memory722stores in a non-transient way software that is executable by the processor720to control the operation of the motors714to cause the arm702to operate in the manner described herein. In particular, the software can control the processor720to cause the motors (for example via distributed controllers) to drive in dependence on inputs from the sensors716and from a surgeon command interface724. The robot control unit718is coupled to the motors714for driving them in accordance with outputs generated by execution of the software. The robot control unit718is coupled to the sensors716for receiving sensed input from the sensors, and to the command interface724for receiving input from it. The respective couplings may, for example, each be electrical or optical cables, or may be provided by a wireless connection. The command interface724comprises one or more input devices whereby a user can request motion of the end effector in a desired way. The input devices could, for example, be manually operable mechanical input devices such as hand controllers or joysticks, or contactless input devices such as optical gesture sensors. The software stored in memory722is configured to respond to those inputs and cause the joints of the arm and instrument to move accordingly, in compliance with a pre-determined control strategy. The control strategy may include safety features which moderate the motion of the arm and instrument in response to command inputs. Thus, in summary, a surgeon at the command interface724can control the instrument712to move in such a way as to perform a desired surgical procedure. The robot control unit718and/or the command interface724may be remote from the arm702. The robot arm702also comprises an electrosurgical connection unit703for connecting an electrosurgical instrument712attached to the arm to an electrosurgical generator726. As described above, electrosurgical instruments are driven by a high frequency current which may be referred to herein as a driving electrosurgical signal. The driving electrosurgical signals are generated by an electrosurgical generator726, which may also be referred to as an electrosurgery generator, electrosurgical end unit, electrosurgery end unit, or ESU. Electrosurgical generators are generally capable of generating multiple different current waveforms to achieve different surgical effects. For example, many standard electrosurgical generators can be configured to generate COAG, CUT and BLEND waveforms. The COAG waveform consists of bursts of radio frequency, which when used at a low power setting causes a desiccation effect, and when used at a high-power setting causes a fulguration effect. The CUT waveform is a continuous waveform at a lower voltage, but higher current than COAG, which causes the tissue to be cut. A BLEND waveform is essentially a CUT waveform with a lower duty cycle. For example, the duty cycle of a CUT waveform is typically between 15% and 75%, whereas a CUT waveform typically has a duty cycle greater than 75%. The off time allows the tissue to cool creating some haemostasis. Accordingly, a BLEND waveform is typically used where haemostasis is required as tissue is cut. It will be evident to a person of skill in the art that these are examples only and that different electrosurgical generators may be configured to generate different and/or additional waveforms. The electrosurgical generator726comprises any suitable means for configuring the waveforms that can be generated. For example, an electrosurgical generator726may comprise a user interface that comprises, for example, switches, buttons, dials etc., which enable a user to configure each supported waveform (e.g. a CUT waveform, a COAG waveform and a BLEND waveform). In other examples, the electrosurgical generator726may be configured electronically, such as via a control signal transmitted to the electrosurgical generator from a computing device. For example, the electrosurgical generator726may be connected to the robot control unit718and the waveforms configured by the command interface724. The user may be able to configure, for example, the voltage and/or frequency of the waveform. The electrosurgical generator726also comprises control logic728which is configured to receive activation signals indicating which waveform of the plurality of supported waveforms are to be activated by the electrosurgical generator726. For example, where the electrosurgical generator726can generate a driving electrosurgical signal with a CUT waveform or a driving electrosurgical signal with a COAG waveform the electrosurgical generator726may be configured to receive one or more activation signals indicating which of the CUT waveform and the COAG waveform is to be used to generate the driving electrosurgical signal. In response to the control logic728detecting an activation signal indicating that a driving electrosurgical signal with a CUT waveform is to be activated the electrosurgical generator726(e.g. the RF generation logic730) outputs a driving electrosurgical signal with a CUT waveform (as previously configured). Similarly, in response to the control logic728detecting an activation signal indicating that a driving electrosurgical signal with a COAG waveform is to be activated the electrosurgical generator726(e.g. the RF generation logic730) outputs a driving electrosurgical signal with a COAG waveform (as previously configured). In some cases, the electrosurgical generator726may be configured to continue outputting a driving electrosurgical signal with the desired waveform so long as it detects the corresponding activation signal (and a fault condition has not been detected), and to cease outputting a driving electrosurgical signal with the desired waveform as soon as it ceases to detect the corresponding activation signal. When an activation signal is detected by the control logic728, in addition to causing a driving electrosurgical signal with the desired waveform to be output, the control logic728may cause a feedback signal to be output to alert the user of the activation of a particular waveform. The feedback may be in the form of visual feedback (e.g. an indicator light on a display panel of the electrosurgical generator726) or audible feedback (e.g. a tone). The electrosurgical connection unit703is configured to act as an intermediary between an electrosurgical instrument712attached to the arm702and an electrosurgical generator726. Specifically, the electrosurgical connection unit703is configured to selectively transmit activation signals to the electrosurgical generator indicating that the electrosurgical instrument attached to the arm is to be activated by a driving electrosurgical signal with a particular waveform (of the plurality of waveforms supported by the electrosurgical generator) in response to one or more control signals received from an external computing device. The control signals may be generated by, for example, the robot control unit718in response to the surgeon or other user providing input via the command interface724indicating that the electrosurgical instrument attached to the arm currently being controlled is to be driven by a driving electrosurgical signal with a desired waveform. The electrosurgical connection unit703is also configured to receive any driving electrosurgical signal produced by the electrosurgical generator in response to an activation signal and provide the received driving electrosurgical signal to the electrosurgical instrument attached to the arm. Example electrosurgical connection units703are described below with respect toFIGS.8-11. The electrosurgical connection unit703may be integral with the arm702or may be removably attached to the arm702. The electrosurgical connection unit703may be removably attached to the arm702using any suitable means such as, but not limited to, Velcro™, or gaffer tape. Although the electrosurgical connection unit703is shown inFIG.7as being attached to a middle link706bof the arm702, the electrosurgical connection unit703may be attached to any suitable part of the arm702. For example, the electrosurgical connection unit703may be connected to any link706a,706b,706cof the arm702or the electrosurgical connection unit703may be connected to the base704of the arm702. In some cases the base704may comprise or be attached to a cart or trolley and the electrosurgical connection unit may be integral with or removably attached to the cart. The arm702is typically covered in a sterile drape during surgery. Where there is an opening in the drape around the base704of the arm702, attaching the electrosurgical connection unit703to the base704or the most proximal link706amay make it easier to connect the electrosurgical connection unit703to the electrosurgical generator726and/or the electrosurgical instrument712via the opening in the drape. In some cases, components of the electrosurgical connection unit703may be attached to different parts of the arm702. For example, as described below, the electrosurgical connection unit may comprise an input port, and output port, one or more activation switches and a control unit. In some cases, the control unit may be situated on a different part of the arm from the input port, output port, and activation switches. Reference is now made toFIG.8which illustrates an example electrosurgical connection unit703for connecting a monopolar electrosurgical instrument to an electrosurgical generator726. The electrosurgical connection unit703comprises an input port802, an output port804, a plurality of activation switch units806,808and a control unit810. The input port802is connectable (directly or indirectly) to an electrosurgical generator726so as to receive a driving electrosurgical signal generated by the electrosurgical generator726and to transmit one or more activation signals to the electrosurgical generator726. Each activation signal indicates to the electrosurgical generator726that a driving electrosurgical signal with a desired waveform of the plurality of waveforms supported by the electrosurgical generator726is to be activated. The input port802may be electrically coupled to a plurality of wires or conductors—an active wire or conductor812to receive the driving electrosurgical signal from the electrosurgical generator726and one or more control wires or conductors814,816to transmit the activation signals(s) to the electrosurgical generator726. In the example shown inFIG.8, there are two control wires814,816, one control wire814is configured to transmit a first activation signal to the electrosurgical generator726that indicates that a driving electrosurgical signal with a first waveform (e.g. a CUT waveform) is to be activated and the other control wire816is configured to transmit a second activation signal to the electrosurgical generator726that indicates that a driving electrosurgical signal with a second waveform (e.g. a COAG waveform) is to be activated. However, it will be evident to a person of skill in the art that this is an example only and that there may be fewer than two control wires and/or more than two control wires over which the activation signal(s) are transmitted. The input port802may be configured to receive one or more cables over which the driving electrosurgical signal is received from the electrosurgical generator726and the activation signals are transmitted to the electrosurgical generator726. In some cases, the input port802may be configured to receive a single cable over which the driving electrosurgical signal and the activation signals are transmitted. In other cases, the input port802may be configured to receive a plurality of cables over which the driving electrosurgical signal and the activation signal are transmitted. For example, there may be one cable per signal. In some cases, the input port802may comprise one connector for each expected cable that is configured to engage a corresponding connector of the cable. In some cases, the connector(s) of the input port802may be male connectors which are configured to receive a corresponding female connector of a cable connected directly or indirectly to the electrosurgical generator726. The output port804is connectable (directly or indirectly) to an electrosurgical instrument712attached to the arm702. The output port804is electrically connected or coupled to the active wire812so that any driving electrosurgical signal received from the electrosurgical generator726via the input port802is output on the output port804. The output port804may be configured to receive a cable over which the driving electrosurgical signal is transmitted to the electrosurgical instrument712. In some examples, the output port804comprises a female connector configured to engage a corresponding male connector connected to a cable which is connected directly or indirectly to the electrosurgical instrument712. Each activation switch unit806,808is configured to, when activated, cause an activation signal to be transmitted via the input port802to indicate to the electrosurgical generator726that a driving electrosurgical signal with a desired waveform, of the plurality of waveforms supported by the electrosurgical generator726, is to be activated. In response to detecting the activation signal, the electrosurgical generator726outputs a driving electrosurgical signal with the desired waveform. The input port802then receives the driving electrosurgical signal with the desired waveform and outputs the received signal on the output port804. In the example ofFIG.8there are two activation switch units806and808. When the first activation switch unit806is activated a first activation signal is transmitted over the first control wire814which indicates to the electrosurgical generator726that a driving electrosurgical signal with a first desired waveform (e.g. CUT waveform) is to be activated. In response to detecting the first activation signal, the electrosurgical generator726generates and outputs a driving electrosurgical signal with the desired waveform (e.g. CUT waveform). When the second activation switch unit808is activated a second activation signal is transmitted over the second control wire816which indicates to the electrosurgical generator726that a driving electrosurgical signal with a second desired waveform (e.g. COAG waveform) is to be activated. In response to detecting the second activation signal the electrosurgical generator726generates and outputs a driving electrosurgical signal with the second desired waveform (e.g. COAG waveform). However, it will be evident to a person of skill in the art that this is an example only and that there may be more than two activation switch units or only one activation switch unit (see, for example,FIG.11). In the example shown inFIG.8, a first port of each activation switch unit806,808is connected to the active wire812and a second port of each activation switch unit806,808is connected to one of the control wires814,816. Specifically, the second port of the first activation switch unit806is connected to the first control wire814, and the second port of the second activation switch unit808is connected to the second control wire816. In this example, when an activation switch unit806,808is activated the active wire812is electrically connected to the corresponding control wire814,816(i.e. the active wire812is shorted to the corresponding control wire814,816) which causes an activation signal to be transmitted to the electrosurgical generator on that control wire814,816. In other words, when an activation switch unit806,808is activated it closes a control loop extending between the electrosurgical generator726and the electrosurgical connection unit703which can be detected by the electrosurgical generator726(e.g. control logic728of the electrosurgical generator726). When the electrosurgical connection unit703is configured to generate the activation signals in this manner the electrosurgical connection unit703can be connected to existing electrosurgical generators, such as those described above with reference toFIGS.4and6, which are configured to detect activation signals by detecting a closure of a control loop. Each activation switch unit806,808comprises at least one switch807,809connected in series with the first port and the second port of the activation switch unit806,808. When an activation switch unit806,808is activated all the switch(es)807,809of the activation switch unit806,808are placed in the closed position so as to connect the first and second ports of the activation switch unit806,808. In the example ofFIG.8each activation switch unit806,808comprises one switch807,809. However, in other examples, one or more of the activation switch units806,808may comprise a plurality of switches in series. Having multiple switches in series prevents an activation signal inadvertently being transmitted by the electrosurgical connection unit703to the electrosurgical generator when one of the switches fails in the closed position, causing a driving electrosurgical signal to be inadvertently provided to an electrosurgical instrument attached to the arm. Causing an electrosurgical instrument to be inadvertently activated could be extremely dangerous. Each switch may be implemented, for example, by a relay, such as an electromechanical relay (EMR) or a solid-state relay (SSR). As is known to those of skill in the art, in electromechanical relays (EMR), contacts are opened or closed by a magnetic force. With solid-state relays (SSR), there are no contacts and switching is electronic. The control unit810is configured to control the activation switch units806,808in response to control signals received from an external computing device. Specifically, the control unit810is configured to receive control signals from an external computing device and selectively activate one of the activation switch units806,808in response to the control signals so as to cause an electrosurgical instrument attached to the arm to be driven by a driving electrosurgical signal with a desired waveform. The control signals may be generated by an external computing device in response to input received from a surgeon or another user indicating that the electrosurgical instrument attached to a particular arm is to be activated by a driving electrosurgical signal with a particular waveform. In some cases, the control signals may be generated by the robot control unit718in response to input received from the surgeon or another user via the command interface724indicating that the electrosurgical instrument attached to a particular arm is to be activated by a driving electrosurgical signal with a particular waveform. In these cases, the command interface724may comprise one or more input devices that allow the user to indicate that an electrosurgical instrument that a user is currently controlling is to be activated by a driving control signal and what type of waveform. For example, where the command interface724comprises manually operable input devices such as hand controllers or joysticks, the hand controllers or joysticks may comprise one or more buttons, switches, or the like that allow the user to indicate that the electrosurgical instrument that is currently being controlled is to be activated by a driving electrosurgical signal and the type of waveform. For example, the hand controllers or joysticks may comprise a CUT button and a COAG button which the user can press to indicate that the electrosurgical instrument is to be activated by a CUT waveform or a COAG waveform. In some cases, to avoid a driving electrosurgical signal from being transmitted to an electrosurgical instrument by inadvertent contact with such buttons or switches, the one or more buttons or switches may only be able to cause a driving electrosurgical signal to be transmitted to the electrosurgical generator if the robot control unit detects that a user is currently grasping the hand controllers or joysticks. In other examples, when the user is controlling an electrosurgical instrument the user may be provided with one or more options on a graphical user interface displayed on a display screen that can be clicked, or otherwise selected, by the user to indicate that the electrosurgical instrument is to be activated and the type of waveform the electrosurgical instrument is to be activated with. For example, a CUT button and a COAG button may displayed on a display screen that can be clicked, or otherwise selected, by the user to indicate that the electrosurgical instrument is to be activated with a CUT waveform or a COAG waveform. In yet other examples, the command interface724may comprise a combination of the buttons and graphical user interface components described above to allow the user to indicate that a particular electrosurgical instrument is to be activated and the waveform to be used for the driving electrosurgical signal. For example, the user interface may allow the surgeon, or other user, to indicate the type of waveform to be used for the driving electrosurgical signal and the electrosurgical instrument to be activated, and the hand controller or joysticks may comprise a single button which, when depressed, indicates that the selected electrosurgical instrument is to be activated with a driving electrosurgical signal with the selected waveform. In some cases, the hand controller or joystick may comprise one or more coloured LEDs near the activation button which indicates the selected waveform (e.g. a blue LED may be illuminated when a COAG waveform is selected and a yellow LED may be illuminated when CUT waveform is selected). Thus, in addition to a surgeon being able to control the movement of an instrument712attached to an arm702via the command interface724, when that instrument is an electrosurgical instrument the surgeon may also be able to control, from the command interface724, when that electrosurgical instrument712is activated and the type of waveform of the driving electrosurgical signal. The control unit810may comprise a communications module818, one or more processors820and a memory822. The communication module818is configured to receive control signals from the external computing device (e.g. robot control unit718). The communications module818may be configured to receive the control signals from the external computing device (e.g. robot control unit718) in any suitable manner such as, but not limited to, electrically, optically or wirelessly. For example, in some cases, the communications module818may be coupled to a wired communication network, such as, but not limited to, an Ethernet network, over which the communications module818receives the control signals from the external computing device (e.g. robot control unit718). In other cases, the communications module818may be coupled to a wireless communication network, such as, but not limited to, a Wi-Fi™ network or a NFC (Near Field Communication) network, over which the communications module818receives the control signals from the external computing device (e.g. robot control unit718). In some cases, in addition to being able to receive the control signals from the external computing device (e.g. robot control unit718) the communications module618may also be able to transmit data or information to the external computing device (e.g. robot control unit718). For example, as described in more detail below, the electrosurgical connection unit703may also comprise an impedance measurement unit which is configured to measure the impedance across the activation switch units806,808and information related to the detected impedance(s) may be transmitted to the external computing device (e.g. robot control unit718) via the communications module818. Where the communications module818can receive information from, and transmit information to, the external computing device (e.g. robot control unit718) the communications module818may be described as a transceiver. The memory822is configured to store computer-executable instructions that when executed by the one or more processors820cause the one or more processors820to perform the functions described herein. Specifically, the one or more processors820are configured (by the computer-executable instructions) to analyse any control signal received by the communications module818and activate one or more of the activation switches based on the analysis. The control signals are configured to indicate to the one or more processors820when an electrosurgical instrument is to be activated by a driving electrosurgical signal and the waveform of the driving electrosurgical signal. Both the activation information and the waveform information may be included in a single control signal or the activation information and the waveform information may be included in different control signals (e.g. there may be a control signal that indicates that the electrosurgical instrument is to be activated and a different control signal that indicates the waveform of the driving electrosurgical signal). The control signals may take any suitable form that is understood by the one or more processors820. In some cases, as described in more detail below, the control signals may be tokens. The one or more processors820are configured to analyse any control signal, or set of control signals, received by the communications module818to determine whether the electrosurgical instrument attached to the arm is to be activated and if the electrosurgical instrument attached to the arm is to be activated the desired waveform of the driving electrosurgical signal. In response to determining from a received control signal, or set of control signals, that the electrosurgical instrument is to be activated by a driving electrosurgical signal with a particular waveform the one or more processors820may be configured to activate the activation switch unit806,808that will cause an activation signal to be transmitted to the electrosurgical generator726that indicates that the electrosurgical instrument is to be activated by a driving electrosurgical signal having that particular waveform. For example, where there are two activation switch units806,808and one activation switch unit806is configured to cause a first activation signal to be transmitted to the electrosurgical generator which indicates that the electrosurgical instrument is to be activated by a driving electrosurgical signal with a first waveform (e.g. CUT waveform), and the other activation switch unit808is configured to cause a second activation signal to be transmitted to the electrosurgical generator which indicates that the electrosurgical instrument is to be activated by a driving electrosurgical signal with a second waveform (e.g. COAG waveform), if the one or more processors820determine from a received control signal, or set of control signals, that the electrosurgical instrument attached to the arm is to be activated by a driving electrosurgical signal with the first waveform (e.g. CUT waveform) the one or more processors may be configured to activate the first activation switch unit806, and if the one or more processors820determine from a received control signal, or set of control signals, that the electrosurgical instrument is to be activated by a driving electrosurgical signal with the second waveform (e.g. COAG waveform) the one or more processors820may be configured to activate the second activation switch unit808. In some cases, the one or more processors820may be configured to activate a particular activation switch unit806,808by outputting one or more signals that cause all the switches807,809of that activation switch unit806,809to be in a closed position. An example method for processing control signals received from an external computing device, which may be implemented by the one or more processors820, is described below with respect toFIG.12. In this example, a separate return electrode824is directly connected to the electrosurgical generator726via a separate cable826. Reference is now made toFIG.9which illustrates a second example electrosurgical connection unit903for connecting a monopolar electrosurgical instrument to an electrosurgical generator726. The example electrosurgical connection unit903ofFIG.9is the same as the electrosurgical connection unit703ofFIG.8except the electrosurgical connection unit903includes one or more further optional components. As described above with respect toFIG.8, it could be quite dangerous if an activation switch unit806,808of the electrosurgical connection unit903failed such that it was stuck in an activated state (i.e. the switches807,809of the activation switch unit806,808are stuck in a closed position) because this would allow an activation signal to be inadvertently transmitted to the electrosurgical generator causing a driving electrosurgical signal to be inadvertently sent to an electrosurgical instrument attached to the electrosurgical connection unit903. As a result, the electrosurgical connection unit may comprise one or more measurement units902,904that are configured to measure a parameter of one or more activation switch units806,808and transmit measurement information to the control unit810which can be used to determine whether the activation switch unit806,808is working properly. In some examples, each measurement unit902,904may be an impedance measurement unit configured to measure the impedance across one or more activation switch units806,808. In these cases, the impedance measurement unit may be electrically coupled to both the active wire and the control wire of the relevant activation switch unit806,808to measure the impedance between them. As is known to those of skill in the art, the impedance between two points of a circuit may be determined, for example, by applying a current or voltage at one point and measuring the current or voltage at the other point. However, in other examples, the measurement unit(s) may be configured to measure another parameter of the activation switch units806,808, such as voltage or current. In some cases, the one or more processors820may be configured to control the operation of the measurement units902,904. For example, the one or more processors820may be configured to periodically place an activation switch unit806,808in a deactivated state (i.e. a state in which the switches of the activation switch unit are in the open position) when the electrosurgical generator is inactive (i.e. is not outputting a driving electrosurgical signal) and then cause the measurement unit to measure the desired parameter (e.g. impedance). In these cases, when the system is started up an initialisation test may be performed to determine a benchmark measurement for the parameter (e.g. impedance) when the activation switch unit is in the deactivated state. This benchmark can then be compared against the measured parameter to determine if any of the switches is erroneously in the closed position. In addition, or alternatively, the one or more processors may be configured to periodically place an activation switch unit806,808in an activated state (i.e. a state in which the switches of the activation switch unit are in the closed position) when the electrosurgical generator is inactive (i.e. not outputting a driving electrosurgical signal) and then cause the measurement unit902,904to measure the desired parameter (e.g. impedance). This measurement can be used to determine if the electrosurgical generator is active when an activation signal has not been transmitted to the electrosurgical generator. In some cases, there may be one measurement unit902,904per activation switch unit806,808. For example, inFIG.9the electrosurgical connection unit903comprises a first measurement unit902that is configured to measure a parameter (e.g. impedance) of the first activation switch unit806and a second measurement unit904that is configured to measure a parameter (e.g. impedance) of the second activation switch unit808. In other cases, such as where the activation switch units806,808comprise two or more switches in series, there may be one measurement unit902,904per switch. For example, where each activation switch unit806,808comprises two switches in series the electrosurgical connection unit903may comprise four measurement units—a first measurement unit that measures a parameter (e.g. impedance) across the first switch of the first activation switch unit806, a second measurement unit that measures a parameter (e.g. impedance) across the second switch of the first activation switch unit806, a third measurement unit that measures a parameter (e.g. impedance) across the first switch of the second activation switch unit808, and a fourth measurement unit that measures a parameter (e.g. impedance) across the second switch of the second activation switch unit808. However, in other cases there may be a single measurement unit that is configured to measure the parameter of multiple activation switch units806,808. In some cases, the one or more processors820may be configured to receive the measurement information (e.g. the value of the measured parameter) from the measurement unit and analyse the received measurement information to determine whether the measurement information indicates that one or more of the activation switch units806,808is/are not operating as expected and/or the electrosurgical generator is not operating as expected. For example, where the measurement unit is an impedance measurement unit, the one or more processors820may be configured to determine that one or more of the activation switch units is not operating as expected if an activation switch unit is expected to be in a deactivated state (i.e. the switches thereof are in an open position) yet there is no impedance across the activation switch unit. In response to determining that at least one of the activation switch units806,808is not operating as expected or the electrosurgical generator is not operating as expected the one or more processors820may be configured to send an error notification to the external computing device (e.g. robot control unit718) via the communications module818. In other cases, the one or more processors820may be configured to simply receive the measurement information from the measurement unit(s)902,904and transmit the measurement information to the external computing device (or another computing device), via the communications module818, for further analysis and processing. In some cases, the control logic728of the electrosurgical generator726may be configured to detect an activation signal on a control line by measuring the impedance on the line. The control logic728may also be able to detect a fault or failure based on the measured impedance. In existing manual, as opposed to, robotic electrosurgical systems, such as those described above with respect toFIGS.3-6, wherein an electrosurgical generator726is controlled by controls on an electrosurgical instrument or a foot pedal system, the wires in the cables connecting the electrosurgical generator to the electrosurgical instrument (FIGS.3-4), or foot pedal system (FIGS.5-6) typically present a significant capacitance to the electrosurgical generator726and the control logic728is configured to detect an activation signal and identify a fault condition based on that amount of capacitance on the line. In the robotic electrosurgical systems described herein wherein the electrosurgical generator726is controlled by an electrosurgical connection unit the wires in the cables connecting the electrosurgical generator to the electrosurgical connection unit may present a different amount of capacitance to the electrosurgical generator726compared to the wires in the cables used in manual electrosurgical systems. In some examples, they may present less capacitance and in other examples, they may present more capacitance. For example, in some cases, the wires in the cables used in the robotic electrosurgical systems described herein may be shorter than the wires in the cables used in manual electrosurgical systems, and thus have less capacitance than the wires in the cables used in manual electrosurgical systems. In these cases, to ensure that the electrosurgical generator726can correctly detect activation signals and to prevent the electrosurgical generator726from erroneously detecting a fault condition on the control line, the electrosurgical connection unit903may comprise one or more capacitance emulation units906,908each connected across one of the control wires814,816and the active wire812. Each capacitance emulation unit906,908comprises one or more capacitors910,912and/or one or more other capacitive components that are configured to emulate the capacitance of the corresponding wire in the cables used in manual electrosurgical system. For example, inFIG.9, there is a first capacitance emulation unit906that comprises a single capacitor910across the first control wire814and the active wire812; and a second capacitance emulation unit908that comprises a single capacitor912across the second control wire816and the active wire812. The total capacitance presented by each capacitance emulation unit906,908may be based on the difference between the capacitance presented by the wires in the cables used to connect the electrosurgical connection unit903to the electrosurgical generator726and the capacitance expected by the electrosurgical generator726. It will be evident to a person of skill in the art that this is an example only and that the capacitance emulation units906,908may take any suitable form that allows them to add or subtract capacitance from a control line. It may be advantageous to isolate the control unit810from the active wire812so that the high-powered driving electrosurgical signal carried thereon does not cause damage to the one or more processors820, memory822and/or communications module818thereof. Specifically, it may be beneficial to pass any wire connected to the control unit810and the active wire812(directly or indirectly), such as the wires used to transmit signals to the activation switch units806,808to cause activation thereof, through an isolation barrier. The activation switch units806,808themselves provide one isolation barrier for the control unit810. However, in some cases this may not be sufficient to ensure that the control unit810is protected from the high power driving electrosurgical signals. Accordingly, in some cases, the electrosurgical connection unit903may also comprise an isolation device914that establishes an isolation barrier between the control unit810and the active wire812. In these cases, any wire connected to the control unit810and the active wire812, such as the wires used to transmit signals to the activation switch units to cause activation thereof, are connected to the isolation device914and the data transmitted thereon is transferred to a corresponding wire connected (directly or indirectly) to the activation switch unit806,808and vice versa in a manner that ensures that any high powered signal transmitted or carried on the wire connected to the activation switch unit is not transmitted or carried on the wire connected to the control unit810. The isolation device914may be any suitable isolation device such as a digital isolator or an opto-isolator. As is known to those of skill in the art, digital isolators use semiconductor process technology to create either transformers or capacitors to transfer electrical signals between two isolated circuits, whereas opto-isolators transfer electrical signals between two isolated circuits using light. Where the electrosurgical connection unit903also comprises one or more measurement units902,904, as described above, which transmit measurement information to the control unit810, the wire on which the measurement information is transmitted from the measurement unit902,904may be connected to the isolation device914and the information carried thereon may be transferred, by the isolation device914, to a corresponding wire connected (directly or indirectly) to the control unit810in such a manner that any high powered signal carried or transmitted on the wire connected to the measurement unit902,904is not carried or transmitted on the wire connected (directly or indirectly) to the control unit810. In some cases, where there is at least one measurement unit902,904the isolation device914may not provide sufficient protection for the control unit810. Accordingly, the electrosurgical connection unit903may further comprise one or more additional isolation devices916,918between the measurement units902,904and the control unit810to provide double isolation for the measurement information signals, like the double isolation that is provided for the control signal by the activation switch units806,808and the isolation device914. In some cases, there may be an additional isolation device916,918that is situated between each measurement unit902,904and the isolation device914. For example, in the electrosurgical connection unit903ofFIG.9there is a first isolation device916that is situated between the first measurement unit902and the isolation device914, and a second isolation device918that is situated between the second measurement unit904and the isolation device914. In some cases, one or more of the additional isolation devices may be an opto-isolator, which may also be referred to as an optocoupler, photocoupler, or optical isolator. As is known to those of skill in the art, an opto-isolator, in contrast to a digital isolator, transfers electrical signals between two isolated circuits by using light. In some cases, the signal output by the control unit810to control, or activate, an activation switch unit806,808is an A/C (alternating current) or oscillating signal. In some examples the control unit810is configured to output a 500 Hz square wave. However, it will be evident to a person of skill in the art that this is an example only. In these cases, the electrosurgical connection unit903may comprise a conversion circuit919,921per activation switch unit806,808that receives the A/C signal and groups the A/C pulses that form the A/C signal into a single D/C (direct current) pulse, which is used to activate the activation switch unit806,808. For example, the electrosurgical connection unit903ofFIG.9comprises a first conversion circuit919that receives the activation switch control signal generated by the control unit810for the first activation switch unit806and converts that into a signal which activates the first activation switch unit806; and a second conversion circuit921that receives the activation switch control signal generated by the control unit810for the second activation switch unit808and converts that into a signal which activates the second activation switch unit808. Each conversion circuit919,921may be implemented as an envelope detector. Specifically, each conversion circuit919,921may comprise a set of filters and diodes which are used to gradually charge a capacitor over a number of A/C pulses until the capacitor voltage switches the output of a comparator circuit. The comparator circuit may include an element of hysteresis to prevent the output changing rapidly as the capacitor charges and discharges small amounts between pulses. This means that a single pulse is incapable of causing an output signal to be output from the conversion circuit. In other words, use of an oscillating signal to activate the activation switch units means that an activation signal will not be transmitted to the electrosurgical generator if a spurious constant or momentary signal is received. Only a series of pulses in quick succession will cause an output signal to be output from the conversion circuit919,921. Since a failure of the control unit810or the isolation device914is likely to result in an erroneous D/C signal (rather than an A/C signal) the electrosurgical connection unit903may comprise one or more A/C coupling circuits920,922that precede one or more of the conversion circuits919,921to ensure that a failure of the control unit810or the isolation device914cannot lead to inadvertent activation of the electrosurgical instrument. More specifically, the electrosurgical connection unit903may comprise one or more A/C coupling circuits920,922to ensure that failure of the control unit810cannot lead to inadvertent activation of an activation switch unit806,808which causes an activation signal being sent to the electrosurgical generator726resulting in the electrosurgical generator726outputting a driving electrosurgical signal which inadvertently activates an electrosurgical instrument attached to the electrosurgical connection unit903. Each A/C coupling circuit920,922is configured to receive a signal and filter out the D/C (direct current) component of the signal and output only the A/C component of the signal. Each A/C coupling circuit920,922may comprise one or more capacitors. In some examples there may be an A/C coupling circuit situated between the control unit810(or the isolation device914if there is one) and each conversion circuit919,921which is configured to receive the corresponding activation switch control signal from the control unit810(or the isolation device914if there is one) and A/C couple this signal to the conversion circuit919,921so that the conversion circuit919,921receives an AC only signal (and any D/C component, erroneous or otherwise is removed). For example, the electrosurgical connection unit903shown inFIG.9comprises a first A/C coupling circuit920situated between the isolation device914and the first conversion circuit919which is configured to receive an activation switch control signal generated by the control unit810and output the A/C component of that signal; and a second A/C coupling circuit922situated between the isolation device914and the second conversion circuit921which is configured to receive an activation switch control signal generated by the control unit810and output the A/C component of that signal. Reference is now made toFIG.10which illustrates a third example electrosurgical connection unit1003for connecting a monopolar electrosurgical instrument to an electrosurgical generator726. The example electrosurgical connection unit1003ofFIG.10is the same as the electrosurgical connection unit703ofFIG.8except that instead of the return electrode330being directly connected to the electrosurgical generator726, the return electrode is connected to the electrosurgical connection unit1003and the return electrosurgical signal received from the return electrode330is transmitted to the electrosurgical generator via the electrosurgical connection unit1003. In this example, the output port804is configured to receive the return electrosurgical signal from the return electrode824and transmit the received return electrosurgical signal on a return wire1004. The return wire1004is also coupled to the input port802to allow any received return electrosurgical signal to be output on the input port802. As shown inFIG.10, the output port804of the electrosurgical connection unit1003may comprise a first connector that is configured to engage a corresponding connector connected to a cable that is connected to the electrosurgical instrument, and a second connector that is configured to engage a corresponding connector connected to a cable that is connected (directly or indirectly) to the return electrode. In other examples, the output port804may comprise a single connector that is configured to engage a corresponding connector that is connected to two cables—one of which is connected (directly or indirectly) to the electrosurgical instrument712, and the other of which is connected (directly or indirectly) to the return electrode824. The output port804connector(s) may be female and the corresponding connectors may be male or vice versa. In many cases, the input port802and the output port804have opposite connectors to avoid electrosurgical devices from being plugged into or connected to the wrong port (i.e. to avoid an electrosurgical instrument being inadvertently plugged into the input port802and/or an electrosurgical generator726being inadvertently plugged into the output port804). For example, in some cases the input port802may have male connectors(s) and the output port804may have female connector(s). As shown inFIG.10, the input port802of the electrosurgical connection unit1003may comprise a first connector that is configured to engage a corresponding connector connected to a cable that is connected (directly or indirectly) to the electrosurgical generator and is configured to carry the driving electrosurgical signal and control signals between the electrosurgical generator726and the electrosurgical connection unit1003; and a second connector that is configured to engage a corresponding connector connected to a cable that is connected (directly or indirectly) to the electrosurgical generator and is configured to carry the return electrosurgical signal from the electrosurgical connection unit1003and the electrosurgical generator726. In other examples, the input port802may comprise a single connector that is configured to engage a corresponding connector that is connected to a cable connected (directly or indirectly) to the electrosurgical generator726. In yet other examples, the input port802may have any number of connectors that are configured to engage corresponding connectors to enable the driving electrosurgical signal, the control signals and the return electrosurgical signal to be transmitted between the electrosurgical generator and the electrosurgical connection unit1003. The input port802connector(s) may be male and the corresponding connectors which engage the input port802connectors may be female or vice versa. Reference is now made toFIG.11which illustrates an example electrosurgical connection unit1103for connecting a bipolar electrosurgical instrument1004to an electrosurgical generator726. As described above, a bipolar electrosurgical instrument comprises both an active electrode1106and a return electrode1108. The active electrode1106is activated by a driving electrosurgical signal generated by the electrosurgical generator726and the return electrode1108receives the return electrosurgical signal which is transmitted to the electrosurgical generator726. The active and return electrodes1106,1108may be made of, or may comprise, an electrically conductive type material, such as, for example, stainless steel. Some bipolar electrosurgical instruments may not be capable of being driven by driving electrosurgical signals with at least two different preconfigured waveforms. The bipolar instrument can either be activated or not by the bipolar waveform configured on the electrosurgical generator. Accordingly, the electrosurgical connection unit1103ofFIG.11is the same as the electrosurgical connection unit1003ofFIG.10where the return electrosurgical signal is received on the output port804and transmitted out the input port802via a return wire1004connecting the input port and the output port, except that the there is only one activation signal and thus only one control wire816and only one activation switch unit808. When the activation switch unit808is activated is sends an activation signal to the electrosurgical generator726that indicates that a driving electrosurgical signal with a bipolar waveform is to be activated which, when detected by the electrosurgical generator726causes the electrosurgical generator726to output a driving electrosurgical signal with the bipolar waveform. As described above with respect toFIG.10, the output port804may comprise multiple connectors, one for each of the driving electrosurgical signal and the return electrosurgical signal, which are configured to engage corresponding connectors which are each connected to a cable that is configured to carry one of the driving electrosurgical signal and the return electrosurgical signal. However, in most cases, since the driving electrosurgical signal is provided to the electrosurgical instrument and the return electrosurgical signal is received from the electrosurgical instrument the output port804comprises a single connector that is configured to engage a corresponding connector which is connected to a cable that is configured to carry both the driving electrosurgical signal and the return electrosurgical signal. Although the electrosurgical connection units703,903,1003ofFIG.8-11were described as supporting either a bipolar electrosurgical instrument or a monopolar electrosurgical instrument, other example electrosurgical connection units may comprise components to support both monopolar electrosurgical instruments and bipolar electrosurgical instruments. Such electrosurgical connection units may comprise all the components of the electrosurgical connection unit703,903, or1003described above to support a monopolar electrosurgical instrument and all of the components of the electrosurgical connection unit1103ofFIG.11to support a bipolar electrosurgical instrument. For efficiency such electrosurgical connection units may comprise a single control unit that controls all of the activation switch units (i.e. the activation switch units that control activation of a monopolar electrosurgical instrument and the activation switch units the control activation of a bipolar electrosurgical instrument). An electrosurgical instrument attached to the arm may then be dynamically connected to the monopolar components or the bipolar components depending on whether the electrosurgical instrument is a monopolar electrosurgical instrument or a bipolar electrosurgical instrument. Any of the electrosurgical connection units703,903,1003, or1103described above with respect toFIGS.8,9,10, and11may comprise any combination of the optional features described above with respect toFIG.9. Reference is now made toFIG.12which illustrates an example method1200which may be executed by the control unit810(e.g. the one or more processors820of the control unit) to selectively active the activation switch units. The method1200begins at block1202where the control unit (e.g. the one or more processors820of the control unit) determines whether it has received (e.g. via the communications module818) a control signal or a set of control signals from an external computing device. If the control unit (e.g. the one or more processors820) determines that it has received a control signal, or a set of control signals, then the method1200proceeds to block1204. If, however, the control unit (e.g. the one or more processors820) determines that is has not received a control signal or a set of control signals then the method1200proceeds back to block1202. At block1204, the control unit810(e.g. the one or more processors820) determines whether the control signal or set of controls signals indicate that an electrosurgical instrument attached to the arm is to be activated by a driving electrosurgical signal. If the control unit810(e.g. the one or more processors820) determines that the control signal or set of control signals indicate that an electrosurgical instrument attached to the arm is to be activated, then the method1200proceeds to block1206. If, however, the control unit810(e.g. the one or more processors820) determines that the control signal or set of control signals do not indicate that the electrosurgical instrument attached to the arm is to be activated then the method1200proceeds back to block1202. At block1206, the control unit810(e.g. the one or more processors820) determines from the control signal, or set of control signals, the waveform to be used for the driving electrosurgical signal. For example, where a monopolar electrosurgical instrument can be driven by a COAG waveform or a CUT waveform the control unit810(e.g. the one or more processors820) may analyse the control signal, or set of control signals, to determine which waveform is to be used for the driving electrosurgical signal. Once the control unit810(e.g. the one or more processors820) has determined the waveform for the driving electrosurgical signal the method1200proceeds to block1208. At block1208, the control unit810(e.g. one or more processors820) identifies the activation switch unit to be activated to cause a driving electrosurgical signal with the determined waveform to be generated and generates one or more signals causing the identified activation switch unit to be activated (e.g. causes the switch(es) of the identified activation switch unit to be in a closed position). For example, where a monopolar electrosurgical instrument can be driven by a COAG waveform or a CUT waveform the control unit810determines which of the activation switch units is associated with the determined waveform and then generates one or more signals causing that activation switch unit to be activated. In particular, if it is determined that the driving electrosurgical signal is to have a CUT waveform the control unit810(e.g. the one or more processors820) determines which activation switch unit is associated with a CUT waveform and then generates one or more control signals to cause that activation switch unit to be activated. This causes a cut activation signal to be sent to the electrosurgical generator, which when detected by the electrosurgical generator causes the electrosurgical generator to output a driving electrosurgical signal with a CUT waveform. The method1200then proceeds back to block1202. In some cases, the control unit810may be configured to output one or more control signals that cause the appropriate activation switch unit to be activated for only a predetermined period (e.g. a few milliseconds) and then the method1200proceeds back to block1202where the control unit810determines whether it has received a new control signal (or set of control signals) indicating that the activation switch unit806,808should continue to be activated. In this way the control unit810only causes the appropriate activation switch unit806,808to be activated while the control unit810continues to receive a control signal (or a set of control signals) indicating that the activation switch unit806,808is to be activated. The predetermined period is generally quite short (e.g. a few milliseconds) to allow the control unit810to respond quickly to a change from activation to deactivation (or vice versa) and from one type of activation to another (e.g. from a driving electrosurgical signal with a first waveform to a driving electrosurgical signal with a second waveform). In some cases, the control unit810may be configured to implement the method1200ofFIG.12using a token-based approach to verify the latency between the control unit810and the external computing device (e.g. robot control unit718) generating the control signal(s) so that stale control signals can be ignored. In the token-based approach the control unit810is configured to generate a new token on a periodic basis. For example, the control unit810may be configured to generate a new token at a frequency of 1 kHz. The token comprises information that indicates the time at which the token was generated. For example, the control unit810may be configured to update a rolling counter (e.g. a 16-bit counter) each period and include the latest counter value in the token for that period. The token may also comprise information that uniquely identifies the electrosurgical connection unit to which the control unit810belongs (e.g. an electrosurgical connection unit identifier (ID)). In some cases, the token may also comprise validation information which indicates whether the token is valid (e.g. has not been corrupted). For example, the token may also comprise a CRC (cyclic redundancy check) value based on some or all the information (e.g. fields) in the token. In some cases, each token may comprise an 8-bit CRC value. Once the token has been generated, the control unit810transmits, directly or indirectly, (e.g. via the communication module818) the generated token to the external computing device (e.g. robot control unit718) that generates the control signal for the electrosurgical connection unit. The external computing device (e.g. robot control unit718) receives the token and if the external computing device receives information indicating that the electrosurgical instrument attached to the electrosurgical connection unit identified in the token is to be activated by a driving electrosurgical signal with a particular waveform the token is modified to indicate the particular waveform to be generated and the updated token is transmitted back to the control unit810. For example, as described above the command interface may comprise a display and one or more hand controllers or joysticks. The surgeon, or other user, may be able to select, via a graphical user interface displayed on the display, the waveform to be generated and the electrosurgical instrument to be activated. The surgeon, or other user, may then be able to indicate that the selected electrosurgical instrument is to be activated with the selected waveform by pressing an electrosurgical activation button on the hand controller or joystick. In these examples, when the user presses the electrosurgical activation button the token related to the electrosurgical connection unit to which the selected arm is attached is updated with information indicating the selected waveform. Where the token includes validation information the validation information (e.g. CRC value) may be updated to reflect the waveform information added to the token. Where, for example, the electrosurgical generator supports three different waveforms (e.g. a monopolar COAG waveform, a monopolar CUT waveform, and a bipolar waveform) the token may comprise a two-bit waveform field which indicates the selected waveform. For example, a “01” in the waveform field may indicate a monopolar COAG waveform, a “10” in the waveform field may indicate a monopolar CUT waveform, and a “11” may indicate a bipolar waveform. In some cases, the external computing device (e.g. robot control unit718), or one or more other devices which receive the token prior to the electrosurgical connection unit, may be configured to negate the token if one or more conditions for activating the selected electrosurgical instrument with the selected waveform are not met (or, alternatively, when a fault condition is detected). For example, the external computing device (e.g. robot control unit718) and/or one or more other devices may be configured to negate a token if and when any of the following conditions are detected: (i) the user is not currently controlling an arm that is connected to an electrosurgical instrument (e.g. the hand controller or joystick on which the activation button was pressed is not actively connected to an arm that is connected to an electrosurgical instrument); (ii) the validation information indicates the token is invalid (e.g. a CRC check fails); (iii) the electrosurgical instrument attached to the selected arm does not support the selected waveform; (iv) the electrosurgical instrument, the arm or the electrosurgical connection unit is in a fault mode; and (v) the communications network (e.g. Ethernet network) over which the external computing device and the electrosurgical connection unit communicate is faulty. It will be evident to a person of skill in the art that these are examples only and that other conditions or fault states may cause a token to be negated. In some cases, negating the token may comprise setting all fields of the token (including the validation field where there is one) to zero which may be referred to as a zeroed token. In some cases, a negated token is not passed on to the electrosurgical connection unit. When the modified token is received at the electrosurgical connection unit the electrosurgical connection unit is deemed to have received a control signal (block1202of method1200). The control unit810then determines whether the modified token indicates that an electrosurgical instrument attached to the electrosurgical connection unit is to be activated (block1204of method1200). The control unit810may determine that the modified token indicates that an electrosurgical instrument attached to the electrosurgical connection unit is to be activated (i) if the information in the token identifying the electrosurgical connection unit that generated the token matches the identifying information for the current electrosurgical connection unit; and (ii) if the information indicating when the token was generated (counter information) indicates that less than a predetermined amount of time has elapsed since the token was generated. In some cases, the control unit810may determine that less than a predetermined amount of time has elapsed since the token was generated by comparing the counter information in the token to the current value of the counter (e.g. by computing the difference) and determining whether the difference exceeds a threshold. In some cases, the threshold may be set so that the predetermined time is only a few milliseconds. Where the token comprises validation information (e.g. a CRC value) the control unit810may only determine that the token indicates that an electrosurgical instrument attached to the electrosurgical connection unit is to be activated if the above conditions are met and the validation information indicates that the token is valid (e.g. a CRC check passes). If the control unit810determines that the token indicates that an electrosurgical instrument attached to the electrosurgical connection unit is to be activated then the control unit810analyses the token to identify the desired waveform for the driving electrosurgical signal (block1206of method1200). Once the control unit810identifies the desired waveform for the driving electrosurgical signal the control unit810identifies the switch activation unit806,808associated with the desired waveform and generates one or more signals causing the identified activation switch unit806,808to be activated (e.g. causes the switches807,809of the identified activation switch unit806,808to be in a closed position) (block208of method1200). For example, as described above, the control unit810may generate an oscillating signal (e.g. a square wave) for a predetermined period that causes the identified activation switch unit to be activated. Reference is now made toFIG.13which illustrates an example format for such a token1300, which may be referred to as an electrosurgery token. In the example ofFIG.13, the token1300comprises four fields—a surgical robot arm identifier (ID) field1302, a validation information field1304, a flags field1306, and a generation time information field1308. In one example, the token1302may be a 64-bit token wherein the surgical robot arm ID field1304is 32 bits, the valid information field is 8 bits, the flags field1306is 8 bits and the generation time information field1308is 16 bits. However, it will be evident to a person of skill in the art that this is an example only and that other tokens with additional or alternative fields may be used and the token and the fields therein may have a different number of bits. The surgical robot arm ID field1302is used to store information that uniquely identifies the surgical robot arm associated with the control unit810which generated the token. As described above, information that uniquely identifies the surgical robot arm may comprise information that uniquely identifies the electrosurgical connection unit to which the control unit810belongs. In some cases, the control unit810may comprise a unique serial number and the information uniquely identifying the surgical robot arm may be a serial number of the control unit810. The validation information field1304comprises information that indicates whether the token is valid (e.g. has not been corrupted). In some cases, the information indicating the token is valid may comprise an error detection code. For example, as described above, in some cases the validation information may comprise a CRC value or code based on some or all of the information (e.g. fields) in the token. As it could be disastrous to activate an electrosurgical instrument based on a corrupt token (e.g. it could cause the electrosurgical instrument to be activated by the wrong waveform), using a CRC value to validate the token may provide an extra safety measure as it means that if any bit in the entire token is corrupted the whole token will be invalid. The flags field1306may be divided into two sub-fields—a reserved field1310and an electrosurgical waveform field1312, which may also be referred to as an electrosurgical mode field. The electrosurgical waveform field is used to indicate the waveform of the driving electrosurgical signal. In one example, the electrosurgical waveform field1312may be two-bits and a ‘00’ in the electrosurgical waveform field1312may indicate no waveform has been selected, a ‘01’ in the electrosurgical waveform field1312may indicate that a monopolar COAG waveform is to be activated, a ‘10’ in the electrosurgical waveform field1312may indicate that a monopolar CUT waveform is to be activated, and a ‘11’ in the electrosurgical waveform field1312may indicate that a bipolar COAG waveform is to be activated. It will be evident to a person of skill in the art that this is an example only and in other examples the electrosurgical waveform may have more or fewer bits based on the number of different waveforms supported by the electrosurgical generators used to drive the electrosurgical instrument(s). Specifically, to support more waveforms the electrosurgical waveform field1312may comprise more bits. Examples of additional waveforms that may be supported include, but are not limited to, a bipolar CUT waveform and a BLEND waveform (described above). In some cases, the token generated by the control unit810may comprise information in the electrosurgical waveform field1312that indicates that no waveform has been selected (e.g. it may be set to ‘00’) and only if the control unit810receives a modified version of the token in which the electrosurgical waveform field1312indicates a waveform has been selected (e.g. it is non-zero) will the control unit810activate an activation switch unit. It will be evident to a person of skill in the art that this is an example only and that there may be a different number and/or type of supported waveforms and/or the waveforms may be indicated using a different combination of 1's and 0's. The generation time information field1308comprises information indicating the time at which the token was generated. As described above, in some cases the control unit810may be configured to update a rolling counter on a periodic basis and the information indicating the time at which the token was generated may comprise the value of the counter at the time the token is generated. The token-based approach described above means that the latency can be verified end to end without reference to more complicated clock synchronisation or link-specific latency detection methods. It also controls the risk that a computer system between the external computing device and the electrosurgical connection unit might get stuck repeating the same stale activation state and renders such behaviour harmless. Reference is now made toFIG.14which illustrates an example token-based method1400for remotely activating an electrosurgical instrument712attached to a surgical robot arm702. The method1400begins at block1402where the control unit810associated with the surgical robot arm, which may be referred to herein as the surgical robot arm control unit, generates a token comprising information indicating a time at which the token was generated. In some cases, the control unit810may be configured to periodically (e.g. at a frequency of 1 kHz) increment, or modify, a rolling counter (e.g. a 16-bit counter) and the information in a token indicating the time at which the token was generated may comprise the value of the counter at the time the token was generated. In some cases, the token may also comprise information uniquely identifying the surgical robot arm. In some cases, the token may further comprise validation information that indicates whether the token is valid. For example, as described above, the token may comprise an error detection code, such as, but not limited to a cycle redundancy check (CRC) code, that is based on some or all of the information (e.g. fields) in the token. At block1404, the surgical robot control unit810transmits the token, directly or indirectly (e.g. via the communication module818) to an external computing device (e.g. robot control unit718). The token may be transmitted to the external computing device using any suitable communication means, such as those described above in relation to the communication module818. The method1400then proceeds to block1406. At block1406, the token is received at the external computing device (e.g. robot control unit718). The method1400then proceeds to block1408. In some cases, the method1400may only proceed to block1408if it is determined that the token relates to a surgical robot arm that is currently being controlled by a user; if it is determined (e.g. from the validation information) that the token is valid; and/or if it is determined that the surgical robot arm to which the token relates currently has an electrosurgical instrument attached thereto. If one or more of these conditions are determined not to be true then the token may be discarded and/or invalidated (e.g. zeroed) and the method1400may end. At block1408, the external computing device determines whether it has received input indicating that the electrosurgical instrument712is to be activated. For example, as described above, the command interface may comprise a display and one or more devices, such as, but limited to hand controllers or joysticks, that are used to control the surgical robot arm. The surgeon or other user may be able to indicate that a selected electrosurgical instrument (e.g. the electrosurgical instrument attached to the surgical robot arm currently being controlled by the device) is to be activated by selecting or otherwise activating an input on the device, such as, but not limited to an electrosurgical activation button. In these cases, when the user activates the input (e.g. electrosurgical activation button) the external computing device (e.g. robot control unit718) may receive input that the selected electrosurgical instrument is to be activated. If the external computing device has received input indicating that the electrosurgical instrument712is to be activated, the method1400proceeds to block1410. Otherwise the method1400ends. At block1410, in response to receiving input at the external computing device (e.g. robot control unit718) indicating that the electrosurgical instrument712is to be activated, a modified version of the received token, which may also be referred to as an updated token, is transmitted to the surgical robot control unit810. The modified version of the token indicates that the electrosurgical instrument712is to be activated. In some cases, the modified version of the token may be generated by adding information to the token indicating the desired waveform to activate the electrosurgical instrument. For example, the initial token generated by the surgical robot arm control unit810may indicate that no waveform has been selected (e.g. the electrosurgical waveform field1312may be ‘00’) and by modifying the token to indicate a particular waveform the modified version of the token indicates that the electrosurgical instrument is to be activated As described above, the desired waveform may be any waveform supported by the system (e.g. capable of being generated by the electrosurgical generators used to drive the electrosurgical instrument(s)). Examples of waveforms that may be supported by the system include, but are not limited to, monopolar coagulation (COAG) waveform, monopolar cut (CUT) waveform, bipolar coagulation (COAG) waveform, bipolar cut (CUT) waveform, and one or more BLEND waveforms. In some cases, the surgeon, or other user, may be able to select, via a graphical user interface displayed on the display of the user interface the waveform of the driving electrosurgical signal and when the external computing devices receives an indication that the surgical instrument is to be activated then the token is modified to indicate the waveform pre-selected by the user is the desired waveform. Where the modified version of the token comprises information indicting the waveform of the driving electrosurgical signal, prior to transmitting the modified version of the token, the external computing device (e.g. robot control unit710) may determine if the electrosurgical instrument to be activated supports the waveform indicated in the modified version of the token. In these cases, the external computing device may only transmit the modified version of the token to the surgical robot arm control unit if it is determined that the electrosurgical instrument supports the indicated waveform. In some cases, where the token has validation information, modifying the token to generate the modified version of the token many further comprise modifying the validation information (e.g. CRC code) in the token to reflect the changes to the token (e.g. waveform information etc.). In this way the modified version of the token may comprise updated validation information (e.g. CRC code). In some cases, prior to transmitting the modified version of the token to the surgical robot arm control unit, the external computing device (e.g. robot control unit718) may determine, from the validation information in the modified version of the token, whether the modified version of the token is valid. If the modified version of the token is not valid then it may have been corrupted and it is not safe to send it to the surgical robot arm control unit. Accordingly, in these cases, the external computing device may only transmit the modified version of the token to the surgical robot arm control unit if it is determined that the modified version of the token is valid. In some cases, prior to transmitting the modified version of the token to the surgical robot arm control unit, the external computing device (e.g. robot control unit718) may determine whether the surgical robot arm is currently being controlled by a user. If the surgical robot arm is not currently being controlled by a user then it may not be safe to activate an electrosurgical instrument attached thereto. In these cases, the external computing device may only transmit the modified version of the token to the surgical robot arm control unit if it is determined that the surgical robot arm to which the surgical instrument is attached is currently being controlled by a user. In some cases, the external computing device may receive input that the electrosurgical instrument is to be activated when a user activates an input on a device used to control the surgical robot arm. In these cases, the external computing device may only transmit the modified version of the token to the surgical robot arm control unit if the input is received when the device is being used by a user. Where the device is a hand controller, joystick or the like the device may comprise a sensor to detect when the device is being grasped or held by a user and the external computing device may determine that the device is being used by the user if the sensor had detected that the device is being grasped or held by the user. Once the modified version of the token has been transmitted to the surgical robot arm control unit, the method1400proceeds to block1412. At block1412, the surgical robot arm control unit810determines whether the modified version of the token has been received within a threshold amount of time from when the token was generated. Where, as described above, the control unit810periodically updates a counter and the information in a token that indicates the time at which the token was generated is the value of the counter at the time the token was generated, the surgical robot arm control unit810may compare the information in the modified version of the token indicating the time at which the token was generated to the current value of the counter to determine whether the modified version of the token was received within the threshold amount of time from when the token was generated. For example, the control unit810may compute the difference between the counter value in the modified version of the token and the current counter value and determine that the token was received within the threshold amount of time if the difference does not exceed a threshold. If it is determined that the modified version of the token has been received within the threshold amount of time then the method1400proceeds to block1414. Otherwise, the method1400ends. At block1414, in response to the surgical robot arm control unit810receiving the modified version of the token within a threshold amount of time from when the token was generated, one or more signals are output that cause the electrosurgical instrument to be activated by a driving electrosurgical signal. In some cases, where a token comprises information uniquely identifying the surgical robot arm, the surgical robot arm control unit810may only output the one or more signals if the modified version of the token comprises the information that uniquely identifies the surgical robot arm. In other words, in these cases, the surgical robot arm control unit810may only output the one or more signals if the information identifying a surgical robot arm in the modified version of the token matches the identifying information for the surgical robot arm that the control unit810controls. In some cases, where a token comprises validation information, the surgical robot arm control unit810may, prior to outputting the one or more signals, determine, based on the validation information in the modified version of the token, whether the modified version of the token is valid. For example, the surgical robot arm may perform a CRC check on the CRC code or value in the modified version of the token to determine if the modified version of the token is valid. In these cases, the surgical robot arm control unit810may only output the one or more control signals if it is determined the modified version of the token is valid. In some cases, the surgical robot arm control unit810may, prior to outputting of the one or more signals, determine whether the electrosurgical instrument and/or the surgical robot arm are in a suitable state for electrosurgical activation. The electrosurgical instrument and/or the surgical robot arm may be deemed not be in a suitable state for electrosurgical activation if, for example, the electrosurgical instrument and/or the surgical robot arm are in a fault state. In these cases, the surgical robot arm may be configured to only output the one or more signals if it is determined that the electrosurgical instrument and/or the surgical robot arm are in a suitable state for electrosurgical activation. Where the modified version of the token comprises information indicating the waveform of the driving electrosurgical signal then the surgical robot arm control unit810may generate the one or more signals so as to cause the electrosurgical instrument to be activated by a driving electrosurgical signal with the waveform identified in the modified version of the token. In some cases, the one or more control signals output by the surgical robot arm control unit are provided to an activation switch unit (such as the activation switch units described above), which causes activation of the activation switch unit. As described above, activation of the activation switch unit causes an activation signal to be transmitted to an electrosurgical generator. In some cases, the one or more signals output by the surgical robot arm control unit may comprises an oscillating signal, such as, but not limited to a square wave. In some cases, the modified version of the token may be transmitted from the external computing device to the surgical robot arm control unit via one or more processing units. The one or more processing units may form part of the external computing device or may be separate and distinct from the external computing device. In these cases, any or all of these processing units may be configured to determine whether, at the time they receive the modified version of the token, that a non-electrosurgical activation state exists; and if a non-electrosurgical activation state is exists, discarding or invaliding the modified version of the token. As described above, a non-electrosurgical activate state may be any state of the modified version of the token, electrosurgical instrument, or surgical robot arm in which the modified version of the token shouldn't be used to activate the electrosurgical instrument. Example non-electrosurgical activation states include, but are not limited to: the modified version of the token is invalid (e.g. as indicated by the validation information); the electrosurgical instrument does not support the waveform indicated in the modified version of the token; the surgical robot arm is not currently being controlled by a user; and the surgical robot arm is not in a surgical mode (i.e. a mode in which it can be used to perform surgery). Although the control unit810is described as being part of an electrosurgical connection unit that activates an electrosurgical instrument by activating an activation switch unit, it will be evident to a person of skill in the art that the method may be implemented using any control unit associated with the surgical robot arm and that the electrosurgical instrument may be activated using any suitable means. For example, instead of activating an activation switch the one or more signals may be sent directly or indirectly to an electrosurgical generator which cause the electrosurgical generator to output a driving electrosurgical signal which activates the electrosurgical instrument. The applicant hereby discloses in isolation each individual feature described herein and any combination of two or more such features, to the extent that such features or combinations are capable of being carried out based on the present specification as a whole in the light of the common general knowledge of a person skilled in the art, irrespective of whether such features or combinations of features solve any problems disclosed herein. In view of the foregoing description it will be evident to a person skilled in the art that various modifications may be made within the scope of the invention.

11857148

While the disclosure is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the disclosure. DETAILED DESCRIPTION For the following defined terms, these definitions shall be applied, unless a different definition is given in the claims or elsewhere in this specification. All numeric values are herein assumed to be modified by the term “about,” whether or not explicitly indicated. The term “about” generally refers to a range of numbers that one of skill in the art would consider equivalent to the recited value (i.e., having the same function or result). In many instances, the terms “about” may include numbers that are rounded to the nearest significant figure. The recitation of numerical ranges by endpoints includes all numbers within that range (e.g. 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.80, 4, and 5). As used in this specification and the appended claims, the singular forms “a”, “an”, and “the” include plural referents unless the content clearly dictates otherwise. As used in this specification and the appended claims, the term “or” is generally employed in its sense including “and/or” unless the content clearly dictates otherwise. It is noted that references in the specification to “an embodiment”, “some embodiments”, “other embodiments”, etc., indicate that the embodiment described may include one or more particular features, structures, and/or characteristics. However, such recitations do not necessarily mean that all embodiments include the particular features, structures, and/or characteristics. Additionally, when particular features, structures, and/or characteristics are described in connection with one embodiment, it should be understood that such features, structures, and/or characteristics may also be used connection with other embodiments whether or not explicitly described unless clearly stated to the contrary. The following detailed description should be read with reference to the drawings in which similar elements in different drawings are numbered the same. The drawings, which are not necessarily to scale, depict illustrative embodiments and are not intended to limit the scope of the invention. Certain treatments are aimed at the temporary or permanent interruption or modification of select nerve function. In some embodiments, the nerves may be sympathetic nerves. One example treatment is renal nerve ablation, which is sometimes used to treat conditions such as or related to hypertension, congestive heart failure, diabetes, or other conditions impacted by high blood pressure or salt retention. The kidneys produce a sympathetic response, which may increase the undesired retention of water and/or sodium. The result of the sympathetic response, for example, may be an increase in blood pressure. Ablating some of the nerves running to the kidneys (e.g., disposed adjacent to or otherwise along the renal arteries) may reduce or eliminate this sympathetic response, which may provide a corresponding reduction in the associated undesired symptoms (e.g., a reduction in blood pressure). Some embodiments of the present disclosure relate to a power generating and control apparatus, often for the treatment of targeted tissue in order to achieve a therapeutic effect. In some embodiments, the target tissue is tissue containing or adjacent to nerves. In other embodiments, the target tissue is sympathetic nerves, including, for example, sympathetic nerves disposed adjacent to blood vessels. In still other embodiments the target tissue is luminal tissue, which may further comprise diseased tissue such as that found in arterial disease. Many of the devices and methods described herein are discussed relative to renal nerve ablation and/or modulation. However, it is contemplated that the devices and methods may be used in other treatment locations and/or applications where sympathetic nerve modulation and/or other tissue modulation including heating, activation, blocking, disrupting, or ablation are desired, such as, but not limited to: blood vessels, urinary vessels, other body lumens or openings, or in other tissues via trocar and cannula access. For example, the devices and methods described herein can be applied to hyperplastic tissue ablation, cardiac ablation, pain management, pulmonary vein isolation, pulmonary vein ablation, tumor ablation, benign prostatic hyperplasia therapy, nerve excitation or blocking or ablation, modulation of muscle activity, hyperthermia or other warming of tissues, etc. FIG.1is a schematic view of an example sympathetic nerve ablation system10. System10may include a sympathetic nerve modulation and/or ablation device12. Sympathetic nerve ablation device12may be used to ablate nerves (e.g., renal nerves) disposed adjacent to the kidney K (e.g., renal nerves disposed about a renal artery RA). In use, sympathetic nerve ablation device12may be advanced through a blood vessel such as the aorta A to a position within the renal artery RA. This may include advancing sympathetic nerve ablation device12through a guide sheath or catheter14. When positioned as desired, sympathetic nerve ablation device12may be activated to activate one or more electrodes (not shown). This may include operatively coupling sympathetic nerve ablation device12to a control unit18, which may include an RF generator, so as to supply the desired activation energy to the electrodes. For example, sympathetic nerve ablation device12may include a catheter shaft26and a wire or conductive member16coupled to catheter shaft26. Conductive member16may include a first connector20that can be connected to a second connector22on the control unit18and/or a wire24coupled to the control unit18. In at least some embodiments, the control unit18may also be utilized to supply/receive the appropriate electrical energy and/or signal to activate one or more sensors disposed at or near a distal end of sympathetic nerve ablation device12. When suitably activated, the one or more electrodes may be capable of ablating tissue (e.g., sympathetic nerves) as described below and the one or more sensors may be used to detect desired physical and/or biological parameters. The use of medical devices such as device12may include advancing device12to a target region (e.g., a renal artery) through guide catheter14, advancing a distal portion of device12distally out from guide catheter14so as to expose any electrodes or other features of device12to the target region, and activating the electrodes. Following the activation of the electrodes, it may be desirable to withdraw device12back into guide catheter14, reposition or otherwise navigate device12and guide catheter14to another suitable location (e.g., a renal artery on the other side of the patient), and repeat the modulation/ablation procedure. In instances where a device includes one or more electrode assemblies that are attached to an expandable member such as a balloon, the “withdrawing” and “repositioning” processes could expose the electrode assemblies to forces that could lead to sheering of the assemblies, delamination of the assemblies from the balloon, or other damages that may be undesirable. The devices disclosed herein are designed to reduce damage and/or delamination that could occur, for example, when withdrawing and/or repositioning medical devices. FIG.2schematically illustrates a distal region of medical device12. Here it can be seen that an expandable member28may be coupled to catheter shaft26. In this example, expandable member28is a balloon. This is not intended to be limiting. Other expandable members are contemplated including expandable baskets or basket-like structures. A flexible circuit assembly30may be coupled to expandable member28. Flexible circuit assembly30may include a number of structural features that are designed to reduce any damage, delamination, or the like that might occur when withdrawing and/or repositioning device12. Furthermore, the configuration of assembly30(described in more detail herein) may allow for easier refolding of balloon28. FIG.3is a side view of flexible circuit assembly30. Here it can be seen that assembly30may include a substrate33having a proximal region29and a distal region31. In some embodiments, a tapered region27may be defined between proximal region29and distal region31. Tapered region27may transition the width of substrate from the width along proximal region29to the width along distal region31. In at least some embodiments, the overall width of substrate33along distal region31may be greater than along proximal region29. Other configurations are contemplated. Substrate33may include a first electrode strip32, a sensor strip34, and a second electrode strip36. By arranging substrate into a plurality of strips32/34/36, assembly30may have greater flexibility by virtue, for example, of strip32/34/36being able to flex or bend independently of one another. This may not only have a desirable impact on flexibility, the strip-like configuration may aid in balloon refolding. Therefore, assembly30may allow balloon28to refold into a more compact configuration when deflated. By reducing the profile of the deflated/refolded balloon28, any damage that could be done to assembly30while withdrawing and/or repositioning device12may be reduced or otherwise eliminated. First electrode strip32may include a distal electrode assembly or pad38having one or more electrodes40. In this example, distal pad38includes three electrodes40. Other numbers and/or configurations of electrodes40are contemplated. One or more leads42may be coupled to electrodes40and extend proximally therefrom. In some embodiments, first electrode strip32may also include one or more additional electrode assemblies such as a proximal electrode assembly or pad44having one or more electrodes46. One or more leads48may be coupled to electrodes46and extend proximally therefrom. Leads42/48, which are shown schematically, may be electrically coupled to control unit18so that electrodes40/46may be suitably energized. Sensor strip34may include one or more sensors such as a sensor or sensors50. In the drawing, two sensors50are shown. However, in other embodiments only one or more than two sensors may be utilized. In at least some embodiments, sensor50is a temperature sensor that may be disposed along a top (outward facing when in use) or bottom surface (inward facing that may be, for example, disposed along an outer surface of a balloon when in use) of sensor strip34. For example, sensor(s)50may include a thermistor, thermocouple, or the like. In other embodiments, sensor(s)50may include another type of sensor such as a pressure sensor, force sensor, or the like. One or more leads52may be coupled to sensor(s)50and extend proximally therefrom. In some embodiments, sensor strip34may also include one or more additional sensors such as sensor or sensors54. One or more leads56may be coupled to sensor(s)54and extend proximally therefrom. Leads52/56, which are shown schematically, may be electrically coupled to control unit18so that sensors50/54may be suitably energized. In at least some embodiments, leads52/56may not be distinct structures and, instead, sensor(s)50may be electrically coupled to leads42/48and/or other leads disposed along substrate33. Second electrode strip36may include a distal electrode assembly or pad60having one or more electrodes62. In this example, distal pad60includes three electrodes62. Other numbers and/or configurations of electrodes62are contemplated. One or more leads64may be coupled to electrodes62and extend proximally therefrom. In some embodiments, second electrode strip36may also include one or more additional electrode assemblies such as a proximal electrode assembly or pad66having one or more electrodes68. One or more leads70may be coupled to electrodes68and extend proximally therefrom. Leads64/70, which are shown schematically, may be electrically coupled to control unit18so that electrodes62/68may be suitably energized. First electrode strip32and second electrode strip36may be interconnected at a first location by a joining member72. Joining member72may take the form of a portion or section of substrate33that extends between strips32/36. In other embodiments joining member72may be a separate members that is attached to both of strips32/36. Similarly, sensor strip34may be interconnected to first electrode strip32by a joining member74aat a second location. Sensor strip34may also be interconnected to second electrode strip36by a joining member74bat the second location. Strips32/34/36may be interconnected at a third location by one or more joining members such as joining members76a/76b. For example, joining member76amay extend between first electrode strip32and sensor strip34. Joining member76bmay extend between sensor strip34and second electrode strip36. Sensor strip34may be interconnected to first electrode strip32by a joining member78aat a fourth location. Sensor strip34may also be interconnected to second electrode strip36by a joining member78bat the fourth location. Strips32/34/36may be interconnected at a fifth location by one or more joining members such as joining members80a/80b. For example, joining member80amay extend between first electrode strip32and sensor strip34. Joining member80bmay extend between sensor strip34and second electrode strip36. The precise location of the various joining members along strips32/34/36may vary. Fewer or more joining members may be utilized without departing from the spirit of the disclosure. Proximal region29of substrate33may have a longitudinal axis LA1. Distal region31of substrate33may have a longitudinal axis LA2. In at least some embodiments, the longitudinal axis LA2of distal region31may be slanted or otherwise oriented at an angle A relative to the longitudinal axis LA1of proximal region29. This may aid in further reducing the amount of force that may be exposed to assembly30when, for example, withdrawing device12into guide catheter14. A number of variations are contemplated for assembly30. Some of the variations are shown inFIGS.4-8. For example,FIG.4illustrates another example flexible circuit assembly130that may be similar in form and function to other assemblies disclosed herein. Assembly130may include substrate133having proximal region129, distal region131, and tapered region127disposed therebetween. In this example, first electrode strip132, sensor strip134, and second electrode strip136are substantially free from connection along their lengths. In other words, flexible circuit assemblies are contemplated that lack one or more of the joining members illustrated inFIG.3. FIG.5illustrates another example flexible circuit assembly230that may be similar in form and function to other assemblies disclosed herein. Assembly230may include substrate233having proximal region229, distal region231, and tapered region227disposed therebetween. In this example, first electrode strip232, sensor strip234, and second electrode strip236are interconnected by one or more joining members such as joining members272/276a/276b/278a/278b/280a/280b. Furthermore, in this example the longitudinal axis of proximal region229of substrate and distal region231of substrate233are substantially aligned. In other words, flexible circuit assemblies are contemplated where distal region231of substrate233is not angled or slanted relative to proximal region229of substrate. FIG.6illustrates another example flexible circuit assembly330that may be similar in form and function to other assemblies disclosed herein. Assembly330may include substrate333having proximal region329, distal region331, and tapered region327disposed therebetween. In this example, first electrode strip332, sensor strip334, and second electrode strip336are substantially free from connection along their lengths. This example illustrates that assemblies are contemplated that both lack one or more joining member and that are not slanted or angled. FIG.7illustrates another example flexible circuit assembly430that may be similar in form and function to other assemblies disclosed herein. Assembly430may include substrate433having proximal region429and distal region431. In this example, first electrode strip432, sensor strip434, and second electrode strip436are interconnected by one or more joining members such as joining members472/476a/476b/478a/478b/480a/480b. In this example, substrate433lacks a tapered region. Accordingly, proximal region429of substrate433and distal region431of substrate433have substantially the same width. This may help to further reduce the amount of force that may be exposed to assembly430when, for example, withdrawing assembly430into guide catheter14. FIG.8illustrates another example flexible circuit assembly530that may be similar in form and function to other assemblies disclosed herein. Assembly530may include substrate533having proximal region529and distal region531. In this example, first electrode strip532, sensor strip534, and second electrode strip536are substantially free from connection along their lengths. This example illustrates that assemblies are contemplated that lack one or more joining member, that are not slanted or angled, and that have a substantially constant width. FIG.9illustrates another example flexible circuit assembly630that may be similar in form and function to other assemblies disclosed herein. In this example, assembly630includes a collection of individual flexible circuit assemblies630a/630b/630c. Each of the assemblies may be the same or they may differ. For example, inFIG.9the relative position of the distal electrode assemblies or pads636a/636b/636cand/or the relative position of the proximal electrode assemblies or pads644a/644b/644cmay differ along the length of each assembly630a/630b/630c.FIG.10illustrates a portion of an example medical device612that may be similar to other devices disclosed herein. Device612may include catheter shaft626and expandable member/balloon628. The components of flexible circuit assembly630(as shown inFIG.9) may be coupled to balloon628. In this figure, assembly630aand assembly630bcan be seen. FIG.11illustrates another example flexible circuit assembly730that may be similar in form and function to other assemblies disclosed herein. Assembly730may include substrate733having a plurality of sections or strips such as first electrode strip732, sensor strip734, second electrode strip736, and a third electrode strip737. First electrode strip732may include electrode assembly or pad738including one or more electrodes740. Sensor strip734may include one or more sensors750. Second electrode strip736may include a distal electrode assembly or pad760aincluding one or more electrodes762aand a proximal electrode assembly or pad760bincluding one or more electrodes762b. Third electrode strip737may include a distal electrode assembly or pad782aincluding one or more electrodes784aand a proximal electrode assembly or pad782bincluding one or more electrodes784b. In the example shown inFIG.11, strips732/734/736/737may be described as being nested. Such a configuration may allow for assembly730to have a relatively compact shape while still having a relatively large number of electrodes. In some embodiments, strips732/734/737may have a width in the range of about 0.010-0.030 inches or less, or about 0.015-0.025 inches or less, or about 0.02 inches or less. Pads738/760a/760b/782a/782bmay have an increased width relative to the remaining portions of strips732/734/737. For example, pads738/760a/760b/782a/782bmay have a width in the range of about 0.015-0.035 inches, or about 0.02-0.03 inches, or about 0.023-0.025 inches. Adjacent to sensor(s)750, strip734may have a width in the range of about 0.015-0.040 inches, or about 0.02-0.035 inches, or about 0.03 inches. These are just examples. Other dimensions are contemplated. Such dimensions may not only allow for assembly730to be utilized with a balloon (e.g., as shown inFIG.12), they may also allow assembly730to be sufficiently compact so that assembly730may be attached to or otherwise used on a basket or strut-like structure including relatively “thin” struts (e.g., on the order of about 0.05-0.08 inches or so, or about 0.066 inches or so). FIG.12illustrates a portion of an example medical device712that may be similar to other devices disclosed herein. Device712may include catheter shaft726and expandable member/balloon728. Flexible circuit assembly730may be coupled to balloon628. As indicated above, assembly730may be used with balloon728or with other structures such as baskets, struts, or the like. FIG.13is a side view of flexible circuit assembly830that may be similar in form and function to other assemblies disclosed herein.FIG.14illustrates medical device812including shaft826, balloon828coupled to shaft826, and assembly830coupled to balloon828. Device812may be similar to other devices disclosed herein. As shown inFIG.13, assembly830may include substrate833having proximal region829and distal region831. Substrate833may include first electrode strip832, sensor strip834, and second electrode strip836. First electrode strip832may include distal electrode assembly or pad838having one or more electrodes840. One or more leads842may be coupled to electrodes840and extend proximally therefrom. In some embodiments, first electrode strip832may also include one or more additional electrode assemblies such as proximal electrode assembly or pad844having one or more electrodes846. One or more leads848may be coupled to electrodes846and extend proximally therefrom. Leads842/848, which are shown schematically, may be electrically coupled to control unit18so that electrodes840/846may be suitably energized. Sensor strip834may include one or more sensors such as a sensor or sensors850. In the drawing, two sensors850are shown. However, in other embodiments only one or more than two sensors may be utilized. In at least some embodiments, sensor850is a temperature sensor that may be disposed along a top (outward facing when in use) or bottom surface (inward facing that may be, for example, disposed along an outer surface of a balloon when in use) of sensor strip834. For example, sensor(s)850may include a thermistor, thermocouple, or the like. In other embodiments, sensor(s)850may include another type of sensor such as a pressure sensor, force sensor, or the like. One or more leads852may be coupled to sensor(s)850and extend proximally therefrom. In some embodiments, sensor strip834may also include one or more additional sensors such as sensor or sensors854. One or more leads856may be coupled to sensor(s)854and extend proximally therefrom. Leads852/856, which are shown schematically, may be electrically coupled to control unit18so that sensors850/854may be suitably energized. In at least some embodiments, leads852/856may be omitted and, instead, sensor(s)850may be electrically coupled to leads842/848and/or other leads disposed along substrate833. Second electrode strip836may include a distal electrode assembly or pad860having one or more electrodes862. One or more leads864may be coupled to electrodes862and extend proximally therefrom. In some embodiments, second electrode strip836may also include one or more additional electrode assemblies such as a proximal electrode assembly or pad866having one or more electrodes868. One or more leads870may be coupled to electrodes868and extend proximally therefrom. Leads864/870, which are shown schematically, may be electrically coupled to control unit18so that electrodes862/868may be suitably energized. First electrode strip832and second electrode strip836may be interconnected at a first location by a joining member872. Joining member872may take the form of a portion or section of substrate833that extends between strips832/836. In other embodiments joining member872may be a separate members that is attached to both of strips832/836. Strips832/834/836may be interconnected at one or more locations by one or more joining members such as joining members876a/876b/880a/880b. The precise location of the various joining members along strips832/834/836may vary. Fewer or more joining members may be utilized without departing from the spirit of the disclosure. Substrate833may also include one or more connector regions such as connector regions856a/856b. Regions865a/856bmay include one or more connectors that allow the various leads to be electrically coupled to a conductive member such as a wire. The precise form of regions865a/865bmay vary. A number of arrangements and/or configurations are contemplated. FIG.15illustrates another example flexible circuit assembly930that may be similar in form and function to other flexible circuit assemblies disclosed herein.FIG.16illustrates medical device912including shaft926, balloon928coupled to shaft926, and flexible circuit assembly930coupled to balloon928. Device912may be similar to other devices disclosed herein. Referring now toFIG.15, flexible circuit assembly930may include substrate933and strips932/934/936. A number of electrodes such as electrodes940/946/962/968may be disposed along strips932/934/936. FIG.17illustrates another example flexible circuit assembly1030that may be similar in form and function to other flexible circuit assemblies disclosed herein.FIG.18illustrates medical device1012including shaft1026, balloon1028coupled to shaft1026, and flexible circuit assembly1030coupled to balloon1028. Device1012may be similar to other devices disclosed herein. Referring now toFIG.17, flexible circuit assembly1030may include substrate1033. Substrate may include a first strip1034and a second strip1036. A first electrode pad1038may be disposed adjacent to a distal end of strips1034/1036. Pad1038may include electrodes1040/1062and sensor1050. A second electrode pad1044may be disposed proximal of pad1038. Pad1044may include electrodes1046/1068and sensor1054. Flexible circuit assembly1030may include a first cutout region1067aand a second cutout region1067b. Cutout regions1067a/1067bmay essentially allow for assembly1030to have a greater flexibility and also allow for a central “sensor strip” (e.g., like those seen in other flexible circuit assemblies disclosed herein) to be omitted. Cutout region1067bmay define a “X” or “X-like” shape along a proximal section of assembly1030. It can be appreciated that a number of different shapes and/or configurations are contemplated for cutout regions1067a/1067b. Tails or tail regions1065a/1065bmay extend proximally along or otherwise from cutout region1067b. Tails1065a/1065bmay be disposed along a cone region of balloon1028when mounting assembly1030to balloon1028. In some embodiments, tails1065a/1065bmay extend to a position along shaft1026. In other embodiments, tails1065a/1065bmay extend along essentially the full length of shaft1026and be coupled to control unit18. From the various flexible circuit assemblies disclosed herein it can be appreciated that a number of structural variations are contemplated. In addition to what is disclosed herein, a number of further variations are contemplated that may be applicable to any of the flexible circuit assemblies disclosed herein. For simplicity purposes, the following disclosure refers to flexible circuit assembly1030. However, it can be appreciated that the following disclosure may also be applied to any of the other flexible circuit assemblies disclosed herein, as appropriate. Flexible circuit assembly1030, much like assembly30, may have a canted or angled configuration. In other words, at least a portion (e.g., a distal portion) of flexible circuit assembly1030may be canted relative to another portion (e.g., a proximal portion). Canting may be desirable for a number of reasons. For example, canting may help to streamline the edges of flexible circuit assembly1030so as to reduce the number of catch points that might otherwise “catch” when retracting assembly1030(e.g., a device including assembly1030) into a sheath or guide catheter. In at least some embodiments, the canting of assembly1030may allow assembly1030to function much like a rail when retracting assembly1030(e.g., a device including assembly1030) into a sheath or guide catheter. In addition, canting may help to promote rewrapping of a balloon (e.g., when assembly1030is secured to a balloon). The amount of canting (e.g., the canting angle) may vary. For example, assembly1030may be canted about 45 degrees or less, or about 5-30 degree, or about 10-15 degree. These are just examples. As indicated herein, assembly1030may include cutout regions1067a/1067band may generally be configured to include strips1034/1038. This configuration (and similar configurations disclosed herein) may allow for less material to be utilized for substrate1033. The smaller amount of material may desirably impact flexibility and/or balloon rewrapping. For example, less material may provide fewer obstacles to balloon rewrapping and/or folding. It may also be desirable to further reduce the thickness of substrate1033. This may allow for the overall profile of assembly1030to be reduced. As such, smaller profile devices may be used in conjunction with assembly1030(e.g., a 6F guide catheter may be used to deliver assembly1030and/or devices using assembly1030). Reducing the thickness of substrate1033may include laser ablation of the substrate, which may remove portions of the thickness of substrate1033. For example, substrate1033may include a number of layers including an outer layer, an electrode layer, and an inner layer. The inner layer may also be termed the “cover layer”. In at least some embodiments, the cover layer may be ablated to remove a portion thereof. For example, 50% or more of the cover layer may be removed to reduce the thickness of assembly1030, or about 60% or more may be removed, or about 70% or more may be removed. In some embodiments, the cover layer may be completely removed altogether. In addition to removing material from substrate1033, material changes may also be utilized. Such changes could also desirably impact the profile of assembly1030. For example, in some embodiments materials such as polyethylene terephthalate or other suitable materials may be used. As shown, assembly1030may include a plurality of electrode pads such as pads1038/1044. While two pads (as shown) may be suitable, more or fewer pads may be utilized. For example, assembly1030may include about 1-10 pads, or about 1-3 pads, or about 1-2 pad. In addition, the spacing of pads on adjacent flexible circuit assemblies may also be varied in order to achieve the desired therapy. For example, it may be desirable for various pads on adjacent flexible circuit assemblies to be circumferentially and/or axial spaced. It can be appreciated that circumferential spacing may be varied from the pads on adjacent flexible circuit assemblies being circumferentially overlapped (which may result in an ablation pattern that is continuous) to the pads on adjacent flexible circuit assemblies being circumferentially spaced (which may result in an ablation pattern with circumferential spacing). In some embodiments, the edges of pads on circumferentially adjacent flexible circuit assemblies may be about 1.7-2.5 mm apart, or about 1.85-2.3 mm apart. In some embodiments, the target treatment temperature and/or the control algorithm may be altered so that even greater spacing may be utilized (e.g., up to about 4 mm or more). Axial spacing may also vary from configurations where there is axial overlap of pads on adjacent flexible circuit assemblies to configurations where there is axial spacing of pads on adjacent flexible circuit assemblies. In general, the circumferential and/or axial spacing of pads1038/1044and/or the electrodes thereon can impact the therapy delivery by a given assembly. For example, circumferential overlap may allow for a therapy to include a complete circumferential lesion. This may be desirable in some interventions, for example such as renal nerve ablation, where a complete circumferential ablation may provide a greater likelihood that one or more nerves are sufficiently modulated and/or ablated. Circumferential overlap may also allow for greater treatment depths (e.g., 1-4 mm or more). Furthermore, greater circumferential coverage may also allow for less energy or power utilization, more consistent ablation temperatures, increased ablation areas (and/or volumes), or the like. The number of flexible circuit assemblies utilized per device may also vary. For example, a given device may include 1-20 flexible circuit assemblies, or about 1-10 flexible circuit assemblies, or about 1-3 flexible circuit assemblies. These are just examples. Variations are also contemplated for balloon1028(and/or other balloon disclosed herein). For example, material variations are contemplated including the use of polyethylene terephthalate. The use of polyethylene terephthalate may allow for the construction of balloons with a reduced wall thickness (relative to traditional balloons) while still maintaining sufficient strength. In addition, materials like polyethylene terephthalate have a glass transition temperature above what may be used for the treatment temperature (e.g., Tgmay be greater than 70° C.). Because of this, balloon1028may be more likely to resist adverse reactions to thermal conditions (e.g., softening, melting, thermal breakdown, etc.). Other variations may include variations in the length of balloon1028(e.g., the length of the “body” of balloon1028). In some embodiments, the length may be in the range of about 10-40 mm, or about 20-30 mm, or about 25 mm. In addition, the angle of “cones” of balloon1028(e.g., the regions of the balloon flanking the balloon body and having a generally conical shape) may vary. For example, the cones of balloon1028could be oriented at an angle of about 5-45 degrees, or about 10-30 degrees, or about 15-20 degrees. These are just examples. Other variations are contemplated. The materials that can be used for the various components of device12(and/or other devices disclosed herein) may include those commonly associated with medical devices. For simplicity purposes, the following discussion makes reference to device12and/or the components thereof. However, this is not intended to limit the devices and methods described herein, as the discussion may be applied to any of the other similar devices disclosed herein. Device12and/or other components thereof may be made from a metal, metal alloy, polymer (some examples of which are disclosed below), a metal-polymer composite, ceramics, combinations thereof, and the like, or other suitable material. Some examples of suitable polymers may include polytetrafluoroethylene (PTFE), ethylene tetrafluoroethylene (ETFE), fluorinated ethylene propylene (FEP), polyoxymethylene (POM, for example, DELRIN® available from DuPont), polyether block ester, polyurethane (for example, Polyurethane85A), polypropylene (PP), polyvinylchloride (PVC), polyether-ester (for example, ARNITEL® available from DSM Engineering Plastics), ether or ester based copolymers (for example, butylene/poly(alkylene ether) phthalate and/or other polyester elastomers such as HYTREL® available from DuPont), polyamide (for example, DURETHAN® available from Bayer or CRISTAMID® available from Elf Atochem), elastomeric polyamides, block polyamide/ethers, polyether block amide (PEBA, for example available under the trade name PEBAX®), ethylene vinyl acetate copolymers (EVA), silicones, polyethylene (PE), Marlex high-density polyethylene, Marlex low-density polyethylene, linear low density polyethylene (for example REXELL®), polyester, polybutylene terephthalate (PBT), polyethylene terephthalate (PET), polytrimethylene terephthalate, polyethylene naphthalate (PEN), polyetheretherketone (PEEK), polyimide (PI), polyetherimide (PEI), polyphenylene sulfide (PPS), polyphenylene oxide (PPO), poly paraphenylene terephthalamide (for example, KEVLAR®), polysulfone, nylon, nylon-12 (such as GRILAMID® available from EMS American Grilon), perfluoro(propyl vinyl ether) (PFA), ethylene vinyl alcohol, polyolefin, polystyrene, epoxy, polyvinylidene chloride (PVdC), poly(styrene-b-isobutylene-b-styrene) (for example, SIBS and/or SIBS 50A), polycarbonates, ionomers, biocompatible polymers, other suitable materials, or mixtures, combinations, copolymers thereof, polymer/metal composites, and the like. In some embodiments the sheath can be blended with a liquid crystal polymer (LCP). For example, the mixture can contain up to about 6 percent LCP. Some examples of suitable metals and metal alloys include stainless steel, such as 304V, 304L, and 316LV stainless steel; mild steel; nickel-titanium alloy such as linear-elastic and/or super-elastic nitinol; other nickel alloys such as nickel-chromium-molybdenum alloys (e.g., UNS: N06625 such as INCONEL® 625, UNS: N06022 such as HASTELLOY® C-22®, UNS: N10276 such as HASTELLOY® C276®, other HASTELLOY® alloys, and the like), nickel-copper alloys (e.g., UNS: N04400 such as MONEL® 400, NICKELVAC® 400, NICORROS® 400, and the like), nickel-cobalt-chromium-molybdenum alloys (e.g., UNS: R30035 such as MP35-N® and the like), nickel-molybdenum alloys (e.g., UNS: N10665 such as HASTELLOY® ALLOY B2®), other nickel-chromium alloys, other nickel-molybdenum alloys, other nickel-cobalt alloys, other nickel-iron alloys, other nickel-copper alloys, other nickel-tungsten or tungsten alloys, and the like; cobalt-chromium alloys; cobalt-chromium-molybdenum alloys (e.g., UNS: R30003 such as ELGILOY®, PHYNOX®, and the like); platinum enriched stainless steel; titanium; combinations thereof; and the like; or any other suitable material. As alluded to herein, within the family of commercially available nickel-titanium or nitinol alloys, is a category designated “linear elastic” or “non-super-elastic” which, although may be similar in chemistry to conventional shape memory and super elastic varieties, may exhibit distinct and useful mechanical properties. Linear elastic and/or non-super-elastic nitinol may be distinguished from super elastic nitinol in that the linear elastic and/or non-super-elastic nitinol does not display a substantial “superelastic plateau” or “flag region” in its stress/strain curve like super elastic nitinol does. Instead, in the linear elastic and/or non-super-elastic nitinol, as recoverable strain increases, the stress continues to increase in a substantially linear, or a somewhat, but not necessarily entirely linear relationship until plastic deformation begins or at least in a relationship that is more linear that the super elastic plateau and/or flag region that may be seen with super elastic nitinol. Thus, for the purposes of this disclosure linear elastic and/or non-super-elastic nitinol may also be termed “substantially” linear elastic and/or non-super-elastic nitinol. In some cases, linear elastic and/or non-super-elastic nitinol may also be distinguishable from super elastic nitinol in that linear elastic and/or non-super-elastic nitinol may accept up to about 2-5% strain while remaining substantially elastic (e.g., before plastically deforming) whereas super elastic nitinol may accept up to about 8% strain before plastically deforming. Both of these materials can be distinguished from other linear elastic materials such as stainless steel (that can also can be distinguished based on its composition), which may accept only about 0.2 to 0.44 percent strain before plastically deforming. In some embodiments, the linear elastic and/or non-super-elastic nickel-titanium alloy is an alloy that does not show any martensite/austenite phase changes that are detectable by differential scanning calorimetry (DSC) and dynamic metal thermal analysis (DMTA) analysis over a large temperature range. For example, in some embodiments, there may be no martensite/austenite phase changes detectable by DSC and DMTA analysis in the range of about −60 degrees Celsius (° C.) to about 120° C. in the linear elastic and/or non-super-elastic nickel-titanium alloy. The mechanical bending properties of such material may therefore be generally inert to the effect of temperature over this very broad range of temperature. In some embodiments, the mechanical bending properties of the linear elastic and/or non-super-elastic nickel-titanium alloy at ambient or room temperature are substantially the same as the mechanical properties at body temperature, for example, in that they do not display a super-elastic plateau and/or flag region. In other words, across a broad temperature range, the linear elastic and/or non-super-elastic nickel-titanium alloy maintains its linear elastic and/or non-super-elastic characteristics and/or properties. In some embodiments, the linear elastic and/or non-super-elastic nickel-titanium alloy may be in the range of about 50 to about 60 weight percent nickel, with the remainder being essentially titanium. In some embodiments, the composition is in the range of about 54 to about 57 weight percent nickel. One example of a suitable nickel-titanium alloy is FHP-NT alloy commercially available from Furukawa Techno Material Co. of Kanagawa, Japan. Some examples of nickel titanium alloys are disclosed in U.S. Pat. Nos. 5,238,004 and 6,508,803, which are incorporated herein by reference. Other suitable materials may include ULTANIUM™ (available from Neo-Metrics) and GUM METAL™ (available from Toyota). In some other embodiments, a superelastic alloy, for example a superelastic nitinol can be used to achieve desired properties. In at least some embodiments, portions or all of device12may also be doped with, made of, or otherwise include a radiopaque material. Radiopaque materials are understood to be materials capable of producing a relatively bright image on a fluoroscopy screen or another imaging technique during a medical procedure. This relatively bright image aids the user of device12in determining its location. Some examples of radiopaque materials can include, but are not limited to, gold, platinum, palladium, tantalum, tungsten alloy, polymer material loaded with a radiopaque filler, and the like. Additionally, other radiopaque marker bands and/or coils may also be incorporated into the design of device12to achieve the same result. In some embodiments, a degree of Magnetic Resonance Imaging (MRI) compatibility is imparted into device. For example, device12, or portions thereof, may be made of a material that does not substantially distort the image and create substantial artifacts (i.e., gaps in the image). Certain ferromagnetic materials, for example, may not be suitable because they may create artifacts in an MRI image. Device12, or portions thereof, may also be made from a material that the MRI machine can image. Some materials that exhibit these characteristics include, for example, tungsten, cobalt-chromium-molybdenum alloys (e.g., UNS: R30003 such as ELGILOY®, PHYNOX®, and the like), nickel-cobalt-chromium-molybdenum alloys (e.g., UNS: R30035 such as MP35-N® and the like), nitinol, and the like, and others. U.S. patent application Ser. No. 13/750,879 filed on Jan. 25, 2013 is herein incorporated by reference. It should be understood that this disclosure is, in many respects, only illustrative. Changes may be made in details, particularly in matters of shape, size, and arrangement of steps without exceeding the scope of the disclosure. This may include, to the extent that it is appropriate, the use of any of the features of one example embodiment being used in other embodiments. The invention's scope is, of course, defined in the language in which the appended claims are expressed.

11857149

DETAILED DESCRIPTION It is to be understood that the present disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the description herein or illustrated in the drawings. The teachings of the present disclosure may be used and practiced in other embodiments and practiced or carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms “mounted,” “connected,” “supported,” and “coupled” and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings. Further, “connected” and “coupled” are not restricted to physical or mechanical connections or couplings. The following discussion is presented to enable a person skilled in the art to make and use embodiments of the present disclosure. Various modifications to the illustrated embodiments will be readily apparent to those skilled in the art, and the principles herein can be applied to other embodiments and applications without departing from embodiments of the present disclosure. Thus, the embodiments are not intended to be limited to embodiments shown, but are to be accorded the widest scope consistent with the principles and features disclosed herein. The following detailed description is to be read with reference to the figures, in which like elements in different figures have like reference numerals. The figures, which are not necessarily to scale, depict selected embodiments and are not intended to limit the scope of the embodiments. Skilled artisans will recognize the examples provided herein have many useful alternatives and fall within the scope of the embodiments. Turning now to the drawing,FIGS.1and2illustrate a surgical robot system100in accordance with an exemplary embodiment. Surgical robot system100may include, for example, a surgical robot102, one or more robot arms104, a base106, a display110, an end-effector112, for example, including a guide tube114, and one or more tracking markers118. The surgical robot system100may include a patient tracking device116also including one or more tracking markers118, which is adapted to be secured directly to the patient210(e.g., to a bone of the patient210). The surgical robot system100may also use a camera200, for example, positioned on a camera stand202. The camera stand202can have any suitable configuration to move, orient, and support the camera200in a desired position. The camera200may include any suitable camera or cameras, such as one or more infrared cameras (e.g., bifocal or stereophotogrammetric cameras), able to identify, for example, active and passive tracking markers118(shown as part of patient tracking device116inFIG.2and shown by enlarged view inFIGS.13A-13B) in a given measurement volume viewable from the perspective of the camera200. The camera200may scan the given measurement volume and detect the light that comes from the markers118in order to identify and determine the position of the markers118in three-dimensions. For example, active markers118may include infrared-emitting markers that are activated by an electrical signal (e.g., infrared light emitting diodes (LEDs)), and/or passive markers118may include retro-reflective markers that reflect infrared light (e.g., they reflect incoming IR radiation into the direction of the incoming light), for example, emitted by illuminators on the camera200or other suitable device. FIGS.1and2illustrate a potential configuration for the placement of the surgical robot system100in an operating room environment. For example, the robot102may be positioned near or next to patient210. Although depicted near the head of the patient210, it will be appreciated that the robot102can be positioned at any suitable location near the patient210depending on the area of the patient210undergoing the operation. The camera200may be separated from the robot system100and positioned at the foot of patient210. This location allows the camera200to have a direct visual line of sight to the surgical field208. Again, it is contemplated that the camera200may be located at any suitable position having line of sight to the surgical field208. In the configuration shown, the surgeon120may be positioned across from the robot102, but is still able to manipulate the end-effector112and the display110. A surgical assistant126may be positioned across from the surgeon120again with access to both the end-effector112and the display110. If desired, the locations of the surgeon120and the assistant126may be reversed. The traditional areas for the anesthesiologist122and the nurse or scrub tech124may remain unimpeded by the locations of the robot102and camera200. With respect to the other components of the robot102, the display110can be attached to the surgical robot102and in other exemplary embodiments, display110can be detached from surgical robot102, either within a surgical room with the surgical robot102, or in a remote location. End-effector112may be coupled to the robot arm104and controlled by at least one motor. In exemplary embodiments, end-effector112can comprise a guide tube114, which is able to receive and orient a surgical instrument608(described further herein) used to perform surgery on the patient210. As used herein, the term “end-effector” is used interchangeably with the terms “end-effectuator” and “effectuator element.” Although generally shown with a guide tube114, it will be appreciated that the end-effector112may be replaced with any suitable instrumentation suitable for use in surgery. In some embodiments, end-effector112can comprise any known structure for effecting the movement of the surgical instrument608in a desired manner. The surgical robot102is able to control the translation and orientation of the end-effector112. The robot102is able to move end-effector112along x-, y-, and z-axes, for example. The end-effector112can be configured for selective rotation about one or more of the x-, y-, and z-axis, and a Z Frame axis (such that one or more of the Euler Angles (e.g., roll, pitch, and/or yaw) associated with end-effector112can be selectively controlled). In some exemplary embodiments, selective control of the translation and orientation of end-effector112can permit performance of medical procedures with significantly improved accuracy compared to conventional robots that use, for example, a six degree of freedom robot arm comprising only rotational axes. For example, the surgical robot system100may be used to operate on patient210, and robot arm104can be positioned above the body of patient210, with end-effector112selectively angled relative to the z-axis toward the body of patient210. In some exemplary embodiments, the position of the surgical instrument608can be dynamically updated so that surgical robot102can be aware of the location of the surgical instrument608at all times during the procedure. Consequently, in some exemplary embodiments, surgical robot102can move the surgical instrument608to the desired position quickly without any further assistance from a physician (unless the physician so desires). In some further embodiments, surgical robot102can be configured to correct the path of the surgical instrument608if the surgical instrument608strays from the selected, preplanned trajectory. In some exemplary embodiments, surgical robot102can be configured to permit stoppage, modification, and/or manual control of the movement of end-effector112and/or the surgical instrument608. Thus, in use, in exemplary embodiments, a physician or other user can operate the system100, and has the option to stop, modify, or manually control the autonomous movement of end-effector112and/or the surgical instrument608. Further details of surgical robot system100including the control and movement of a surgical instrument608by surgical robot102can be found in co-pending U.S. patent application Ser. No. 13/924,505, which is incorporated herein by reference in its entirety. The robotic surgical system100can comprise one or more tracking markers118configured to track the movement of robot arm104, end-effector112, patient210, and/or the surgical instrument608in three dimensions. In exemplary embodiments, a plurality of tracking markers118can be mounted (or otherwise secured) thereon to an outer surface of the robot102, such as, for example and without limitation, on base106of robot102, on robot arm104, and/or on the end-effector112. In exemplary embodiments, at least one tracking marker118of the plurality of tracking markers118can be mounted or otherwise secured to the end-effector112. One or more tracking markers118can further be mounted (or otherwise secured) to the patient210. In exemplary embodiments, the plurality of tracking markers118can be positioned on the patient210spaced apart from the surgical field208to reduce the likelihood of being obscured by the surgeon, surgical tools, or other parts of the robot102. Further, one or more tracking markers118can be further mounted (or otherwise secured) to the surgical tools608(e.g., a screw driver, dilator, implant inserter, or the like). Thus, the tracking markers118enable each of the marked objects (e.g., the end-effector112, the patient210, and the surgical tools608) to be tracked by the robot102. In exemplary embodiments, system100can use tracking information collected from each of the marked objects to calculate the orientation and location, for example, of the end-effector112, the surgical instrument608(e.g., positioned in the tube114of the end-effector112), and the relative position of the patient210. The markers118may include radiopaque or optical markers. The markers118may be suitably shaped include spherical, spheroid, cylindrical, cube, cuboid, or the like. In exemplary embodiments, one or more of markers118may be optical markers. In some embodiments, the positioning of one or more tracking markers118on end-effector112can maximize the accuracy of the positional measurements by serving to check or verify the position of end-effector112. Further details of surgical robot system100including the control, movement and tracking of surgical robot102and of a surgical instrument608can be found in U.S. patent publication No. 2016/0242849, which is incorporated herein by reference in its entirety. Exemplary embodiments include one or more markers118coupled to the surgical instrument608. In exemplary embodiments, these markers118, for example, coupled to the patient210and surgical instruments608, as well as markers118coupled to the end-effector112of the robot102can comprise conventional infrared light-emitting diodes (LEDs) or an Optotrak® diode capable of being tracked using a commercially available infrared optical tracking system such as Optotrak®. Optotrak® is a registered trademark of Northern Digital Inc., Waterloo, Ontario, Canada. In other embodiments, markers118can comprise conventional reflective spheres capable of being tracked using a commercially available optical tracking system such as Polaris Spectra. Polaris Spectra is also a registered trademark of Northern Digital, Inc. In an exemplary embodiment, the markers118coupled to the end-effector112are active markers which comprise infrared light-emitting diodes which may be turned on and off, and the markers118coupled to the patient210and the surgical instruments608comprise passive reflective spheres. In exemplary embodiments, light emitted from and/or reflected by markers118can be detected by camera200and can be used to monitor the location and movement of the marked objects. In alternative embodiments, markers118can comprise a radio-frequency and/or electromagnetic reflector or transceiver and the camera200can include or be replaced by a radio-frequency and/or electromagnetic transceiver. Similar to surgical robot system100,FIG.3illustrates a surgical robot system300and camera stand302, in a docked configuration, consistent with an exemplary embodiment of the present disclosure. Surgical robot system300may comprise a robot301including a display304, upper arm306, lower arm308, end-effector310, vertical column312, casters314, cabinet316, tablet drawer318, connector panel320, control panel322, and ring of information324. Camera stand302may comprise camera326. These components are described in greater with respect toFIG.5.FIG.3illustrates the surgical robot system300in a docked configuration where the camera stand302is nested with the robot301, for example, when not in use. It will be appreciated by those skilled in the art that the camera326and robot301may be separated from one another and positioned at any appropriate location during the surgical procedure, for example, as shown inFIGS.1and2. FIG.4illustrates a base400consistent with an exemplary embodiment of the present disclosure. Base400may be a portion of surgical robot system300and comprise cabinet316. Cabinet316may house certain components of surgical robot system300including but not limited to a battery402, a power distribution module404, a platform interface board module406, a computer408, a handle412, and a tablet drawer414. The connections and relationship between these components is described in greater detail with respect toFIG.5. FIG.5illustrates a block diagram of certain components of an exemplary embodiment of surgical robot system300. Surgical robot system300may comprise platform subsystem502, computer subsystem504, motion control subsystem506, and tracking subsystem532. Platform subsystem502may further comprise battery402, power distribution module404, platform interface board module406, and tablet charging station534. Computer subsystem504may further comprise computer408, display304, and speaker536. Motion control subsystem506may further comprise driver circuit508, motors510,512,514,516,518, stabilizers520,522,524,526, end-effector310, and controller538. Tracking subsystem532may further comprise position sensor540and camera converter542. System300may also comprise a foot pedal544and tablet546. Input power is supplied to system300via a power source548which may be provided to power distribution module404. Power distribution module404receives input power and is configured to generate different power supply voltages that are provided to other modules, components, and subsystems of system300. Power distribution module404may be configured to provide different voltage supplies to platform interface module406, which may be provided to other components such as computer408, display304, speaker536, driver508to, for example, power motors512,514,516,518and end-effector310, motor510, ring324, camera converter542, and other components for system300for example, fans for cooling the electrical components within cabinet316. Power distribution module404may also provide power to other components such as tablet charging station534that may be located within tablet drawer318. Tablet charging station534may be in wireless or wired communication with tablet546for charging table546. Tablet546may be used by a surgeon consistent with the present disclosure and described herein. Power distribution module404may also be connected to battery402, which serves as temporary power source in the event that power distribution module404does not receive power from input power548. At other times, power distribution module404may serve to charge battery402if necessary. Other components of platform subsystem502may also include connector panel320, control panel322, and ring324. Connector panel320may serve to connect different devices and components to system300and/or associated components and modules. Connector panel320may contain one or more ports that receive lines or connections from different components. For example, connector panel320may have a ground terminal port that may ground system300to other equipment, a port to connect foot pedal544to system300, a port to connect to tracking subsystem532, which may comprise position sensor540, camera converter542, and cameras326associated with camera stand302. Connector panel320may also include other ports to allow USB, Ethernet, HDMI communications to other components, such as computer408. Control panel322may provide various buttons or indicators that control operation of system300and/or provide information regarding system300. For example, control panel322may include buttons to power on or off system300, lift or lower vertical column312, and lift or lower stabilizers520-526that may be designed to engage casters314to lock system300from physically moving. Other buttons may stop system300in the event of an emergency, which may remove all motor power and apply mechanical brakes to stop all motion from occurring. Control panel322may also have indicators notifying the user of certain system conditions such as a line power indicator or status of charge for battery402. Ring324may be a visual indicator to notify the user of system300of different modes that system300is operating under and certain warnings to the user. Computer subsystem504includes computer408, display304, and speaker536. Computer504includes an operating system and software to operate system300. Computer504may receive and process information from other components (for example, tracking subsystem532, platform subsystem502, and/or motion control subsystem506) in order to display information to the user. Further, computer subsystem504may also include speaker536to provide audio to the user. Tracking subsystem532may include position sensor504and converter542. Tracking subsystem532may correspond to camera stand302including camera326as described with respect toFIG.3. Position sensor504may be camera326. Tracking subsystem may track the location of certain markers that are located on the different components of system300and/or instruments used by a user during a surgical procedure. This tracking may be conducted in a manner consistent with the present disclosure including the use of infrared technology that tracks the location of active or passive elements, such as LEDs or reflective markers, respectively. The location, orientation, and position of structures having these types of markers may be provided to computer408which may be shown to a user on display304. For example, a surgical instrument608having these types of markers and tracked in this manner (which may be referred to as a navigational space) may be shown to a user in relation to a three dimensional image of a patient's anatomical structure. Motion control subsystem506may be configured to physically move vertical column312, upper arm306, lower arm308, or rotate end-effector310. The physical movement may be conducted through the use of one or more motors510-518. For example, motor510may be configured to vertically lift or lower vertical column312. Motor512may be configured to laterally move upper arm308around a point of engagement with vertical column312as shown inFIG.3. Motor514may be configured to laterally move lower arm308around a point of engagement with upper arm308as shown inFIG.3. Motors516and518may be configured to move end-effector310in a manner such that one may control the roll and one may control the tilt, thereby providing multiple angles that end-effector310may be moved. These movements may be achieved by controller538which may control these movements through load cells disposed on end-effector310and activated by a user engaging these load cells to move system300in a desired manner. Moreover, system300may provide for automatic movement of vertical column312, upper arm306, and lower arm308through a user indicating on display304(which may be a touchscreen input device) the location of a surgical instrument or component on a three dimensional image of the patient's anatomy on display304. The user may initiate this automatic movement by stepping on foot pedal544or some other input means. FIG.6illustrates a surgical robot system600consistent with an exemplary embodiment. Surgical robot system600may comprise end-effector602, robot arm604, guide tube606, instrument608, and robot base610. Instrument tool608may be attached to a tracking array612including one or more tracking markers (such as markers118) and have an associated trajectory614. Trajectory614may represent a path of movement that instrument tool608is configured to travel once it is positioned through or secured in guide tube606, for example, a path of insertion of instrument tool608into a patient. In an exemplary operation, robot base610may be configured to be in electronic communication with robot arm604and end-effector602so that surgical robot system600may assist a user (for example, a surgeon) in operating on the patient210. Surgical robot system600may be consistent with previously described surgical robot system100and300. A tracking array612may be mounted on instrument608to monitor the location and orientation of instrument tool608. The tracking array612may be attached to an instrument608and may comprise tracking markers804. As best seen inFIG.8, tracking markers804may be, for example, light emitting diodes and/or other types of reflective markers (e.g., markers118as described elsewhere herein). The tracking devices may be one or more line of sight devices associated with the surgical robot system. As an example, the tracking devices may be one or more cameras200,326associated with the surgical robot system100,300and may also track tracking array612for a defined domain or relative orientations of the instrument608in relation to the robot arm604, the robot base610, end-effector602, and/or the patient210. The tracking devices may be consistent with those structures described in connection with camera stand302and tracking subsystem532. FIGS.7A,7B, and7Cillustrate a top view, front view, and side view, respectively, of end-effector602consistent with an exemplary embodiment. End-effector602may comprise one or more tracking markers702. Tracking markers702may be light emitting diodes or other types of active and passive markers, such as tracking markers118that have been previously described. In an exemplary embodiment, the tracking markers702are active infrared-emitting markers that are activated by an electrical signal (e.g., infrared light emitting diodes (LEDs)). Thus, tracking markers702may be activated such that the infrared markers702are visible to the camera200,326or may be deactivated such that the infrared markers702are not visible to the camera200,326. Thus, when the markers702are active, the end-effector602may be controlled by the system100,300,600, and when the markers702are deactivated, the end-effector602may be locked in position and unable to be moved by the system100,300,600. Markers702may be disposed on or within end-effector602in a manner such that the markers702are visible by one or more cameras200,326or other tracking devices associated with the surgical robot system100,300,600. The camera200,326or other tracking devices may track end-effector602as it moves to different positions and viewing angles by following the movement of tracking markers702. The location of markers702and/or end-effector602may be shown on a display110,304associated with the surgical robot system100,300,600, for example, display110as shown inFIG.2and/or display304shown inFIG.3. This display110,304may allow a user to ensure that end-effector602is in a desirable position in relation to robot arm604, robot base610, the patient210, and/or the user. For example, as shown inFIG.7A, markers702may be placed around the surface of end-effector602so that a tracking device placed away from the surgical field208and facing toward the robot102,301and the camera200,326is able to view at least 3 of the markers702through a range of common orientations of the end-effector602relative to the tracking device. For example, distribution of markers702in this way allows end-effector602to be monitored by the tracking devices when end-effector602is translated and rotated in the surgical field208. In addition, in exemplary embodiments, end-effector602may be equipped with infrared (IR) receivers that can detect when an external camera200,326is getting ready to read markers702. Upon this detection, end-effector602may then illuminate markers702. The detection by the IR receivers that the external camera200,326is ready to read markers702may signal the need to synchronize a duty cycle of markers702, which may be light emitting diodes, to an external camera200,326. This may also allow for lower power consumption by the robotic system as a whole, whereby markers702would only be illuminated at the appropriate time instead of being illuminated continuously. Further, in exemplary embodiments, markers702may be powered off to prevent interference with other navigation tools, such as different types of surgical instruments608. FIG.8depicts one type of surgical instrument608including a tracking array612and tracking markers804. Tracking markers804may be of any type described herein including but not limited to light emitting diodes or reflective spheres. Markers804are monitored by tracking devices associated with the surgical robot system100,300,600and may be one or more of the line of sight cameras200,326. The cameras200,326may track the location of instrument608based on the position and orientation of tracking array612and markers804. A user, such as a surgeon120, may orient instrument608in a manner so that tracking array612and markers804are sufficiently recognized by the tracking device or camera200,326to display instrument608and markers804on, for example, display110of the exemplary surgical robot system. The manner in which a surgeon120may place instrument608into guide tube606of the end-effector602and adjust the instrument608is evident inFIG.8. The hollow tube or guide tube114,606of the end-effector112,310,602is sized and configured to receive at least a portion of the surgical instrument608. The guide tube114,606is configured to be oriented by the robot arm104such that insertion and trajectory for the surgical instrument608is able to reach a desired anatomical target within or upon the body of the patient210. The surgical instrument608may include at least a portion of a generally cylindrical instrument. Although a screw driver is exemplified as the surgical tool608, it will be appreciated that any suitable surgical tool608may be positioned by the end-effector602. By way of example, the surgical instrument608may include one or more of a guide wire, cannula, a retractor, a drill, a reamer, a screw driver, an insertion tool, a removal tool, or the like. Although the hollow tube114,606is generally shown as having a cylindrical configuration, it will be appreciated by those of skill in the art that the guide tube114,606may have any suitable shape, size and configuration desired to accommodate the surgical instrument608and access the surgical site. FIGS.9A-9Cillustrate end-effector602and a portion of robot arm604consistent with an exemplary embodiment. End-effector602may further comprise body1202and clamp1204. Clamp1204may comprise handle1206, balls1208, spring1210, and lip1212. Robot arm604may further comprise depressions1214, mounting plate1216, lip1218, and magnets1220. End-effector602may mechanically interface and/or engage with the surgical robot system and robot arm604through one or more couplings. For example, end-effector602may engage with robot arm604through a locating coupling and/or a reinforcing coupling. Through these couplings, end-effector602may fasten with robot arm604outside a flexible and sterile barrier. In an exemplary embodiment, the locating coupling may be a magnetically kinematic mount and the reinforcing coupling may be a five bar over center clamping linkage. With respect to the locating coupling, robot arm604may comprise mounting plate1216, which may be non-magnetic material, one or more depressions1214, lip1218, and magnets1220. Magnet1220is mounted below each of depressions1214. Portions of clamp1204may comprise magnetic material and be attracted by one or more magnets1220. Through the magnetic attraction of clamp1204and robot arm604, balls1208become seated into respective depressions1214. For example, balls1208as shown inFIG.9Bwould be seated in depressions1214as shown inFIG.9A. This seating may be considered a magnetically-assisted kinematic coupling. Magnets1220may be configured to be strong enough to support the entire weight of end-effector602regardless of the orientation of end-effector602. The locating coupling may be any style of kinematic mount that uniquely restrains six degrees of freedom. With respect to the reinforcing coupling, portions of clamp1204may be configured to be a fixed ground link and as such clamp1204may serve as a five bar linkage. Closing clamp handle1206may fasten end-effector602to robot arm604as lip1212and lip1218engage clamp1204in a manner to secure end-effector602and robot arm604. When clamp handle1206is closed, spring1210may be stretched or stressed while clamp1204is in a locked position. The locked position may be a position that provides for linkage past center. Because of a closed position that is past center, the linkage will not open absent a force applied to clamp handle1206to release clamp1204. Thus, in a locked position end-effector602may be robustly secured to robot arm604. Spring1210may be a curved beam in tension. Spring1210may be comprised of a material that exhibits high stiffness and high yield strain such as virgin PEEK (poly-ether-ether-ketone). The linkage between end-effector602and robot arm604may provide for a sterile barrier between end-effector602and robot arm604without impeding fastening of the two couplings. The reinforcing coupling may be a linkage with multiple spring members. The reinforcing coupling may latch with a cam or friction based mechanism. The reinforcing coupling may also be a sufficiently powerful electromagnet that will support fastening end-effector102to robot arm604. The reinforcing coupling may be a multi-piece collar completely separate from either end-effector602and/or robot arm604that slips over an interface between end-effector602and robot arm604and tightens with a screw mechanism, an over center linkage, or a cam mechanism. Referring toFIGS.10and11, prior to or during a surgical procedure, certain registration procedures may be conducted to track objects and a target anatomical structure of the patient210both in a navigation space and an image space. To conduct such registration, a registration system1400may be used as illustrated inFIG.10. To track the position of the patient210, a patient tracking device116may include a patient fixation instrument1402to be secured to a rigid anatomical structure of the patient210and a dynamic reference base (DRB)1404may be securely attached to the patient fixation instrument1402. For example, patient fixation instrument1402may be inserted into opening1406of dynamic reference base1404. Dynamic reference base1404may contain markers1408that are visible to tracking devices, such as tracking subsystem532. These markers1408may be optical markers or reflective spheres, such as tracking markers118, as previously discussed herein. Patient fixation instrument1402is attached to a rigid anatomy of the patient210and may remain attached throughout the surgical procedure. In an exemplary embodiment, patient fixation instrument1402is attached to a rigid area of the patient210, for example, a bone that is located away from the targeted anatomical structure subject to the surgical procedure. In order to track the targeted anatomical structure, dynamic reference base1404is associated with the targeted anatomical structure through the use of a registration fixture that is temporarily placed on or near the targeted anatomical structure in order to register the dynamic reference base1404with the location of the targeted anatomical structure. A registration fixture1410is attached to patient fixation instrument1402through the use of a pivot arm1412. Pivot arm1412is attached to patient fixation instrument1402by inserting patient fixation instrument1402through an opening1414of registration fixture1410. Pivot arm1412is attached to registration fixture1410by, for example, inserting a knob1416through an opening1418of pivot arm1412. Using pivot arm1412, registration fixture1410may be placed over the targeted anatomical structure and its location may be determined in an image space and navigation space using tracking markers1420and/or fiducials1422on registration fixture1410. Registration fixture1410may contain a collection of markers1420that are visible in a navigational space (for example, markers1420may be detectable by tracking subsystem532). Tracking markers1420may be optical markers visible in infrared light as previously described herein. Registration fixture1410may also contain a collection of fiducials1422, for example, such as bearing balls, that are visible in an imaging space (for example, a three dimension CT image). As described in greater detail with respect toFIG.11, using registration fixture1410, the targeted anatomical structure may be associated with dynamic reference base1404thereby allowing depictions of objects in the navigational space to be overlaid on images of the anatomical structure. Dynamic reference base1404, located at a position away from the targeted anatomical structure, may become a reference point thereby allowing removal of registration fixture1410and/or pivot arm1412from the surgical area. FIG.11provides an exemplary method1500for registration consistent with the present disclosure. Method1500begins at step1502wherein a graphical representation (or image(s)) of the targeted anatomical structure may be imported into system100,300600, for example computer408. The graphical representation may be three dimensional CT or a fluoroscope scan of the targeted anatomical structure of the patient210which includes registration fixture1410and a detectable imaging pattern of fiducials1420. At step1504, an imaging pattern of fiducials1420is detected and registered in the imaging space and stored in computer408. Optionally, at this time at step1506, a graphical representation of the registration fixture1410may be overlaid on the images of the targeted anatomical structure. At step1508, a navigational pattern of registration fixture1410is detected and registered by recognizing markers1420. Markers1420may be optical markers that are recognized in the navigation space through infrared light by tracking subsystem532via position sensor540. Thus, the location, orientation, and other information of the targeted anatomical structure is registered in the navigation space. Therefore, registration fixture1410may be recognized in both the image space through the use of fiducials1422and the navigation space through the use of markers1420. At step1510, the registration of registration fixture1410in the image space is transferred to the navigation space. This transferal is done, for example, by using the relative position of the imaging pattern of fiducials1422compared to the position of the navigation pattern of markers1420. At step1512, registration of the navigation space of registration fixture1410(having been registered with the image space) is further transferred to the navigation space of dynamic registration array1404attached to patient fixture instrument1402. Thus, registration fixture1410may be removed and dynamic reference base1404may be used to track the targeted anatomical structure in both the navigation and image space because the navigation space is associated with the image space. At steps1514and1516, the navigation space may be overlaid on the image space and objects with markers visible in the navigation space (for example, surgical instruments608with optical markers804). The objects may be tracked through graphical representations of the surgical instrument608on the images of the targeted anatomical structure. FIGS.12A-12Billustrate imaging devices1304that may be used in conjunction with robot systems100,300,600to acquire pre-operative, intra-operative, post-operative, and/or real-time image data of patient210. Any appropriate subject matter may be imaged for any appropriate procedure using the imaging system1304. The imaging system1304may be any imaging device such as imaging device1306and/or a C-arm1308device. It may be desirable to take x-rays of patient210from a number of different positions, without the need for frequent manual repositioning of patient210which may be required in an x-ray system. As illustrated inFIG.12A, the imaging system1304may be in the form of a C-arm1308that includes an elongated C-shaped member terminating in opposing distal ends1312of the “C” shape. C-shaped member1130may further comprise an x-ray source1314and an image receptor1316. The space within C-arm1308of the arm may provide room for the physician to attend to the patient substantially free of interference from x-ray support structure1318. As illustrated inFIG.12B, the imaging system may include imaging device1306having a gantry housing1324attached to a support structure imaging device support structure1328, such as a wheeled mobile cart1330with wheels1332, which may enclose an image capturing portion, not illustrated. The image capturing portion may include an x-ray source and/or emission portion and an x-ray receiving and/or image receiving portion, which may be disposed about one hundred and eighty degrees from each other and mounted on a rotor (not illustrated) relative to a track of the image capturing portion. The image capturing portion may be operable to rotate three hundred and sixty degrees during image acquisition. The image capturing portion may rotate around a central point and/or axis, allowing image data of patient210to be acquired from multiple directions or in multiple planes. Although certain imaging systems1304are exemplified herein, it will be appreciated that any suitable imaging system may be selected by one of ordinary skill in the art. Turning now toFIGS.13A-13C, the surgical robot system100,300,600relies on accurate positioning of the end-effector112,602, surgical instruments608, and/or the patient210(e.g., patient tracking device116) relative to the desired surgical area. In the embodiments shown inFIGS.13A-13C, the tracking markers118,804are rigidly attached to a portion of the instrument608and/or end-effector112. FIG.13Adepicts part of the surgical robot system100with the robot102including base106, robot arm104, and end-effector112. The other elements, not illustrated, such as the display, cameras, etc. may also be present as described herein.FIG.13Bdepicts a close-up view of the end-effector112with guide tube114and a plurality of tracking markers118rigidly affixed to the end-effector112. In this embodiment, the plurality of tracking markers118are attached to the guide tube112.FIG.13Cdepicts an instrument608(in this case, a probe608A) with a plurality of tracking markers804rigidly affixed to the instrument608. As described elsewhere herein, the instrument608could include any suitable surgical instrument, such as, but not limited to, guide wire, cannula, a retractor, a drill, a reamer, a screw driver, an insertion tool, a removal tool, or the like. When tracking an instrument608, end-effector112, or other object to be tracked in 3D, an array of tracking markers118,804may be rigidly attached to a portion of the tool608or end-effector112. Preferably, the tracking markers118,804are attached such that the markers118,804are out of the way (e.g., not impeding the surgical operation, visibility, etc.). The markers118,804may be affixed to the instrument608, end-effector112, or other object to be tracked, for example, with an array612. Usually three or four markers118,804are used with an array612. The array612may include a linear section, a cross piece, and may be asymmetric such that the markers118,804are at different relative positions and locations with respect to one another. For example, as shown inFIG.13C, a probe608A with a 4-marker tracking array612is shown, andFIG.13Bdepicts the end-effector112with a different 4-marker tracking array612. InFIG.13C, the tracking array612functions as the handle620of the probe608A. Thus, the four markers804are attached to the handle620of the probe608A, which is out of the way of the shaft622and tip624. Stereophotogrammetric tracking of these four markers804allows the instrument608to be tracked as a rigid body and for the tracking system100,300,600to precisely determine the position of the tip624and the orientation of the shaft622while the probe608A is moved around in front of tracking cameras200,326. To enable automatic tracking of one or more tools608, end-effector112, or other object to be tracked in 3D (e.g., multiple rigid bodies), the markers118,804on each tool608, end-effector112, or the like, are arranged asymmetrically with a known inter-marker spacing. The reason for asymmetric alignment is so that it is unambiguous which marker118,804corresponds to a particular location on the rigid body and whether markers118,804are being viewed from the front or back, i.e., mirrored. For example, if the markers118,804were arranged in a square on the tool608or end-effector112, it would be unclear to the system100,300,600which marker118,804corresponded to which corner of the square. For example, for the probe608A, it would be unclear which marker804was closest to the shaft622. Thus, it would be unknown which way the shaft622was extending from the array612. Accordingly, each array612and thus each tool608, end-effector112, or other object to be tracked should have a unique marker pattern to allow it to be distinguished from other tools608or other objects being tracked. Asymmetry and unique marker patterns allow the system100,300,600to detect individual markers118,804then to check the marker spacing against a stored template to determine which tool608, end effector112, or other object they represent. Detected markers118,804can then be sorted automatically and assigned to each tracked object in the correct order. Without this information, rigid body calculations could not then be performed to extract key geometric information, for example, such as tool tip624and alignment of the shaft622, unless the user manually specified which detected marker118,804corresponded to which position on each rigid body. These concepts are commonly known to those skilled in the methods of 3D optical tracking. Turning now toFIGS.14A-14D, an alternative version of an end-effector912with moveable tracking markers918A-918D is shown. InFIG.14A, an array with moveable tracking markers918A-918D are shown in a first configuration, and inFIG.14Bthe moveable tracking markers918A-918D are shown in a second configuration, which is angled relative to the first configuration.FIG.14Cshows the template of the tracking markers918A-918D, for example, as seen by the cameras200,326in the first configuration ofFIG.14A; andFIG.14Dshows the template of tracking markers918A-918D, for example, as seen by the cameras200,326in the second configuration ofFIG.14B. In this embodiment, 4-marker array tracking is contemplated wherein the markers918A-918D are not all in fixed position relative to the rigid body and instead, one or more of the array markers918A-918D can be adjusted, for example, during testing, to give updated information about the rigid body that is being tracked without disrupting the process for automatic detection and sorting of the tracked markers918A-918D. When tracking any tool, such as a guide tube914connected to the end effector912of a robot system100,300,600, the tracking array's primary purpose is to update the position of the end effector912in the camera coordinate system. When using the rigid system, for example, as shown inFIG.13B, the array612of reflective markers118rigidly extend from the guide tube114. Because the tracking markers118are rigidly connected, knowledge of the marker locations in the camera coordinate system also provides exact location of the centerline, tip, and tail of the guide tube114in the camera coordinate system. Typically, information about the position of the end effector112from such an array612and information about the location of a target trajectory from another tracked source are used to calculate the required moves that must be input for each axis of the robot102that will move the guide tube114into alignment with the trajectory and move the tip to a particular location along the trajectory vector. Sometimes, the desired trajectory is in an awkward or unreachable location, but if the guide tube114could be swiveled, it could be reached. For example, a very steep trajectory pointing away from the base106of the robot102might be reachable if the guide tube114could be swiveled upward beyond the limit of the pitch (wrist up-down angle) axis, but might not be reachable if the guide tube114is attached parallel to the plate connecting it to the end of the wrist. To reach such a trajectory, the base106of the robot102might be moved or a different end effector112with a different guide tube attachment might be exchanged with the working end effector. Both of these solutions may be time consuming and cumbersome. As best seen inFIGS.14A and14B, if the array908is configured such that one or more of the markers918A-918D are not in a fixed position and instead, one or more of the markers918A-918D can be adjusted, swiveled, pivoted, or moved, the robot102can provide updated information about the object being tracked without disrupting the detection and tracking process. For example, one of the markers918A-918D may be fixed in position and the other markers918A-918D may be moveable; two of the markers918A-918D may be fixed in position and the other markers918A-918D may be moveable; three of the markers918A-918D may be fixed in position and the other marker918A-918D may be moveable; or all of the markers918A-918D may be moveable. In the embodiment shown inFIGS.14A and14B, markers918A,918B are rigidly connected directly to a base906of the end-effector912, and markers918C,918D are rigidly connected to the tube914. Similar to array612, array908may be provided to attach the markers918A-918D to the end-effector912, instrument608, or other object to be tracked. In this case, however, the array908is comprised of a plurality of separate components. For example, markers918A,918B may be connected to the base906with a first array908A, and markers918C,918D may be connected to the guide tube914with a second array908B. Marker918A may be affixed to a first end of the first array908A and marker918B may be separated a linear distance and affixed to a second end of the first array908A. While first array908is substantially linear, second array908B has a bent or V-shaped configuration, with respective root ends, connected to the guide tube914, and diverging therefrom to distal ends in a V-shape with marker918C at one distal end and marker918D at the other distal end. Although specific configurations are exemplified herein, it will be appreciated that other asymmetric designs including different numbers and types of arrays908A,908B and different arrangements, numbers, and types of markers918A-918D are contemplated. The guide tube914may be moveable, swivelable, or pivotable relative to the base906, for example, across a hinge920or other connector to the base906. Thus, markers918C,918D are moveable such that when the guide tube914pivots, swivels, or moves, markers918C,918D also pivot, swivel, or move. As best seen inFIG.14A, guide tube914has a longitudinal axis916which is aligned in a substantially normal or vertical orientation such that markers918A-918D have a first configuration. Turning now toFIG.14B, the guide tube914is pivoted, swiveled, or moved such that the longitudinal axis916is now angled relative to the vertical orientation such that markers918A-918D have a second configuration, different from the first configuration. In contrast to the embodiment described forFIGS.14A-14D, if a swivel existed between the guide tube914and the arm104(e.g., the wrist attachment) with all four markers918A-918D remaining attached rigidly to the guide tube914and this swivel was adjusted by the user, the robotic system100,300,600would not be able to automatically detect that the guide tube914orientation had changed. The robotic system100,300,600would track the positions of the marker array908and would calculate incorrect robot axis moves assuming the guide tube914was attached to the wrist (the robot arm104) in the previous orientation. By keeping one or more markers918A-918D (e.g., two markers918C,918D) rigidly on the tube914and one or more markers918A-918D (e.g., two markers918A,918B) across the swivel, automatic detection of the new position becomes possible and correct robot moves are calculated based on the detection of a new tool or end-effector112,912on the end of the robot arm104. One or more of the markers918A-918D are configured to be moved, pivoted, swiveled, or the like according to any suitable means. For example, the markers918A-918D may be moved by a hinge920, such as a clamp, spring, lever, slide, toggle, or the like, or any other suitable mechanism for moving the markers918A-918D individually or in combination, moving the arrays908A,908B individually or in combination, moving any portion of the end-effector912relative to another portion, or moving any portion of the tool608relative to another portion. As shown inFIGS.14A and14B, the array908and guide tube914may become reconfigurable by simply loosening the clamp or hinge920, moving part of the array908A,908B relative to the other part908A,908B, and retightening the hinge920such that the guide tube914is oriented in a different position. For example, two markers918C,918D may be rigidly interconnected with the tube914and two markers918A,918B may be rigidly interconnected across the hinge920to the base906of the end-effector912that attaches to the robot arm104. The hinge920may be in the form of a clamp, such as a wing nut or the like, which can be loosened and retightened to allow the user to quickly switch between the first configuration (FIG.14A) and the second configuration (FIG.14B). The cameras200,326detect the markers918A-918D, for example, in one of the templates identified inFIGS.14C and14D. If the array908is in the first configuration (FIG.14A) and tracking cameras200,326detect the markers918A-918D, then the tracked markers match Array Template1as shown inFIG.14C. If the array908is the second configuration (FIG.14B) and tracking cameras200,326detect the same markers918A-918D, then the tracked markers match Array Template2as shown inFIG.14D. Array Template1and Array Template2are recognized by the system100,300,600as two distinct tools, each with its own uniquely defined spatial relationship between guide tube914, markers918A-918D, and robot attachment. The user could therefore adjust the position of the end-effector912between the first and second configurations without notifying the system100,300,600of the change and the system100,300,600would appropriately adjust the movements of the robot102to stay on trajectory. In this embodiment, there are two assembly positions in which the marker array matches unique templates that allow the system100,300,600to recognize the assembly as two different tools or two different end effectors. In any position of the swivel between or outside of these two positions (namely, Array Template1and Array Template2shown inFIGS.14C and14D, respectively), the markers918A-918D would not match any template and the system100,300,600would not detect any array present despite individual markers918A-918D being detected by cameras200,326, with the result being the same as if the markers918A-918D were temporarily blocked from view of the cameras200,326. It will be appreciated that other array templates may exist for other configurations, for example, identifying different instruments608or other end-effectors112,912, etc. In the embodiment described, two discrete assembly positions are shown inFIGS.14A and14B. It will be appreciated, however, that there could be multiple discrete positions on a swivel joint, linear joint, combination of swivel and linear joints, pegboard, or other assembly where unique marker templates may be created by adjusting the position of one or more markers918A-918D of the array relative to the others, with each discrete position matching a particular template and defining a unique tool608or end-effector112,912with different known attributes. In addition, although exemplified for end effector912, it will be appreciated that moveable and fixed markers918A-918D may be used with any suitable instrument608or other object to be tracked. When using an external 3D tracking system100,300,600to track a full rigid body array of three or more markers attached to a robot's end effector112(for example, as depicted inFIGS.13A and13B), it is possible to directly track or to calculate the 3D position of every section of the robot102in the coordinate system of the cameras200,326. The geometric orientations of joints relative to the tracker are known by design, and the linear or angular positions of joints are known from encoders for each motor of the robot102, fully defining the 3D positions of all of the moving parts from the end effector112to the base116. Similarly, if a tracker were mounted on the base106of the robot102(not shown), it is likewise possible to track or calculate the 3D position of every section of the robot102from base106to end effector112based on known joint geometry and joint positions from each motor's encoder. In some situations, it may be desirable to track the positions of all segments of the robot102from fewer than three markers118rigidly attached to the end effector112. Specifically, if a tool608is introduced into the guide tube114, it may be desirable to track full rigid body motion of the robot902with only one additional marker118being tracked. Turning now toFIGS.15A-15E, an alternative version of an end-effector1012having only a single tracking marker1018is shown. End-effector1012may be similar to the other end-effectors described herein, and may include a guide tube1014extending along a longitudinal axis1016. A single tracking marker1018, similar to the other tracking markers described herein, may be rigidly affixed to the guide tube1014. This single marker1018can serve the purpose of adding missing degrees of freedom to allow full rigid body tracking and/or can serve the purpose of acting as a surveillance marker to ensure that assumptions about robot and camera positioning are valid. The single tracking marker1018may be attached to the robotic end effector1012as a rigid extension to the end effector1012that protrudes in any convenient direction and does not obstruct the surgeon's view. The tracking marker1018may be affixed to the guide tube1014or any other suitable location of on the end-effector1012. When affixed to the guide tube1014, the tracking marker1018may be positioned at a location between first and second ends of the guide tube1014. For example, inFIG.15A, the single tracking marker1018is shown as a reflective sphere mounted on the end of a narrow shaft1017that extends forward from the guide tube1014and is positioned longitudinally above a mid-point of the guide tube1014and below the entry of the guide tube1014. This position allows the marker1018to be generally visible by cameras200,326but also would not obstruct vision of the surgeon120or collide with other tools or objects in the vicinity of surgery. In addition, the guide tube1014with the marker1018in this position is designed for the marker array on any tool608introduced into the guide tube1014to be visible at the same time as the single marker1018on the guide tube1014is visible. As shown inFIG.15B, when a snugly fitting tool or instrument608is placed within the guide tube1014, the instrument608becomes mechanically constrained in 4 of 6 degrees of freedom. That is, the instrument608cannot be rotated in any direction except about the longitudinal axis1016of the guide tube1014and the instrument608cannot be translated in any direction except along the longitudinal axis1016of the guide tube1014. In other words, the instrument608can only be translated along and rotated about the centerline of the guide tube1014. If two more parameters are known, such as (1) an angle of rotation about the longitudinal axis1016of the guide tube1014; and (2) a position along the guide tube1014, then the position of the end effector1012in the camera coordinate system becomes fully defined. Referring now toFIG.15C, the system100,300,600should be able to know when a tool608is actually positioned inside of the guide tube1014and is not instead outside of the guide tube1014and just somewhere in view of the cameras200,326. The tool608has a longitudinal axis or centerline616and an array612with a plurality of tracked markers804. The rigid body calculations may be used to determine where the centerline616of the tool608is located in the camera coordinate system based on the tracked position of the array612on the tool608. The fixed normal (perpendicular) distance DFfrom the single marker1018to the centerline or longitudinal axis1016of the guide tube1014is fixed and is known geometrically, and the position of the single marker1018can be tracked. Therefore, when a detected distance DDfrom tool centerline616to single marker1018matches the known fixed distance DFfrom the guide tube centerline1016to the single marker1018, it can be determined that the tool608is either within the guide tube1014(centerlines616,1016of tool608and guide tube1014coincident) or happens to be at some point in the locus of possible positions where this distance DDmatches the fixed distance DF. For example, inFIG.15C, the normal detected distance DDfrom tool centerline616to the single marker1018matches the fixed distance DFfrom guide tube centerline1016to the single marker1018in both frames of data (tracked marker coordinates) represented by the transparent tool608in two positions, and thus, additional considerations may be needed to determine when the tool608is located in the guide tube1014. Turning now toFIG.15D, programmed logic can be used to look for frames of tracking data in which the detected distance DDfrom tool centerline616to single marker1018remains fixed at the correct length despite the tool608moving in space by more than some minimum distance relative to the single sphere1018to satisfy the condition that the tool608is moving within the guide tube1014. For example, a first frame F1may be detected with the tool608in a first position and a second frame F2may be detected with the tool608in a second position (namely, moved linearly with respect to the first position). The markers804on the tool array612may move by more than a given amount (e.g., more than 5 mm total) from the first frame F1to the second frame F2. Even with this movement, the detected distance DDfrom the tool centerline vector C′ to the single marker1018is substantially identical in both the first frame F1and the second frame F2. Logistically, the surgeon120or user could place the tool608within the guide tube1014and slightly rotate it or slide it down into the guide tube1014and the system100,300,600would be able to detect that the tool608is within the guide tube1014from tracking of the five markers (four markers804on tool608plus single marker1018on guide tube1014). Knowing that the tool608is within the guide tube1014, all 6 degrees of freedom may be calculated that define the position and orientation of the robotic end effector1012in space. Without the single marker1018, even if it is known with certainty that the tool608is within the guide tube1014, it is unknown where the guide tube1014is located along the tool's centerline vector C′ and how the guide tube1014is rotated relative to the centerline vector C′. With emphasis onFIG.15E, the presence of the single marker1018being tracked as well as the four markers804on the tool608, it is possible to construct the centerline vector C′ of the guide tube1014and tool608and the normal vector through the single marker1018and through the centerline vector C′. This normal vector has an orientation that is in a known orientation relative to the forearm of the robot distal to the wrist (in this example, oriented parallel to that segment) and intersects the centerline vector C′ at a specific fixed position. For convenience, three mutually orthogonal vectors k′, j′, i′ can be constructed, as shown inFIG.15E, defining rigid body position and orientation of the guide tube1014. One of the three mutually orthogonal vectors k′ is constructed from the centerline vector C′, the second vector j′ is constructed from the normal vector through the single marker1018, and the third vector i′ is the vector cross product of the first and second vectors k′, j′. The robot's joint positions relative to these vectors k′, j′, i′ are known and fixed when all joints are at zero, and therefore rigid body calculations can be used to determine the location of any section of the robot relative to these vectors k′, j′, i′ when the robot is at a home position. During robot movement, if the positions of the tool markers804(while the tool608is in the guide tube1014) and the position of the single marker1018are detected from the tracking system, and angles/linear positions of each joint are known from encoders, then position and orientation of any section of the robot can be determined. In some embodiments, it may be useful to fix the orientation of the tool608relative to the guide tube1014. For example, the end effector guide tube1014may be oriented in a particular position about its axis1016to allow machining or implant positioning. Although the orientation of anything attached to the tool608inserted into the guide tube1014is known from the tracked markers804on the tool608, the rotational orientation of the guide tube1014itself in the camera coordinate system is unknown without the additional tracking marker1018(or multiple tracking markers in other embodiments) on the guide tube1014. This marker1018provides essentially a “clock position” from −180° to +180° based on the orientation of the marker1018relative to the centerline vector C′. Thus, the single marker1018can provide additional degrees of freedom to allow full rigid body tracking and/or can act as a surveillance marker to ensure that assumptions about the robot and camera positioning are valid. FIG.16is a block diagram of a method1100for navigating and moving the end-effector1012(or any other end-effector described herein) of the robot102to a desired target trajectory. Another use of the single marker1018on the robotic end effector1012or guide tube1014is as part of the method1100enabling the automated safe movement of the robot102without a full tracking array attached to the robot102. This method1100functions when the tracking cameras200,326do not move relative to the robot102(i.e., they are in a fixed position), the tracking system's coordinate system and robot's coordinate system are co-registered, and the robot102is calibrated such that the position and orientation of the guide tube1014can be accurately determined in the robot's Cartesian coordinate system based only on the encoded positions of each robotic axis. For this method1100, the coordinate systems of the tracker and the robot must be co-registered, meaning that the coordinate transformation from the tracking system's Cartesian coordinate system to the robot's Cartesian coordinate system is needed. For convenience, this coordinate transformation can be a 4×4 matrix of translations and rotations that is well known in the field of robotics. This transformation will be termed Tcr to refer to “transformation—camera to robot”. Once this transformation is known, any new frame of tracking data, which is received as x,y,z coordinates in vector form for each tracked marker, can be multiplied by the 4×4 matrix and the resulting x,y,z coordinates will be in the robot's coordinate system. To obtain Tcr, a full tracking array on the robot is tracked while it is rigidly attached to the robot at a location that is known in the robot's coordinate system, then known rigid body methods are used to calculate the transformation of coordinates. It should be evident that any tool608inserted into the guide tube1014of the robot102can provide the same rigid body information as a rigidly attached array when the additional marker1018is also read. That is, the tool608need only be inserted to any position within the guide tube1014and at any rotation within the guide tube1014, not to a fixed position and orientation. Thus, it is possible to determine Tcr by inserting any tool608with a tracking array612into the guide tube1014and reading the tool's array612plus the single marker1018of the guide tube1014while at the same time determining from the encoders on each axis the current location of the guide tube1014in the robot's coordinate system. Logic for navigating and moving the robot102to a target trajectory is provided in the method1100ofFIG.16. Before entering the loop1102, it is assumed that the transformation Tcr was previously stored. Thus, before entering loop1102, in step1104, after the robot base106is secured, greater than or equal to one frame of tracking data of a tool inserted in the guide tube while the robot is static is stored; and in step1106, the transformation of robot guide tube position from camera coordinates to robot coordinates Tcr is calculated from this static data and previous calibration data. Tcr should remain valid as long as the cameras200,326do not move relative to the robot102. If the cameras200,326move relative to the robot102, and Tcr needs to be re-obtained, the system100,300,600can be made to prompt the user to insert a tool608into the guide tube1014and then automatically perform the necessary calculations. In the flowchart of method1100, each frame of data collected consists of the tracked position of the DRB1404on the patient210, the tracked position of the single marker1018on the end effector1014, and a snapshot of the positions of each robotic axis. From the positions of the robot's axes, the location of the single marker1018on the end effector1012is calculated. This calculated position is compared to the actual position of the marker1018as recorded from the tracking system. If the values agree, it can be assured that the robot102is in a known location. The transformation Tcr is applied to the tracked position of the DRB1404so that the target for the robot102can be provided in terms of the robot's coordinate system. The robot102can then be commanded to move to reach the target. After steps1104,1106, loop1102includes step1108receiving rigid body information for DRB1404from the tracking system; step1110transforming target tip and trajectory from image coordinates to tracking system coordinates; and step1112transforming target tip and trajectory from camera coordinates to robot coordinates (apply Tcr). Loop1102further includes step1114receiving a single stray marker position for robot from tracking system; and step1116transforming the single stray marker from tracking system coordinates to robot coordinates (apply stored Tcr). Loop1102also includes step1118determining current location of the single robot marker1018in the robot coordinate system from forward kinematics. The information from steps1116and1118is used to determine step1120whether the stray marker coordinates from transformed tracked position agree with the calculated coordinates being less than a given tolerance. If yes, proceed to step1122, calculate and apply robot move to target x, y, z and trajectory. If no, proceed to step1124, halt and require full array insertion into guide tube1014before proceeding; step1126after array is inserted, recalculate Tcr; and then proceed to repeat steps1108,1114, and1118. This method1100has advantages over a method in which the continuous monitoring of the single marker1018to verify the location is omitted. Without the single marker1018, it would still be possible to determine the position of the end effector1012using Tcr and to send the end-effector1012to a target location but it would not be possible to verify that the robot102was actually in the expected location. For example, if the cameras200,326had been bumped and Tcr was no longer valid, the robot102would move to an erroneous location. For this reason, the single marker1018provides value with regard to safety. For a given fixed position of the robot102, it is theoretically possible to move the tracking cameras200,326to a new location in which the single tracked marker1018remains unmoved since it is a single point, not an array. In such a case, the system100,300,600would not detect any error since there would be agreement in the calculated and tracked locations of the single marker1018. However, once the robot's axes caused the guide tube1012to move to a new location, the calculated and tracked positions would disagree and the safety check would be effective. The term “surveillance marker” may be used, for example, in reference to a single marker that is in a fixed location relative to the DRB1404. In this instance, if the DRB1404is bumped or otherwise dislodged, the relative location of the surveillance marker changes and the surgeon120can be alerted that there may be a problem with navigation. Similarly, in the embodiments described herein, with a single marker1018on the robot's guide tube1014, the system100,300,600can continuously check whether the cameras200,326have moved relative to the robot102. If registration of the tracking system's coordinate system to the robot's coordinate system is lost, such as by cameras200,326being bumped or malfunctioning or by the robot malfunctioning, the system100,300,600can alert the user and corrections can be made. Thus, this single marker1018can also be thought of as a surveillance marker for the robot102. It should be clear that with a full array permanently mounted on the robot102(e.g., the plurality of tracking markers702on end-effector602shown inFIGS.7A-7C) such functionality of a single marker1018as a robot surveillance marker is not needed because it is not required that the cameras200,326be in a fixed position relative to the robot102, and Tcr is updated at each frame based on the tracked position of the robot102. Reasons to use a single marker1018instead of a full array are that the full array is more bulky and obtrusive, thereby blocking the surgeon's view and access to the surgical field208more than a single marker1018, and line of sight to a full array is more easily blocked than line of sight to a single marker1018. Turning now toFIGS.17A-17B and18A-18B, instruments608, such as implant holders608B,608C, are depicted which include both fixed and moveable tracking markers804,806. The implant holders608B,608C may have a handle620and an outer shaft622extending from the handle620. The shaft622may be positioned substantially perpendicular to the handle620, as shown, or in any other suitable orientation. An inner shaft626may extend through the outer shaft622with a knob628at one end. Implant10,12connects to the shaft622, at the other end, at tip624of the implant holder608B,608C using typical connection mechanisms known to those of skill in the art. The knob628may be rotated, for example, to expand or articulate the implant10,12. U.S. Pat. Nos. 8,709,086 and 8,491,659, which are incorporated by reference herein, describe expandable fusion devices and methods of installation. When tracking the tool608, such as implant holder608B,608C, the tracking array612may contain a combination of fixed markers804and one or more moveable markers806which make up the array612or is otherwise attached to the implant holder608B,608C. The navigation array612may include at least one or more (e.g., at least two) fixed position markers804, which are positioned with a known location relative to the implant holder instrument608B,608C. These fixed markers804would not be able to move in any orientation relative to the instrument geometry and would be useful in defining where the instrument608is in space. In addition, at least one marker806is present which can be attached to the array612or the instrument itself which is capable of moving within a pre-determined boundary (e.g., sliding, rotating, etc.) relative to the fixed markers804. The system100,300,600(e.g., the software) correlates the position of the moveable marker806to a particular position, orientation, or other attribute of the implant10(such as height of an expandable interbody spacer shown inFIGS.17A-17Bor angle of an articulating interbody spacer shown inFIGS.18A-18B). Thus, the system and/or the user can determine the height or angle of the implant10,12based on the location of the moveable marker806. In the embodiment shown inFIGS.17A-17B, four fixed markers804are used to define the implant holder608B and a fifth moveable marker806is able to slide within a pre-determined path to provide feedback on the implant height (e.g., a contracted position or an expanded position).FIG.17Ashows the expandable spacer10at its initial height, andFIG.17Bshows the spacer10in the expanded state with the moveable marker806translated to a different position. In this case, the moveable marker806moves closer to the fixed markers804when the implant10is expanded, although it is contemplated that this movement may be reversed or otherwise different. The amount of linear translation of the marker806would correspond to the height of the implant10. Although only two positions are shown, it would be possible to have this as a continuous function whereby any given expansion height could be correlated to a specific position of the moveable marker806. Turning now toFIGS.18A-18B, four fixed markers804are used to define the implant holder608C and a fifth, moveable marker806is configured to slide within a pre-determined path to provide feedback on the implant articulation angle.FIG.18Ashows the articulating spacer12at its initial linear state, andFIG.18Bshows the spacer12in an articulated state at some offset angle with the moveable marker806translated to a different position. The amount of linear translation of the marker806would correspond to the articulation angle of the implant12. Although only two positions are shown, it would be possible to have this as a continuous function whereby any given articulation angle could be correlated to a specific position of the moveable marker806. In these embodiments, the moveable marker806slides continuously to provide feedback about an attribute of the implant10,12based on position. It is also contemplated that there may be discreet positions that the moveable marker806must be in which would also be able to provide further information about an implant attribute. In this case, each discreet configuration of all markers804,806correlates to a specific geometry of the implant holder608B,608C and the implant10,12in a specific orientation or at a specific height. In addition, any motion of the moveable marker806could be used for other variable attributes of any other type of navigated implant. Although depicted and described with respect to linear movement of the moveable marker806, the moveable marker806should not be limited to just sliding as there may be applications where rotation of the marker806or other movements could be useful to provide information about the implant10,12. Any relative change in position between the set of fixed markers804and the moveable marker806could be relevant information for the implant10,12or other device. In addition, although expandable and articulating implants10,12are exemplified, the instrument608could work with other medical devices and materials, such as spacers, cages, plates, fasteners, nails, screws, rods, pins, wire structures, sutures, anchor clips, staples, stents, bone grafts, biologics, cements, or the like. Turning now toFIG.19A, it is envisioned that the robot end-effector112is interchangeable with other types of end-effectors112. Moreover, it is contemplated that each end-effector112may be able to perform one or more functions based on a desired surgical procedure. For example, the end-effector112having a guide tube114may be used for guiding an instrument608as described herein. In addition, end-effector112may be replaced with a different or alternative end-effector112that controls a surgical device, instrument, or implant, for example. The alternative end-effector112may include one or more devices or instruments coupled to and controllable by the robot. By way of non-limiting example, the end-effector112, as depicted inFIG.19A, may comprise a retractor (for example, one or more retractors disclosed in U.S. Pat. Nos. 8,992,425 and 8,968,363) or one or more mechanisms for inserting or installing surgical devices such as expandable intervertebral fusion devices (such as expandable implants exemplified in U.S. Pat. Nos. 8,845,734; 9,510,954; and 9,456,903), stand-alone intervertebral fusion devices (such as implants exemplified in U.S. Pat. Nos. 9,364,343 and 9,480,579), expandable corpectomy devices (such as corpectomy implants exemplified in U.S. Pat. Nos. 9,393,128 and 9,173,747), articulating spacers (such as implants exemplified in U.S. Pat. No. 9,259,327), facet prostheses (such as devices exemplified in U.S. Pat. No. 9,539,031), laminoplasty devices (such as devices exemplified in U.S. Pat. No. 9,486,253), spinous process spacers (such as implants exemplified in U.S. Pat. No. 9,592,082), inflatables, fasteners including polyaxial screws, uniplanar screws, pedicle screws, posted screws, and the like, bone fixation plates, rod constructs and revision devices (such as devices exemplified in U.S. Pat. No. 8,882,803), artificial and natural discs, motion preserving devices and implants, spinal cord stimulators (such as devices exemplified in U.S. Pat. No. 9,440,076), and other surgical devices. The end-effector112may include one or instruments directly or indirectly coupled to the robot for providing bone cement, bone grafts, living cells, pharmaceuticals, or other deliverable to a surgical target. The end-effector112may also include one or more instruments designed for performing a discectomy, kyphoplasty, vertebrostenting, dilation, or other surgical procedure. The end-effector itself and/or the implant, device, or instrument may include one or more markers118such that the location and position of the markers118may be identified in three-dimensions. It is contemplated that the markers118may include active or passive markers118, as described herein, that may be directly or indirectly visible to the cameras200. Thus, one or more markers118located on an implant10, for example, may provide for tracking of the implant10before, during, and after implantation. As shown inFIG.19B, the end-effector112may include an instrument608or portion thereof that is coupled to the robot arm104(for example, the instrument608may be coupled to the robot arm104by the coupling mechanism shown inFIGS.9A-9C) and is controllable by the robot system100. Thus, in the embodiment shown inFIG.19B, the robot system100is able to insert implant10into a patient and expand or contract the expandable implant10. Accordingly, the robot system100may be configured to assist a surgeon or to operate partially or completely independently thereof. Thus, it is envisioned that the robot system100may be capable of controlling each alternative end-effector112for its specified function or surgical procedure. Although the robot and associated systems described herein are generally described with reference to spine applications, it is also contemplated that the robot system is configured for use in other surgical applications, including but not limited to, surgeries in trauma or other orthopedic applications (such as the placement of intramedullary nails, plates, and the like), cranial, neuro, cardiothoracic, vascular, colorectal, oncological, dental, and other surgical operations and procedures. During robotic spine (or other) procedures, a Dynamic Reference Base (DRB) may thus be affixed to the patient (e.g., to a bone of the patient), and used to track the patient anatomy. Since the patient is breathing, a position of the DRB (which is attached to the patient's body) may oscillate. The position of the end-effector's affixed guide tube may be robotically automatically controlled to stay aligned with the target trajectory continuously during these oscillations. However, once a surgical tool is introduced into the guide tube, the automatic position control may cease for safety reasons and the robotic will remain rigidly fixed in a static pose. Henceforth, patient movement (e.g., due to breathing) may cause deviation from the target trajectory while the end-effector (e.g., surgical tool) remain locked in place relative to the room. This deviation/shift (if unnoticed and unaccounted for) may thus reduce accuracy of the system and/or surgical procedure. According to some embodiments of inventive concepts, detection of patient movement (e.g., due to breathing) may be improved, and/or positioning may be improved. For example, information from a remote sensor system may be used to generate a representation of the effect of breathing relative to positioning of a robotic end-effector. Such deviation may be monitored based on a deviation (difference) between an actual end-effector trajectory and a target (i.e., planned) end-effect trajectory, for example, used for placement of a spinal screw (or other medical device/implant/procedure). If patient breathing is significant, the resulting deviation may cause a distance of the actual trajectory of the end-effector from the target (planned) trajectory to vary. According to some embodiments of inventive concepts, this deviation may be provided on display110. According to some embodiments, a graphic meter may be shown on display110with three distinct sections. These sections may be colored to indicate an extent of the shift: green, yellow, and red. In a procedure during which breathing is considered excessive, a user (e.g., a surgeon) may request that the anesthesiologist limit the amount of breathing, or halt the patient breathing entirely for a short period to facilitate a more accurate placement of the end-effector. FIGS.20A,20B, and20Cillustrate three embodiments of a breathing meter structure that may be provided as a graphic meter on display110. InFIG.20A, the meter may be illustrated using a rounded dial configuration with a “needle”2001aindicating the degree of deviation. InFIG.20B, the meter may be illustrated using a horizontal bar configuration with “needle”2001bindicating the degree of deviation. InFIG.20C, the meter may be illustrated using a vertical bar configuration with “needle”2001cindicating the degree of deviation. In any of the embodiments ofFIGS.20A-C, the “needle” may be omitted with illumination being used to indicate the degree of deviation. For example, the green areas (or portions thereof) may be illuminated (without illuminating yellow and red areas) to indicate degrees of low deviations; the green areas and yellow areas (or portions of the yellow areas) may be illuminated (without illuminating red areas) to indicate degrees of medium deviation; and the green areas, yellow areas, and red areas (or portions of the red areas) may be illuminated to indicate degrees of high deviation. Moreover, the meter may be used to dynamically indicate a changing deviation in real-time (e.g., due to breathing). In addition or in an alternative, the surgical robotic system may indicate when the end-effector's position should be updated to reduce a steady-state error created by the deviation to the plan position using the meter or other visual or audio output. For example, because the DRB is affixed to the patient, the meter may reflect a steady-state deviation from the target trajectory resulting from movement of the patient on the operative bed. Providing this information to the user (e.g., surgeon or other member of the surgical team) may allow the user to choose when to activate the robotic arm to reduce the steady-state deviation (i.e., to close the feedback loop). Because not all people breathe in the same manner or with the same intensity, magnitudes of deviations between actual and target trajectories may vary greatly between different patients. Moreover, a desired deviation between target and actual trajectories of the end-effector (considered to be an optimal deviation of zero) may be indicated at the green end of the meter, and an extreme deviation between target and actual trajectories of the end-effector may be indicated at the red end of the meter. Moreover, a difference between desired and extreme deviations may result from DRB movements of only one to two millimeters. The meter may thus be used to indicate real-time deviations between actual and target trajectories of the end-effector (e.g., caused by periodic movement due to breathing, and/or one-time movement such as a shifting of the patient's body). This displayed deviation may afford the user (e.g., the surgeon or other surgical team member) an awareness to robotically move the end-effector to the target trajectory and allow settling to a precise target (planned) position defined by the target trajectory of the end-effector. By using the DRB to track movement, should use of any instrument cause a significant shift in patient position, the meter would indicate the change, thus notifying the user to robotically move the end-effector to the target trajectory once more, thereby reducing deviation between the actual and target trajectories until any such deviation is within acceptable limits. According to some embodiments, the surgical robotic system may use feedback from remote sensors (e.g., tracking cameras200) to determine positions of the DRB and the robotic arm end-effector, and a fixed offset may be used to determine a particular anatomical location of the patient relative to the DRB provided that a position of the DRB relative to the anatomical location is substantially fixed. For example, if the DRB is affixed to the spine and the anatomical location is a location on the spine for placement of a screw, a position of the DRB relative to the anatomical location may be substantially fixed (even if as the spine moves due to breathing) so that a fixed offset may be used to determine the anatomical location based on the location of the DRB during all phases of breathing. According to some other embodiments, an offset between the DRB and the anatomical location may be variable. For example, if the DRB is affixed to the spine and the anatomical location is in soft tissue (e.g., an organ such as a lung) spaced apart from the DRB, an offset between the DRB and the anatomical location may change over different phases of the breathing cycle. In such cases, the position of the DRB cannot be used exclusively to track the targeted anatomy. The surgical robotic system may using modeling to provide a variable offset used to determine a position of the target anatomical location based on a position of the DRB during different phases of the breathing cycle. According to some embodiments of inventive concepts, a meter ofFIGS.20A,20B, and/or20C and/or a determination of deviation between target and actual trajectories of an end-effector may be used to provide enhanced robotic guidance during procedures that may be affected by breathing, such as a lung or organ biopsy or other soft tissue procedure. If the movement of a lesion to be biopsied is not fixed relative to movement of the DRB during breathing as shown inFIGS.21A and21B(i.e., an offset between the DRB and the lesion is variable over the breathing cycle), then a mathematical or experimental prediction of an offset of the target needle trajectory relative to the location of attachment of the DRB at various phases of breathing may be useful. For example, an offset between the DRB and the lesion when the lungs are deflated as shown inFIG.21Amay be different than an offset between the DRB and the lesion when the lungs are inflated as shown inFIG.21B. Such predictions may be based on tissue modeling and/or modeled estimations of where different portions of the lung move during breathing. That is, by studying how lungs generally behave during each phase of breathing, a computational model may be created to provide the location of any lung location throughout the breathing cycle. The model may then be applied to a specific patient with a lesion at a specific location. In an alternative, the path of lesion movement may be experimentally acquired for a patient by taking x-rays or other types of imaging while simultaneously recording breathing phase. Data frames could be compiled that contain an image together with a breathing phase, and a lookup table or fitted mathematical formula of lesion offsets vs. phase may be created and referenced later during the surgical procedure to guide the robotic arm positioning the end-effector. This information can be used to determine offsets of the DRB relative to the lesion at the different phases of breathing so that knowledge of the position of the DRB can be used to determine a corresponding position of the lesion over the different phases of breathing. FIG.21A(with deflated lungs) andFIG.21B(with inflated lungs) are schematic illustrations of a torso from an axial perspective, showing effect of breathing on DRB vs. lesion spatial position. In this example, a magnitude and direction of movement of the bone to which the DRB is attached may be different than a magnitude and direction of movement of the lung lesion so that tracking the lesion based on a fixed offset from the DRB may be insufficient to accurately track the location of the lesion. Although the position of the lung lesion cannot be directly tracked during different phases of breathing, a position of the lung lesion relative to the anchor point of the DRB can be modeled or otherwise determined and a robot guide tube (or other end-effector) position may be adjusted so that its trajectory intersects the actual lesion location during multiple/all phases of lung inflation/deflation. Functionally, the robotic system may track the DRB directly as the base coordinates and then adjust the position of the guide tube for soft tissue biopsy based on the lookup table or mathematical model of variable offsets (i.e., positional offsets) and the phase position of breathing. In one embodiment, the robotic system may adjust its position continuously and automatically based on the tracked breathing, so that at any time the surgeon can deploy the biopsy needle and accurately target the lesion. In another embodiment, the robot could hold steady at a position corresponding to a particular phase and then indicate to the user through a meter (e.g., a meter ofFIGS.20A,20B, and/or20C) when the biopsy needle is in appropriate position for manual deployment by the surgeon. The surgeon would watch the meter and deploy the biopsy needle when appropriate. In another embodiment, the robotic system could hold steady at a position corresponding to a particular phase and also automatically deploy the biopsy needle at the proper time without manual intervention from the surgeon. Embodiments of inventive concepts may thus be used to aid a surgeon in determining how much to limit a patient breathing level to compensate for or reduce/eliminate shifts in the DRB and/or trajectory of an end-effector on a robotic arm. Moreover, a graphic meter may be used to show deviation between actual and target trajectories due to the use of an instrument in the end-effector guide tube causing a shift of the DRB. Furthermore, modeling of variable offsets may be used to more accurately determine a position of an anatomical location relative to a DRB in situations where a positional offset between the DRB and the anatomical location (e.g., lesion) changes over the different phases of breathing. For example, a first offset may be used to determine the position of the anatomical location based on the position of the DRB during a first phase of breathing (e.g., deflated), and a second offset may be used to determine the position of the anatomical location based on the position of the DRB during a second phase of breathing (e.g., inflated). This information can thus be used by the surgical robotic system to: automatically and continuously position/reposition the end-effector over the breathing cycle to maintain the end-effector on the target trajectory with respect to a moving anatomical location (e.g., lesion); and/or to automatically deploy a surgical tool from the end-effector when properly aligned on the target trajectory with respect to the anatomical location (e.g., lesion). FIG.22is a block diagram illustrating elements of a surgical robotic system controller (e.g., implemented within computer408). As shown, the controller may include processor circuit2207(also referred to as a processor) coupled with input interface circuit2201(also referred to as an input interface), output interface circuit2203(also referred to as an output interface), control interface circuit2205(also referred to as a control interface), and memory circuit2209(also referred to as a memory). The memory circuit2209may include computer readable program code that when executed by the processor circuit2207causes the processor circuit to perform operations according to embodiments disclosed herein. According to other embodiments, processor circuit2207may be defined to include memory so that a separate memory circuit is not required. As discussed herein, operations of wireless terminal UE may be performed by processor2207, input interface2201, output interface2203, and/or control interface2205. For example, processor2207may receive user input through input interface2201, and such user input may include user input received through foot pedal544, tablet546, etc. Processor2207may also receive position sensor input received from tracking system532and/or cameras200through input interface2201. Processor2207may provide output through output interface2203, and such out may include information to render graphic/visual information on display304and/or audio output to be provided through speaker536. Processor2207may provide robotic control information through control interface2205to motion control subsystem506, and the robotic control information may be used to control operation of robot arm104(also referred to as a robotic arm) and/or end-effector112. Operations of a surgical robotic system (including a robotic arm configured to position a surgical end-effector with respect to an anatomical location of a patient) will now be discussed with reference to the flow chart ofFIG.23according to some embodiments of inventive concepts. For example, modules may be stored in memory2209ofFIG.22, and these modules may provide instructions so that when the instructions of a module are executed by processor2207, processor2207performs respective operations of the flow chart ofFIG.23. At block2301, processor2207may receive user input (e.g., input from a surgeon or other member of the surgical team) through input interface2201to move the surgical end-effector to a target trajectory relative to an anatomical location of the patient. The target trajectory may be a position and/or alignment of the end-effector relative to the anatomical location used to perform a surgical procedure. Moreover, the user input may be provided via an input device such as foot pedal544that is “normally-off” such that active input from the user is required to allow motion of the robotic arm104used to position the end-effector112. In the example of a foot pedal, for example, the user may be required to actively press the foot pedal to allow motion of the robotic arm and/or end-effector, and positions of the robotic arm and end-effector may be locked when the user is not actively pressing the foot pedal. At block2303, processor2207may receive position information generated using a sensor system (e.g., camera system200) remote from the robotic arm104and remote from the patient. The position information may be received through input interface2201. The position information may include position information relating to a tracking device (e.g., a reference base or a dynamic reference base DRB) affixed to the patient and position information relating to the surgical end-effector112. At block2305, processor2207may control the robotic arm104(e.g., via signaling transmitted/received through control interface2205) to move the surgical end-effector112to a target trajectory relative to the anatomical location of the patient based on the position information generated using the sensor system. Moreover, processor2207may control the robotic arm to move the surgical end-effector to the target trajectory responsive to receiving the user input to move the surgical end-effector as discussed. Operations of blocks2303and2305may thus continue through block2307until the surgical end-effector until the end-effector is positioned in the target trajectory as long as the user input to allow motion is maintained. If the user input to allow motion ceases (e.g., the user's foot is removed from pedal544) before reaching the target trajectory, the robotic arm may be locked at blocks2307and2309before reaching the target trajectory. Once the surgical end-effector is positioned in the target trajectory, processor2207may receive user input through input interface2201to lock the position of the surgical end-effector at block2307. Such input may be responsive to the user ceasing input that allows motion at block2307(e.g., by removing the foot from foot pedal544). Responsive to such input, processor2207may control the robot arm to lock a position of the surgical end-effector at block2309(e.g., via control signaling transmitted/received through control interface2205). While the position of the surgical end-effector is locked, processor2207may continue receiving position information generated using the sensor system (e.g., camera system200) remote from the robotic arm104and remote from the patient. The position information may be received through input interface2201. The position information may include position information relating to the tracking device (e.g., DRB) affixed to the patient and position information relating to the surgical end-effector112. At block2313with the position of the end-effector locked, processor2207may determine a deviation between an actual trajectory of the surgical end-effector with respect to the anatomical location and a target trajectory of the surgical end-effector with respect to the anatomical location, with the deviation being determined based on the positioning information generated using the sensor system after locking the position of the surgical end-effector. At block2315, processor2207may generate a user output indicating the deviation, with the user output being generated responsive to determining the deviation. The user output may be rendered as a graphic meter on display304, for example, using a display configuration as discussed above with respect toFIGS.20A,20B, and/or20C. Moreover, the user output (e.g., graphic meter) may be updated dynamically to reflect changing deviations while the position of the surgical end-effector is locked at blocks2309,2311,2313, and2315(e.g., as long as further input is not received at block2321to mode the surgical end-effector. According to some embodiments, determining the deviation at block2313may include determining the deviation dynamically based on a model of movement of the anatomical location relative to the tracking device for a plurality of phases of a breathing cycle. The model may provide a first offset (i.e., positional offset) of the anatomical location relative to the tracking device that is used to determine the target trajectory for a first phase of a breathing cycle and a second offset (i.e., positional offset) of the anatomical location relative to the tracking device that is used to determine the target trajectory for a second phase of the breathing cycle. Generating the user output may thus include generating the user output dynamically to indicate the deviations based on the offsets for the plurality of phases of the breathing cycle in real time. For example, a bellows belt may provide input through input interface2201allowing processor2207to determine a phase of the patient's breathing (e.g., lungs inflated or lungs deflated). Use of a bellows belt is discussed, for example, in U.S. Pat. No. 9,782,229, the disclosure of which is hereby incorporated herein in its entirety by reference. Based on this breathing phase information, processor2207may use the first offset to determine a location of the anatomical location at a first time during a first breathing phase (e.g., lungs inflated), and processor2207may use the second offset to determine a location of the anatomical location at a second time during a second breathing phase (e.g., lungs deflated). Processor2207may thus generate a first deviation at the first time at block2313based on the target trajectory determined using the first offset, processor2207may generate a second deviation at the second time at block2313based on the target trajectory determined using the second offset, and processor2207may generate corresponding user outputs corresponding to the first and second deviations in real-time. While the end-effector is locked in position, processor2207may determine if the deviation exceeds a threshold at block2317. Responsive to the deviation exceeding the threshold at block2317, processor2207may generate a user output to provide notification of excess deviation while the position of the surgical end-effector is locked. Such notification may be provide through output interface2203as an audible output/warning using speaker536or as a visual output/warning using display304. Such deviation exceeding the threshold may occur, for example, if the patient moves or is moved on the operating table. Responsive to such a warning or for other reasons, the user may decide to reposition the surgical end-effector by providing input to move the surgical end-effector at block2321(e.g., by pressing foot pedal544). Responsive to receiving such user input through input interface2201at block2321and responsive to receiving position information through input interface at block2303, processor2207may control the robotic arm at block2305to move the surgical end-effector to the target trajectory relative to the anatomical location of the patient based on second position information generated using the sensor system and a second position of the tracking device. According to some embodiments ofFIG.23, the surgical end-effector may include a guide configured to guide placement of a surgical instrument that is manually inserted through the guide tube. Once the surgical end-effector is locked and the user is satisfied with the placement, the user may insert the surgical instrument through the guide to effect the medical procedure. The user, for example, may use the graphic meter to determine that the end-effector is properly placed before executing the procedure. According to some other embodiments, processor2207may determine a pattern of the deviation between the actual trajectory of the surgical end-effector and the target trajectory of the surgical end-effector based on the positioning information generated using the sensor system. Such a pattern of deviation, for example, may occur due to breathing that causes the anatomical location and the tracking device to move while the surgical end-effector is locked in place. Moreover, the end-effector may be a surgical instrument (e.g., a biopsy needle), and processor2207may control the end-effector to automatically deploy the surgical instrument to effect physical contact with the anatomical location of the patient based on the pattern of the deviation (while the end-effector is locked in position). Stated in other words, processor2207may choose a time of deployment to coincide with movement of the anatomical location that places the anatomical location in alignment with the surgical instrument of the locked end-effector. Operations of a surgical robotic system (including a robotic arm configured to position a surgical end-effector with respect to an anatomical location of a patient) will now be discussed with reference to the flow chart ofFIG.24according to some embodiments of inventive concepts. As discussed above, modules may be stored in memory2209ofFIG.22, and these modules may provide instructions so that when the instructions of a module are executed by processor2207, processor2207performs respective operations of the flow chart ofFIG.23. At block2401, processor2207may provide access to a model of movement of the anatomical location relative to a tracking device for a plurality of phases of a breathing cycle for the patient. The model may provide a plurality of offsets of the anatomical location relative to the tracking device so that a respective one of the plurality of offsets is associated with a respective one of the plurality of phases of the breathing cycle. For example, the model may provide a first offset of the anatomical location relative to the tracking device with the first offset being used to determine the target trajectory for a first phase of a breathing cycle (e.g., with lungs deflated as shown inFIG.21A), and the model may include a second offset of the anatomical location relative to the tracking device with the second offset being used to determine the target trajectory for a second phase of the breathing cycle (e.g., with the lungs inflated as shown inFIG.21B). Moreover, respective offsets may be provided for any number of phases of the breathing cycle, for example, including fully inflated, fully deflated, partially inflated/deflated, etc. The model may be provided in controller memory2209or accessed from memory and/or a database outside of the controller. The model may be provided using a lookup table of breathing phases and respective offsets, or the model may be provided as a mathematical relationship between breathing phases and respective offsets. The model may be developed before the procedure by taking medical images of the anatomical at the different phases of the breathing cycle while using a bellows belt to detect the breathing phase. The medical images can then be used to determine the different offsets for the respective breathing phases. At blocks2405,2407,2409, and2411, processor2207may perform operations of receiving position information, detecting breathing phase, and controlling the robotic arm to maintain the target trajectory until the procedure is complete at block2411. At block2405, processor2207may receive position information generated using a sensor system remote from the robotic arm and remote from the patient, and the position information may include information relating to positions of the tracking device affixed to the patient and positions of the surgical end-effector as the tracking device moves due to the patient breathing. At block2407, processor2207may detect the plurality of phases of the breathing cycle as the tracking device moves due to the patient breathing. Processor2207, for example, may detect the breathing phases based on information received from a bellows belt. At block2409, processor2209may control the robotic arm to maintain the surgical end-effector at a target trajectory relative to the anatomical location of the patient as the tracking device moves due to the patient breathing. The controlling may be based on receiving the position information, detecting the plurality of phases, and using the plurality of offsets to determine locations of the anatomical location as the tracking device moves due to the patient breathing. By way of example, first position information may be received at block2405and a first breathing phase may be detected at block2407. Responsive to the first position information and detecting the first breathing phase, processor2207may control the robotic arm at block2409to maintain the surgical end-effector at the target trajectory relative to the anatomical location of the patient based on the first position information generated using the sensor system and based on using the first offset to determine a first location of the anatomical location from a first position of the tracking device responsive to detecting the first phase of the breathing cycle. Provided that the procedure is continuing at block2411, second position information may be received at block2405and a second breathing phase may be detected at block2407. Responsive to the second position information and detecting the second breathing phase, processor2207may control the robotic arm at block2409to maintain the surgical end-effector at the target trajectory relative to the anatomical location of the patient based on the second position information generated using the sensor system and based on using the second offset to determine a second location of the anatomical location from a second position of the tracking device responsive to detecting the second phase of the breathing cycle. While maintaining the end-effector in the target trajectory at blocks2405,2407,2409, and2411, a medical procedure may be completed manually or automatically. According to some embodiments, the end-effector may be a guide so that the user (e.g., a surgeon) can manually insert a medical instrument through the guide while the guide is continuously and automatically maintained at the target trajectory to facilitate a more accurate placement of the medical instrument over a period of time required to complete the procedure. According to some other embodiments, the end-effector may include a medical instrument (e.g., a biopsy needle) that can be deployed by the robotic system automatically while the end-effector is maintained at the target trajectory. In the above-description of various embodiments of present inventive concepts, it is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of present inventive concepts. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which present inventive concepts belong. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. When an element is referred to as being “connected”, “coupled”, “responsive”, or variants thereof to another element, it can be directly connected, coupled, or responsive to the other element or intervening elements may be present. In contrast, when an element is referred to as being “directly connected”, “directly coupled”, “directly responsive”, or variants thereof to another element, there are no intervening elements present. Like numbers refer to like elements throughout. Furthermore, “coupled”, “connected”, “responsive”, or variants thereof as used herein may include wirelessly coupled, connected, or responsive. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. Well-known functions or constructions may not be described in detail for brevity and/or clarity. The term “and/or” includes any and all combinations of one or more of the associated listed items. It will be understood that although the terms first, second, third, etc. may be used herein to describe various elements/operations, these elements/operations should not be limited by these terms. These terms are only used to distinguish one element/operation from another element/operation. Thus a first element/operation in some embodiments could be termed a second element/operation in other embodiments without departing from the teachings of present inventive concepts. The same reference numerals or the same reference designators denote the same or similar elements throughout the specification. As used herein, the terms “comprise”, “comprising”, “comprises”, “include”, “including”, “includes”, “have”, “has”, “having”, or variants thereof are open-ended, and include one or more stated features, integers, elements, steps, components or functions but does not preclude the presence or addition of one or more other features, integers, elements, steps, components, functions or groups thereof. Furthermore, as used herein, the common abbreviation “e.g.”, which derives from the Latin phrase “exempli gratia,” may be used to introduce or specify a general example or examples of a previously mentioned item, and is not intended to be limiting of such item. The common abbreviation “i.e.”, which derives from the Latin phrase “id est,” may be used to specify a particular item from a more general recitation. Example embodiments are described herein with reference to block diagrams and/or flowchart illustrations of computer-implemented methods, apparatus (systems and/or devices) and/or computer program products. It is understood that a block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions that are performed by one or more computer circuits. These computer program instructions may be provided to a processor circuit of a general purpose computer circuit, special purpose computer circuit, and/or other programmable data processing circuit to produce a machine, such that the instructions, which execute via the processor of the computer and/or other programmable data processing apparatus, transform and control transistors, values stored in memory locations, and other hardware components within such circuitry to implement the functions/acts specified in the block diagrams and/or flowchart block or blocks, and thereby create means (functionality) and/or structure for implementing the functions/acts specified in the block diagrams and/or flowchart block(s). These computer program instructions may also be stored in a tangible computer-readable medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instructions which implement the functions/acts specified in the block diagrams and/or flowchart block or blocks. Accordingly, embodiments of present inventive concepts may be embodied in hardware and/or in software (including firmware, resident software, micro-code, etc.) that runs on a processor such as a digital signal processor, which may collectively be referred to as “circuitry,” “a module” or variants thereof. It should also be noted that in some alternate implementations, the functions/acts noted in the blocks may occur out of the order noted in the flowcharts. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Moreover, the functionality of a given block of the flowcharts and/or block diagrams may be separated into multiple blocks and/or the functionality of two or more blocks of the flowcharts and/or block diagrams may be at least partially integrated. Finally, other blocks may be added/inserted between the blocks that are illustrated, and/or blocks/operations may be omitted without departing from the scope of inventive concepts. Moreover, although some of the diagrams include arrows on communication paths to show a primary direction of communication, it is to be understood that communication may occur in the opposite direction to the depicted arrows. Although several embodiments of inventive concepts have been disclosed in the foregoing specification, it is understood that many modifications and other embodiments of inventive concepts will come to mind to which inventive concepts pertain, having the benefit of teachings presented in the foregoing description and associated drawings. It is thus understood that inventive concepts are not limited to the specific embodiments disclosed hereinabove, and that many modifications and other embodiments are intended to be included within the scope of the appended claims. It is further envisioned that features from one embodiment may be combined or used with the features from a different embodiment(s) described herein. Moreover, although specific terms are employed herein, as well as in the claims which follow, they are used only in a generic and descriptive sense, and not for the purposes of limiting the described inventive concepts, nor the claims which follow. The entire disclosure of each patent and patent publication cited herein is incorporated by reference herein in its entirety, as if each such patent or publication were individually incorporated by reference herein. Various features and/or potential advantages of inventive concepts are set forth in the following claims.

11857150

DETAILED DESCRIPTION Hereinafter, embodiments for implementing the disclosure (hereinafter, embodiments) will be described with reference to the drawings. The disclosure is not limited by the embodiments described below. Further, in the description of the drawings, the same portions are denoted by the same reference numerals. Schematic Configuration of Medical Observation System FIG.1is a diagram illustrating a schematic configuration of a medical observation system1according to an embodiment. The medical observation system1is used in the medical field and is a system for observing a subject such as a living body. As illustrated inFIG.1, the medical observation system1includes an insertion portion2, a light source device3, a light guide4, a camera head5, a first transmission cable6, a display device7, a second transmission cable8, a control device9, and a third transmission cable10. In the present embodiment, the insertion portion2is composed of a rigid endoscope. That is, the insertion portion2has an elongated shape which is rigid as a whole or of which a part is flexible and the other part is rigid, and is inserted into a living body. An optical system that is configured by using one or a plurality of lenses and that condenses light (subject image) from the inside of the living body is provided in the insertion portion2. The light source device3is connected to one end of the light guide4, and supplies light for illuminating the inside of the living body to one end of the light guide4under the control of the control device9. In addition, in the present embodiment, the light source device3is configured separately from the control device9, but the disclosure is not limited to this, and a configuration in which the light source device3is provided inside the control device9may be adopted. The light guide4has one end detachably connected to the light source device3and the other end detachably connected to the insertion portion2. Then, the light guide4transmits the light supplied from the light source device3from one end to the other end, and supplies the light to the insertion portion2. The light supplied to the insertion portion2is emitted from a distal end of the insertion portion2, and is irradiated to the inside of the living body. The light (subject image) that is irradiated to the inside of the living body and reflected in the living body is condensed by the optical system in the insertion portion2. The camera head5is detachably connected to a proximal end (eyepiece portion21(FIG.1)) of the insertion portion2. Then, under the control of the control device9, the camera head5captures the subject image condensed by the insertion portion2, and outputs an image signal (RAW signal) obtained by the imaging. The image signal is, for example, an image signal of4K or higher. The first transmission cable6has one end detachably connected to the control device9via a connector CN1(FIG.1) and the other end detachably connected to the camera head5via a connector CN2(FIG.1). Then, the first transmission cable6transmits the image signal and the like output from the camera head5to the control device9, and transmits the control signal, the synchronization signal, the clock, the power, and the like output from the control device9to the camera head5. The transmission of the image signal and the like from the camera head5to the control device9via the first transmission cable6may be transmission of the image signal and the like by an optical signal or an electric signal. The same applies to the transmission of the control signal, the synchronization signal, and the clock from the control device9to the camera head5via the first transmission cable6. The display device7is composed of a display using liquid crystal or organic electro luminescence (EL), and displays an image based on a video signal from the control device9under the control of the control device9. The second transmission cable8has one end detachably connected to the display device7and the other end detachably connected to the control device9. Then, the second transmission cable8transmits the video signal processed by the control device9to the display device7. The control device9is configured to include a CPU, a field-programmable gate array (FPGA), and the like, and comprehensively controls the operations of the light source device3, the camera head5, and the display device7. For example, the control device9generates a video signal by performing a predetermined process on the image signal acquired from the camera head5via the first transmission cable6. Further, the control device9outputs the video signal to the display device7via the second transmission cable8. Then, the display device7displays an image based on the video signal. Further, the control device9outputs a control signal and the like to the light source device3and the camera head5. The third transmission cable10has one end detachably connected to the light source device3and the other end detachably connected to the control device9. Then, the third transmission cable10transmits the control signal and the like from the control device9to the light source device3. Configuration of Control Device Next, the configuration of the control device9will be described. Hereinafter, the main part of the disclosure will be mainly described as the control device9. FIG.2is a block diagram illustrating a configuration of the control device9. As illustrated inFIG.2, the control device9has a configuration in which a CPU91, first and second devices92and93, and a signal processing apparatus94are connected using first to third interfaces IF1to IF3. Here, the first interface IF1that connects the CPU91and the signal processing apparatus94is an interface that has data transfer speed (communication speed) faster than that of the second interface IF2that connects the first device92and the signal processing apparatus94, and the third interface IF3that connects the second device93and the signal processing apparatus94. In the present embodiment, PCI EXPRESS (PCIe (registered trademark)) is adopted as the first interface IF1. Moreover, the Serial Peripheral Interface (SPI) is adopted as the second and third interfaces IF2and IF3. The CPU91corresponds to the controller according to the disclosure. The CPU91is a part that comprehensively controls the entire operation of the medical observation system1, and outputs each control signal that defines a process to be executed by each of a plurality of control targets (in the present embodiment, first to fourth processing modules922,923,932, and933to be described later). In the present embodiment, the CPU91is composed of a CPU that performs communication by the PCIe standard. Each of the first and second devices92and93is a device that executes a specific process under the control of the CPU91. As the first and second devices92and93, a device that generates a video signal by performing various image processing such as development processing, noise reduction, color correction, color enhancement, and edge enhancement on the image signal acquired from the camera head5, a device that controls (dimming control and the like) the operation of the light source device3, and the like are exemplified. The first and second devices92and93are not limited to the devices built in the control device9, but may be devices built in peripheral devices of the control device9. For example, the first and second devices92and93may be devices that are built in the camera head5and that control the operation of the camera head5(operation of imaging elements, operation of the optical system, and the like). Each of the first and second devices92and93described above is configured by an FPGA that is a programmable logic device that constructs a logic circuit based on configuration data stored in a memory (not illustrated). Then, as illustrated inFIG.2, the first device92includes a first slave-side communication unit921, and the first and second processing modules922and923that are connected to the first slave-side communication unit921via a bus Bu1. In the present embodiment, the bus Bu1is composed of an AXI bus. The first slave-side communication unit921is connected to the signal processing apparatus94via the second interface IF2. Then, the first slave-side communication unit921converts (protocol-converts) the control signal (SPI standard in the present embodiment) received from the signal processing apparatus94into data (AXI standard in the present embodiment) that may be processed inside the first device92via the second interface IF2. Further, the first slave-side communication unit921converts (protocol-converts) data (AXI standard in the present embodiment) output from the first and second processing modules922and923into a control signal according to the communication standard (SPI standard in the present embodiment) of the second interface IF2, and transmits the control signal to the signal processing apparatus94via the second interface IF2. The first and second processing modules922and923correspond to the processing module according to the disclosure. Each of the first and second processing modules922and923executes a specific process according to the control signal which is output from the CPU91, follows the route of the first interface IF1to the signal processing apparatus94to the second interface IF2to the first slave-side communication unit921to the bus Bu1, and is stored in internal first and second control registers922A and923A (FIG.2). The first and second control registers922A and923A correspond to a module-side storage unit according to the disclosure. The second device93has the same configuration as that of the first device92except that the specific process executed by the second device93is different from that executed by the first device92. That is, as illustrated inFIG.2, the second device93includes a second slave-side communication unit931, the third and fourth processing modules932and933(including third and fourth control registers932A and933A), and a bus Bu2as with the first slave-side communication unit921, the first and second processing modules922and923(including the first and second control registers922A and923A), and the bus Bu1in the first device92. The third and fourth control registers932A and933A correspond to the module-side storage unit according to the disclosure. The signal processing apparatus94relays communication of control signals between the CPU91and the first to fourth processing modules922,923,932, and933. In the present embodiment, the signal processing apparatus94is configured by an FPGA as with the first and second devices92and93. Then, as illustrated inFIG.2, the signal processing apparatus94includes a CPU I/F941, a communication control unit942connected to the CPU I/F941via a bus Bu3, and first and second master-side communication units943and944connected to the communication control unit942via a bus Bu4. In the present embodiment, the buses Bu3and Bu4are composed of AXI buses. The CPU I/F941is connected to the CPU91via the first interface IF1. Then, the CPU I/F941converts (protocol-converts) the control signal (PCIe standard in the present embodiment) received from the CPU91into data (AXI standard in the present embodiment) that may be processed inside the signal processing apparatus94via the first interface IF1. Further, the CPU I/F941converts (protocol-converts) data (AXI standard in the present embodiment) output from the communication control unit942into a control signal according to the communication standard (PCIe standard in the present embodiment) of the first interface IF1, and transmits the control signal to the CPU91via the first interface IF1. As illustrated inFIG.2, the communication control unit942includes first to fourth virtual registers942A to942D, a synchronization memory942E, and a synchronization processing unit942F. The first to fourth virtual registers942A to942D correspond to a first storage unit according to the disclosure. These first to fourth virtual registers942A to942D are respectively provided corresponding to the first to fourth processing modules922,923,932, and933, and are virtualized registers of the first to fourth control registers922A,923A,932A, and933A. Then, each control signal (data converted by the CPU I/F941) output from the CPU91is written in each of the first to fourth virtual registers942A to942D. The synchronization memory942E corresponds to a second storage unit according to the disclosure. The synchronization memory942E stores address information and correspondence information used in a synchronization process executed by the synchronization processing unit942F. The address information is information indicating each communication address assigned to each of the first to fourth processing modules922,923,932, and933. The correspondence information is information indicating correspondence relationships between the first to fourth virtual registers942A to942D and the first to fourth control registers922A,923A,932A, and933A. Specifically, the correspondence information describes that the first virtual register942A and the first control register922A correspond to each other, the second virtual register942B and the second control register923A correspond to each other, the third virtual register942C and the third control register932A correspond to each other, and the fourth virtual register942D and the fourth control register933A correspond to each other. The synchronization processing unit942F executes a synchronization process for synchronizing the first to fourth virtual registers942A to942D with the corresponding first to fourth control registers922A,923A,932A, and933A via the first and second master-side communication units943and944based on the address information and the correspondence information stored in the synchronization memory942E. Specifically, the synchronization processing unit942F synchronizes the first virtual register942A with the first control register922A with each other, synchronizes the second virtual register942B with the second control register923A, synchronizes the third virtual register942C with the third control register932A, and synchronizes the fourth virtual register942D with the fourth control register933A. A specific example of the synchronization process will be described later. The first master-side communication unit943corresponds to a communication unit according to the disclosure. The first master-side communication unit943is connected to the first slave-side communication unit921via the second interface IF2. Further, the first master-side communication unit943converts (protocol-converts) data (AXI standard in the present embodiment) output from the communication control unit942(first and second virtual registers942A and942B) into a control signal according to the communication standard (SPI standard in the present embodiment) of the second interface IF2, and transmits the control signal to the first slave-side communication unit921via the second interface IF2under the control of the communication control unit942. Further, the first master-side communication unit943converts (protocol-converts) the control signal (SPI standard in the present embodiment) received from the first slave-side communication unit921into data (AXI standard in the present embodiment) that may be processed inside the signal processing apparatus94via the second interface IF2. The first master-side communication unit943described above has a first memory943A that temporarily stores data (control signal), as illustrated inFIG.2. The first memory943A corresponds to a third storage unit according to the disclosure. The second master-side communication unit944corresponds to the communication unit according to the disclosure. The second master-side communication unit944is connected to the second slave-side communication unit931via the third interface IF3. Further, the second master-side communication unit944converts (protocol-converts) data (AXI standard in the present embodiment) output from the communication control unit942(third and fourth virtual registers942C and942D) into a control signal according to the communication standard (SPI standard in the present embodiment) of the third interface IF3, and transmits the control signal to the second slave-side communication unit931via the third interface IF3under the control of the communication control unit942. Further, the second master-side communication unit944converts (protocol-converts) the control signal (SPI standard in the present embodiment) received from the second slave-side communication unit931into data (AXI standard in the present embodiment) that may be processed inside the signal processing apparatus94via the third interface IF3. The second master-side communication unit944described above has a second memory944A that temporarily stores data (control signal), as illustrated inFIG.2. The second memory944A corresponds to the third storage unit according to the disclosure. Specific Example of Synchronization Process Next, a specific example of the synchronization process executed by the synchronization processing unit942F will be described. In the following, as the synchronization process, a writing process of writing pieces of data stored in the first to fourth virtual registers942A to942D to the first to fourth control registers922A,923A,932A, and933A, respectively, and a reading process of reading the pieces of data stored in the first to fourth control registers922A,923A,932A, and933A and writing the pieces of data to the first to fourth virtual registers942A to942D, respectively, will be sequentially described. When the first and second devices92and93are activated, the synchronization processing unit942F receives a ready signal indicating the activation from each of the first and second devices92and93via the second and third interfaces IF2and IF3. Then, after the ready signal is received from the first and second devices92and93, the synchronization processing unit942F executes the writing process and the reading process described below. Writing Process FIGS.3to10are diagrams describing the writing process. Specifically,FIG.3toFIG.10illustrate respective states in which the writing process is being performed in chronological order. In addition, inFIG.3toFIG.10, for convenience of description, respective pieces of data exchanged between the first to fourth virtual registers942A to942D and the first to fourth control registers922A,923A,932A, and933A are represented by diagonal lines and dots. Further, inFIG.3toFIG.10, the data exchanged between the first virtual register942A and the first control register922A (control signal which is output from the CPU91and defines the process executed by the first processing module922) is defined as “Reg(1)”. Hereinafter, this data will be referred to as “Reg(1)” data. Further, inFIG.3toFIG.10, the data exchanged between the second virtual register942B and the second control register923A (control signal which is output from the CPU91and defines the process executed by the second processing module923) is defined as “Reg(2)”. Hereinafter, this data will be referred to as “Reg(2)” data. Further, inFIG.3toFIG.10, the data exchanged between the third virtual register942C and the third control register932A (control signal which is output from the CPU91and defines the process executed by the third processing module932) is defined as “Reg(3)”. Hereinafter, this data will be referred to as “Reg(3)” data. Further, inFIG.3toFIG.10, the data exchanged between the fourth virtual register942D and the fourth control register933A (control signal which is output from the CPU91and defines the process executed by the fourth processing module933) is defined as “Reg(4)”. Hereinafter, this data will be referred to as “Reg(4)” data. Further, inFIGS.3to10, in the communication control unit942, the synchronization memory942E and the synchronization processing unit942F are not illustrated for convenience of description. In the following, the description is made such that the synchronization processing unit942F writes the pieces of data respectively stored in the first to fourth virtual registers942A to942D to the first to fourth control registers922A,923A,932A, and933A in order of “Reg(1)” data, “Reg(3)” data, “Reg(2)” data, and “Reg(4)” data. Note that the writing order is not limited to this, and the writing may be performed in any other order. First, the synchronization processing unit942F refers to the correspondence information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes that the control register corresponding to the first virtual register942A is the first control register922A based on the correspondence information. The synchronization processing unit942F also refers to the address information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes the communication address of the first processing module922including the first control register922A. Then, as illustrated inFIG.3, the synchronization processing unit942F transfers the “Reg(1)” data stored in the first virtual register942A to the first master-side communication unit943via the bus Bu4based on the recognized communication address. As a result, the “Reg(1)” data is stored in the first memory943A. When the transfer of all of the pieces of the “Reg(1)” data from the first virtual register942A to the first master-side communication unit943is completed, the synchronization processing unit942F receives an ACK signal from the first master-side communication unit943via the bus Bu4as illustrated inFIG.4. After that, as illustrated inFIG.5, the first master-side communication unit943transmits the “Reg(1)” data stored in the first memory943A to the first device92via the second interface IF2. Then, the “Reg(1)” data is written to the first control register922A by following the route of the second interface IF2to the first slave-side communication unit921to the bus Bu1. That is, after transmitting the ACK signal to the synchronization processing unit942F, the first master-side communication unit943transmits the data to the first device92without the control of the synchronization processing unit942F. There is also a method in which the synchronization processing unit942F controls the operation of the first master-side communication unit943in response to the reception of the ACK signal. Furthermore, the first master-side communication unit943may start to transmit the data to the first device92before transmitting the ACK signal to the synchronization processing unit942F. In addition, the synchronization processing unit942F executes the following process in parallel with the transmission of the “Reg(1)” data from the first master-side communication unit943to the first device92. That is, the synchronization processing unit942F refers to the correspondence information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes that the control register corresponding to the third virtual register942C is the third control register932A based on the correspondence information. The synchronization processing unit942F also refers to the address information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes the communication address of the third processing module932including the third control register932A. Then, as illustrated inFIG.5, the synchronization processing unit942F transfers the “Reg(3)” data stored in the third virtual register942C to the second master-side communication unit944via the bus Bu4based on the recognized communication address. As a result, the “Reg(3)” data is stored in the second memory944A. When the transfer of all of the pieces of the “Reg(3)” data from the third virtual register942C to the second master-side communication unit944is completed, the synchronization processing unit942F receives an ACK signal from the second master-side communication unit944via the bus Bu4as illustrated inFIG.6. After that, as illustrated inFIG.7, the second master-side communication unit944transmits the “Reg(3)” data stored in the second memory944A to the second device93via the third interface IF3. Then, the “Reg(3)” data is written to the third control register932A by following the route of the third interface IF3to the second slave-side communication unit931to the bus Bu2. That is, after transmitting the ACK signal to the synchronization processing unit942F, the second master-side communication unit944transmits the data to the second device93without the control of the synchronization processing unit942F. There is also a method in which the synchronization processing unit942F controls the operation of the second master-side communication unit944in response to the reception of the ACK signal. Furthermore, the second master-side communication unit944may start to transmit the data to the second device93before transmitting the ACK signal to the synchronization processing unit942F. When the transfer of all of the pieces of the “Reg(1)” data from the first master-side communication unit943to the first device92is completed, the synchronization processing unit942F receives a ready signal from the first master-side communication unit943via the bus Bu4as illustrated inFIG.8. After that, the synchronization processing unit942F executes the following process. That is, the correspondence information stored in the synchronization memory942E is referred. Then, the synchronization processing unit942F recognizes that the control register corresponding to the second virtual register942B is the second control register923A based on the correspondence information. The synchronization processing unit942F also refers to the address information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes the communication address of the second processing module923including the second control register923A. Then, as illustrated inFIG.9, the synchronization processing unit942F transfers the “Reg(2)” data stored in the second virtual register942B to the first master-side communication unit943via the bus Bu4based on the recognized communication address. As a result, the “Reg(2)” data is stored in the first memory943A. When the transfer of all of the pieces of the “Reg(2)” data from the second virtual register942B to the first master-side communication unit943is completed, the synchronization processing unit942F receives an ACK signal from the first master-side communication unit943via the bus Bu4as illustrated inFIG.10. After that, as illustrated inFIG.10, the first master-side communication unit943transmits the “Reg(2)” data stored in the first memory943A to the first device92via the second interface IF2. Then, the “Reg(2)” data is written to the second control register923A by following the route of the second interface IF2to the first slave-side communication unit921to the bus Bu1. That is, after transmitting the ACK signal to the synchronization processing unit942F, the first master-side communication unit943transmits the data to the first device92without the control of the synchronization processing unit942F. There is also a method in which the synchronization processing unit942F controls the operation of the first master-side communication unit943in response to the reception of the ACK signal. Furthermore, the first master-side communication unit943may start to transmit the data to the first device92before transmitting the ACK signal to the synchronization processing unit942F. Note that the writing of the “Reg(4)” data stored in the fourth virtual register942D to the fourth control register933A is executed after the transfer of all of the pieces of the “Reg(3)” data from the second master-side communication unit944to the second device93is completed and the synchronization processing unit942F receives a ready signal from the second master-side communication unit944via the bus Bu4. Reading Process FIGS.11to18are diagrams describing the reading process. Specifically,FIG.11toFIG.18illustrate respective states in which the reading process is being performed in chronological order. Note that inFIGS.11to18, respective pieces of data exchanged between the first to fourth virtual registers942A to942D and the first to fourth control registers922A,923A,932A, and933A are represented in the same manner as inFIG.3toFIG.10. Further, inFIGS.11to18, in the communication control unit942, the synchronization memory942E and the synchronization processing unit942F are not illustrated for convenience of description. In the following, the description is made such that the synchronization processing unit942F reads the pieces of data respectively stored in the first to fourth control registers922A,923A,932A, and933A in order of “Reg(1)” data, “Reg(3)” data, “Reg(2)” data, and “Reg(4)” data, and writes the pieces of data to the first to fourth virtual registers942A to942D. Note that the reading order is not limited to this, and the reading may be performed in any other order. First, the synchronization processing unit942F refers to the correspondence information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes that the control register corresponding to the first virtual register942A is the first control register922A based on the correspondence information. The synchronization processing unit942F also refers to the address information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes the communication address of the first processing module922including the first control register922A. Then, as illustrated inFIG.11, the synchronization processing unit942F outputs a Read request signal for requesting reading of the “Reg(1)” data stored in the first control register922A, to the first master-side communication unit943via the bus Bu4based on the recognized communication address. When the Read request signal is received, the first master-side communication unit943outputs an ACK signal to the synchronization processing unit942F via the bus Bu4, and transmits the Read request signal to the first device92via the second interface IF2. As a result, as illustrated inFIG.11, the first processing module922transmits the “Reg(1)” data stored in the first control register922A to the first master-side communication unit943by following the route of the bus Bu1to the first slave-side communication unit921to the second interface IF2. Then, the “Reg(1)” data is stored in the first memory943A. After that, the synchronization processing unit942F refers to the correspondence information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes that the control register corresponding to the third virtual register942C is the third control register932A based on the correspondence information. The synchronization processing unit942F also refers to the address information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes the communication address of the third processing module932including the third control register932A. Then, as illustrated inFIG.12, the synchronization processing unit942F outputs a Read request signal for requesting reading of the “Reg(3)” data stored in the third control register932A, to the second master-side communication unit944via the bus Bu4based on the recognized communication address. When the Read request signal is received, the second master-side communication unit944outputs an ACK signal to the synchronization processing unit942F via the bus Bu4, and transmits the Read request signal to the second device93via the third interface IF3. As a result, as illustrated inFIG.12, the third processing module932transmits the “Reg(3)” data stored in the third control register932A to the second master-side communication unit944by following the route of the bus Bu2to the second slave-side communication unit931to the third interface IF3. Then, the “Reg(3)” data is stored in the second memory944A. When the transfer of all of the pieces of the “Reg(1)” data from the first control register922A to the first master-side communication unit943is completed, the synchronization processing unit942F receives a ready signal from the first master-side communication unit943via the bus Bu4as illustrated inFIG.13. As illustrated inFIG.14, the synchronization processing unit942F transfers (writes) the “Reg(1)” data stored in the first memory943A to the first virtual register942A via the bus Bu4in response to the reception of the ready signal. When the transfer of all of the pieces of the “Reg(1)” data from the first memory943A to the first virtual register942A is completed, the synchronization processing unit942F executes the following process. That is, the synchronization processing unit942F refers to the correspondence information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes that the control register corresponding to the second virtual register942B is the second control register923A based on the correspondence information. The synchronization processing unit942F also refers to the address information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes the communication address of the second processing module923including the second control register923A. Then, as illustrated inFIG.15, the synchronization processing unit942F outputs a Read request signal for requesting reading of the “Reg(2)” data stored in the second control register923A, to the first master-side communication unit943via the bus Bu4based on the recognized communication address. When the Read request signal is received, the first master-side communication unit943outputs an ACK signal to the synchronization processing unit942F via the bus Bu4, and transmits the Read request signal to the first device92via the second interface IF2. As a result, as illustrated inFIG.15, the second processing module923transmits the “Reg(2)” data stored in the second control register923A to the first master-side communication unit943by following the route of the bus Bu1to the first slave-side communication unit921to the second interface IF2. Then, the “Reg(2)” data is stored in the first memory943A. When the transfer of all of the pieces of the “Reg(3)” data from the third control register932A to the second master-side communication unit944is completed, the synchronization processing unit942F receives a ready signal from the second master-side communication unit944via the bus Bu4as illustrated inFIG.16. As illustrated inFIG.17, the synchronization processing unit942F transfers (writes) the “Reg(3)” data stored in the second memory944A to the third virtual register942C via the bus Bu4in response to the reception of the ready signal. When the transfer of all of the pieces of the “Reg(3)” data from the second memory944A to the third virtual register942C is completed, the synchronization processing unit942F executes the following process. That is, the synchronization processing unit942F refers to the correspondence information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes that the control register corresponding to the fourth virtual register942D is the fourth control register933A based on the correspondence information. The synchronization processing unit942F also refers to the address information stored in the synchronization memory942E. Then, the synchronization processing unit942F recognizes the communication address of the fourth processing module933including the fourth control register933A. Then, as illustrated inFIG.18, the synchronization processing unit942F outputs a Read request signal for requesting reading of the “Reg(4)” data stored in the fourth control register933A, to the second master-side communication unit944via the bus Bu4based on the recognized communication address. When the Read request signal is received, the second master-side communication unit944outputs an ACK signal to the synchronization processing unit942F via the bus Bu4, and transmits the Read request signal to the second device93via the third interface IF3. As a result, as illustrated inFIG.18, the fourth processing module933transmits the “Reg(4)” data stored in the fourth control register933A to the second master-side communication unit944by following the route of the bus Bu2to the second slave-side communication unit931to the third interface IF3. Then, the “Reg(4)” data is stored in the second memory944A. After that, by repeating the same process as above, the “Reg(2)” data stored in the first memory943A is transferred (written) to the second virtual register942B, and the “Reg(4)” data stored in the second memory944A is transferred (written) to the fourth virtual register942D. According to the present embodiment described above, the following effects may be obtained. The signal processing apparatus94according to the present embodiment includes the first and second master-side communication units943and944, the first to fourth virtual registers942A to942D, the synchronization memory942E, and the synchronization processing unit942F. That is, in the signal processing apparatus94, the first to fourth virtual registers942A to942D which are virtualized registers of the first to fourth control registers922A,923A,932A, and933A are integrated. Therefore, the CPU91may control all of the operations of the first to fourth processing modules922,923,932, and933by only writing the “Reg(1)” to “Reg(4)” data to the first to fourth virtual registers942A to942D. In a case where the number of constituents of a plurality of processing modules controlled by the CPU91is changed, it is possible to deal with the change of the number of constituents by changing the address information and the correspondence information stored in the synchronization memory942E, and thus it is not necessary to change the control specification of the CPU91. Therefore, with the signal processing apparatus94according to the present embodiment, it is possible to improve convenience. Further, in the signal processing apparatus94according to the present embodiment, a plurality of communication units (two first and second master-side communication units943and944) according to the disclosure are provided. Therefore, it is possible to perform communication between the signal processing apparatus94and the first and second devices92and93in parallel, and to improve the communication efficiency. As a result, it is possible to shorten the communication time of the entire system. By the way, it is assumed that the first master-side communication unit943is not provided with the above-described first memory943A. In this case, when the “Reg(1)” data stored in the first virtual register942A is written to the first control register922A, since the bus Bu4is occupied for the transfer of the “Reg(1)” data from the first virtual register942A to the first master-side communication unit943, it is not possible to transmit the “Reg(1)” data and the “Reg(3)” or “Reg(4)” data in parallel to the first and second devices92and93. Similarly, when the “Reg(2)” data stored in the second virtual register942B is written to the second control register923A, it is not possible to transmit the “Reg(2)” data and “Reg(3)” or “Reg(4)” data in parallel to the first and second devices92and93. Similarly, even in a case where the second master-side communication unit944is not provided with the above-described second memory944A, it is not possible to transmit the “Reg(1)” or “Reg(2)” data and the “Reg(3)” or “Reg(4)” data in parallel to the first and second devices92and93. In particular, the second and third interfaces IF2and IF3are SPI, and the communication speed is relatively slow. For this reason, the time for occupying the bus Bu4becomes long, and as a result, the communication time of the entire system increases. On the other hand, in the signal processing apparatus94according to the present embodiment, the first and second master-side communication units943and944are provided with the above-described first and second memories943A and944A, respectively. Therefore, it is possible to shorten the time for occupying the bus Bu4, and to transmit the “Reg(1)” or “Reg(2)” data and the “Reg(3)” or “Reg(4)” data in parallel to the first and second devices92and93. As a result, it is possible to shorten the communication time of the entire system. Further, in the signal processing apparatus94according to the present embodiment, the communication standard of the CPU I/F941is PCIe. On the other hand, the communication standard of the first and second master-side communication units943and944is SPI. That is, the communication speed between the CPU91and the first to fourth virtual registers942A to942D is set to be relatively high. Therefore, the CPU91may execute writing of the “Reg(1)” to “Reg(4)” data to the first to fourth virtual registers942A to942D which is the process of controlling the operations of the first to fourth processing modules922,923,932, and933, at high speed. That is, the CPU91may execute other processes after executing the process of controlling the operations of the first to fourth processing modules922,923,932, and933at high speed. Therefore, it is possible to improve the processing efficiency of the CPU91. Further, since the SPI is adopted as the communication standard of the first and second master-side communication units943and944, it is possible to suppress an increase in circuit scale and board area as compared with a case where the PCIe is adopted. Other Embodiments The embodiment for carrying out the disclosure has been described above, but the disclosure should not be limited only to the above-described embodiments. In the above-described embodiment, the number of devices that communicate with the signal processing apparatus according to the disclosure is two (first and second devices92and93), but the number of devices is not limited to two, and may be three or more. In addition, the number of processing modules provided in the device is two (first and second processing modules922and923or third and fourth processing modules932and933), but the number of processing modules is not limited to two, and may be one or three or more. Further, some processing modules among all of the processing modules may be provided in the signal processing apparatus according to the disclosure. Further, the controller according to the disclosure may be provided in the signal processing apparatus according to the disclosure. In the above-described embodiment, the signal processing apparatus according to the disclosure is configured by the FPGA, but is not limited thereto and may be configured by another programmable logic device, or application specific integrated circuit (ASIC). The same applies to the processing module according to the disclosure. In the above-described embodiment, the communication standards of the first to third interfaces IF1to IF3and the buses Bu1to Bu4are not limited to the communication standards described in the above-described embodiments, and other communication standards may be adopted. For example, the communication standards of the second and third interfaces IF2and IF3may be the same PCIe as that of the first interface IF1. In the above-described embodiment, a memory that temporarily stores the data (each data of “Reg(1)” to “Reg(4)” data) may be provided in the first and second slave-side communication units921and931as with the first and second master-side communication units943and944. In the above-described embodiment, two communication units (first and second master-side communication units943and944) according to the disclosure are provided, but the number of communication units may be one or three or more. In the above-described embodiment, the signal processing apparatus according to the disclosure is mounted on the medical observation system1in which the insertion portion2is configured by a rigid endoscope, but the disclosure is not limited thereto. For example, the signal processing apparatus according to the disclosure may be mounted on a medical observation system in which the insertion portion2is configured by a flexible endoscope. Further, the signal processing apparatus according to the disclosure may be mounted on a medical observation system such as a surgical microscope (for example, refer to Japanese Laid-open Patent Publication No. 2016-42981) which performs observation by enlarging a predetermined visual field region inside a subject (in a living body) or on the surface of a subject (surface of a living body). Furthermore, the signal processing apparatus according to the disclosure may be mounted on equipment used in fields other than the medical field. In the above-described embodiment, a part of the configuration of the control device9may be provided in the connector CN1or the connector CN2. According to the signal processing apparatus of the disclosure, it is possible to improve convenience. Although the disclosure has been described with respect to specific embodiments for a complete and clear disclosure, the appended claims are not to be thus limited but are to be construed as embodying all modifications and alternative constructions that may occur to one skilled in the art that fairly fall within the basic teaching herein set forth.

11857151

Wherever possible, the same reference numbers are used throughout the drawings to refer to the same or like parts. DETAILED DESCRIPTION FIG.1shows an embodiment of an endoscope10. The endoscope10can include a body encasing optical elements such as an objective20, a relay system30and an ocular system40. The objective20can be used to provide an image (e.g., reflected light) of a target (e.g., the object to be viewed) to the relay system30. The objective20may include one or more lenses and/or other optical components. The relay system30can be used to transfer the image from the objective20to the ocular system40. The relay system30can include one or more lenses and/or optical fibers to transfer the image from the objective20. The ocular system40permits a user of the endoscope10to view the image from the objective20. The ocular system40can include an eyepiece for direct viewing of the image and/or a camera system to capture and display the image. In some embodiments, the endoscope10may include one or more devices to transfer light from a light source to the target to illuminate the target. FIGS.2and3show an embodiment of the objective20from the endoscope10ofFIG.1. Light rays26passing through the objective20form a curved focal plane P in the image space. In the embodiment shown inFIGS.2and3, four bundles of light rays26are shown passing through the objective20, but more or less than four bundles of light rays may pass through the objective20in other embodiments. The curved focal plane P can be dissected by corresponding image planes P1-P3over a distance L extending along the optical axis for the objective20. While 3 image planes P1-P3are shown inFIGS.2and3, the focal plane P can be dissected by any number of image planes along the distance L. For each image plane P1-P3, a portion of the image (from the object space) captured at the corresponding image plane can be in focus, while other portions of the image remain out of focus.FIG.4shows an embodiment of an image captured at image plane P2. As can be seen inFIG.4, the portion of the image corresponding to image plane P2is in focus, while the portions of the image corresponding to image planes P1and P3are out of focus. FIGS.5and6show embodiments of an evaluation system used to evaluate objectives20from endoscopes10. The evaluation system100can include a target110, the objective20being evaluated or tested, an image capture system120and an image processing system150. The image capture system120can include one or more optical components130(e.g., lenses, prisms, etc.) and/or a camera140. In an embodiment, the camera140may be replaced by an image sensor (or sensor array) that can be used to capture images. The image sensor can be controlled and operated by the image processing system150in an embodiment. In one embodiment, the target110, the objective20being evaluated or tested and the image capture system120can be placed in a fixture or enclosure160that prevents or limits ambient light from reaching the camera140. The target110can include features that allow in focus areas of captured images to be easily extracted. The target110can have a pattern that is uniform and of high contrast across the whole field of view. In one embodiment, the pattern for the target110can include a set of slanted (e.g., at a 45° angle) alternating black and white stripes with a width of about 0.5 mm (e.g., a “zebra” pattern). The use of a “zebra” pattern can be beneficial in image post processing and can be relatively easily reconstructed even on very blurry images. In an embodiment, the target110can be back illuminated to prevent parasitic reflections and the illumination level of the target110can be adjustable to obtain a desired image contrast from the camera140. The optical components130(sometimes referred to as pickup optics) includes movable optical elements that permit the objective image (i.e., the image formed by the objective20) to be relayed onto the camera140from multiple image positions (e.g., image planes P1-P3) shifted along the longitudinal axis of the objective20. The camera140can capture multiple intermediate images of the objective image from multiple image positions and provide the captured images to the image processing system150. The image processing system150can evaluate the intermediate images from the camera140with image processing algorithms to extract image areas that are in focus. Once the intermediate images with corresponding in focus areas are extracted, the image processing system150can produce the final image used to evaluate the objective20by stitching together the extracted in focus areas from the intermediate images. FIG.7shows an embodiment of a camera140that can be used with the evaluation system100. The camera140shown inFIG.7can include logic141, referred to herein as “camera logic,” which may be implemented in software, firmware, hardware, or any combination thereof. InFIG.7, the camera logic141is implemented in software and stored in memory142. However, other configurations of the camera logic141are possible in other embodiments. The camera logic141, when implemented in software, can be stored and transported on any computer-readable medium for use by or in connection with an instruction execution apparatus that can fetch and execute instructions. The embodiment of the camera140shown inFIG.7can include at least one conventional processor143, which can incorporate processing hardware for executing instructions stored in the memory142. As an example, the processor143may include a central processing unit (CPU), a digital signal processor (DSP), and/or a graphic processing unit (GPU). The processor143can communicate to and drive the other elements within the camera140via a local interface144, which can include at least one bus. As shown byFIG.7, the camera140can also include an image sensor145and a communication module146. The image sensor145can be used to record, capture or obtain images from the objective22in the area surrounding or in proximity to the camera140(e.g., the image space). The communication module146can include a radio frequency (RF) radio or other device for communicating wirelessly with image processing system150. In another embodiment, the communication module146may also include an interface permitting wired communication between the camera140and the image processing system150. The image sensor145can include one or more CCDs (charge coupled devices) and/or one or more active pixel sensors or CMOS (complementary metal-oxide-semiconductor) sensors. The images from the image sensor145can be stored as image data147in memory142. The image data147can be stored in any appropriate file format, including, but not limited to, PNG (portable network graphics), JPEG (joint photographic experts group), TIFF (tagged image file format), MPEG (moving picture experts group), WMV (Windows media video), QuickTime and GIF (graphics interchange format). From time-to-time, the camera logic141can be configured to transmit the image data147to the image processing system150. The image data147may be analyzed by the image processing system150to determine if the objective20is acceptable for use in an endoscope10. The image data147may be time-stamped based on the time indicated by a clock (not shown) in order to indicate when the image data147was obtained. FIG.8shows an embodiment of the image processing system150. The image processing system150may be implemented as one or more general or special-purpose computers, such as a laptop, hand-held (e.g., smartphone), desktop, or mainframe computer. The image processing system150can include logic152, referred to herein as “device logic,” for generally controlling the operation of the image processing system150. The image processing system150also includes image processing logic154to determine the portions or areas of the images from the camera140that are in focus and image stitching control logic156to form an evaluation image (or final image) from the portions of the images determined to be in focus by the image processing logic154. The image processing system150further includes evaluation logic158for processing and analyzing the evaluation image to determine the acceptability of the objective22. The device logic152, the image processing logic154, the image stitching control logic156and the evaluation logic158can be implemented in software, hardware, firmware or any combination thereof. In the image processing system150shown inFIG.8, the device logic152, the image processing logic154, the image stitching control logic156and the evaluation logic158are implemented in software and stored in memory160of the image processing system150. Note that the device logic152, the image processing logic154, the image stitching control logic156and the evaluation logic158, when implemented in software, can be stored and transported on any non-transitory computer-readable medium for use by or in connection with an instruction execution apparatus that can fetch and execute instructions. The image processing system150can include at least one conventional processor162, which has processing hardware for executing instructions stored in memory160. As an example, the processor162may include a central processing unit (CPU), a digital signal processor (DSP), and/or a graphic processing unit (GPU). The processor162communicates to and drives the other elements within the image processing system150via a local interface164, which can include at least one bus. Furthermore, an input interface166, for example, a keypad, keyboard or a mouse, can be used to input data from a user of the image processing system150, and an output interface168, for example, a printer, monitor, liquid crystal display (LCD), or other display apparatus, can be used to output data to the user. Further, a communication interface170may be used to exchange data with the camera140. As shown byFIG.8, camera data172and evaluation data174and can be stored in memory160at the image processing system150. The camera data172can include image data147from the camera140. The evaluation data174can include evaluation images generated by the image stitching logic156and/or information relating to the in focus areas of the images from the camera140determined by image processing logic154. The camera data172and the evaluation data174can be used and/or analyzed by device logic152, the image processing logic154, the image stitching control logic156and the evaluation logic158to determine the acceptability of the objective22that generated the images. FIG.9is a flow chart showing an embodiment of a process for evaluating an objective20of an endoscope10with evaluation system100. The objective20that is undergoing an evaluation can be positioned in the enclosure160of the system100with the target110such that the objective image formed by the objective20incorporates the target110. The process ofFIG.9can be used to evaluate objectives20as part of either a manufacturing process or a repair process for endoscopes10. Once the objective is positioned in the enclosure160, the image capture system120can be positioned along the optical axis in the enclosure160(step902) and an intermediate image can be captured (step904). The positioning of the image capture system120in the enclosure can be used to obtain intermediate images where a particular portion or area of the intermediate image is in focus and the remaining portions of the intermediate image are out of focus. For each position of the image capture system120along the optical axis, the intermediate image can be captured. In an embodiment, the target illumination level may need to be adjusted for some of the axial positions of the image capture system120to achieve the best image contrast in the intermediate image. For example, intermediate images captured from an image plane at the center of the objective image can be much brighter in the center, while the intermediate images captured from an image plane that is in focus at the periphery of the objective image are darker due to natural vignetting within tested objective. Next, a determination can be made as to whether additional intermediate images need to be collected (step906). If additional images are to be collected, the process returns to step902to position the image capture system120into another position. In one embodiment, a predetermined number of intermediate images of the objective image can be obtained from different positions along the focal plane of the objective20by adjusting the position of the image capture system120. In another embodiment, the position of the objective20can be moved to obtain the predetermined number of intermediate images. Each of the intermediate images can have a different area or portion of the objective image in focus depending on where the intermediate image is captured (by the image capture system120) with respect to the focal plane of the objective image. In one embodiment, the image capture system120can include optical components130and camera140that are moveable within fixture160. The moveable optical components130and camera140can be fixed with respect to each other to maintain the image plane (sometimes referred to as the pick-up plane) in the best possible focus on the image sensor145of the camera140. The optical components130and camera140can be mounted on a common assembly and move in tandem such that a substantially constant focal distance between the optical components130and the camera140is maintained and a substantially constant focal distance between the optical components130and image plane of the objective image being captured is maintained. The moveable optical components130and camera140can be refocused along the optical axis at different distances from the objective20to permit multiple intermediate images of the objective image to be captured. As shown inFIGS.10A-10C, the optical components130and camera140can be positioned in different positions to capture intermediate images corresponding to image planes P1-P3. InFIG.10A, the optical components130and camera140can be positioned to capture intermediate image #1. In intermediate image #1, the portion of the objective image corresponding to image plane P2is in focus and the remaining portions of the objective image (e.g., the portions corresponding to image planes P1and P3) are out of focus. InFIG.10B, the optical components130and camera140can be positioned to capture intermediate image #2. In intermediate image #2, the portion of the objective image corresponding to image plane P1is in focus and the remaining portions of the objective image (e.g., the portions corresponding to image planes P2and P3) are out of focus. InFIG.100, the optical components130and camera140can be positioned to capture intermediate image #3. In intermediate image #3, the portion of the objective image corresponding to image plane P3is in focus and the remaining portions of the objective image (e.g., the portions corresponding to image planes P1and P2) are out of focus. In another embodiment, the image capture system120may omit moveable optical components130(or have the optical components130in a fixed position) and just move camera140. The moveable camera140can moved into different positions such that the image plane of the objective image being captured is in focus. As shown inFIGS.11A-11C, the camera140can be positioned in different positions to capture intermediate images corresponding to image planes P1-P3. InFIG.11A, the camera140can be positioned to capture intermediate image #1. In intermediate image #1, the portion of the objective image corresponding to image plane P2is in focus and the remaining portions of the objective image (e.g., the portions corresponding to image planes P1and P3) are out of focus. InFIG.11B, the camera140can be positioned to capture intermediate image #2. In intermediate image #2, the portion of the objective image corresponding to image plane P1is in focus and the remaining portions of the objective image (e.g., the portions corresponding to image planes P2and P3) are out of focus. InFIG.11C, the camera140can be positioned to capture intermediate image #3. In intermediate image #3, the portion of the objective image corresponding to image plane P3is in focus and the remaining portions of the objective image (e.g., the portions corresponding to image planes P1and P2) are out of focus. Returning back toFIG.9, once all of the intermediate images have been collected, each of the intermediate images can be processed with the image processing system150to extract a portion from each captured image (step908). In an embodiment, when the intermediate images from respective image planes are collected (e.g., image planes P1-P3), the intermediate images can be evaluated in terms of image sharpness regions. While only three image planes (e.g., P1-P3) and three corresponding intermediate images are shown in the embodiments ofFIGS.10A-10CandFIGS.11A-11C, additional image planes (e.g., 7-9 image planes and intermediate images) can be used in other embodiments. The number of image planes and intermediate images that may be required to generate a final image can depend on the strength of the correction for the objective20and the strength of the curvature for the focal plane of the objective image. In one embodiment, the extracted portion of the intermediate image can correspond to the portion of the intermediate image that is in focus. Sharp or in focus portions of the intermediate image may be found using different techniques. For example, techniques involving edge and/or sharpness detection algorithms, local spatial frequency estimators, local gradients, etc. may be used. In one embodiment, Sobel matrix operators for local gradients was used. In another embodiment, the extracted portion of the intermediate image can correspond to a predetermined portion of the objective image that is related to the image plane being captured by the intermediate image. The extracted portions of the intermediate images can be stitched (or assembled) together by the image processing system to form a final image (step910). In one embodiment, if there are areas of the final image are not covered by any extracted portion from the intermediate images, additional intermediate images may be collected to guarantee full coverage of the final image. The final focused image can be used for the evaluation of the objective20being tested and can be used to find any imperfections in optical subcomponents or the assembly of the objective20. The final image can correspond to the objective image provided by the objective20. However, the final image can differ from the image that is formed by a fully assembled endoscope10, when the rest of the endoscope optics are present. The slight difference in images can be due to a fact that some optical aberrations of the objective20may be corrected in the remaining part of the relay system30and the ocular system40. The image processing system150can then review the final image (step912) to determine the acceptability of the final image. If the acceptability of the final image can directly correspond to the acceptability of the objective20being evaluated. If the final image is acceptable, then the objective20is also acceptable. However, if the final image is not acceptable (or is rejected), then the objective20is also not acceptable and rejected. Although the figures herein may show a specific order of method steps, the order of the steps may differ from what is depicted. Also, two or more steps may be performed concurrently or with partial concurrence. Variations in step performance can depend on the software and hardware systems chosen and on designer choice. All such variations are within the scope of the application. Software implementations could be accomplished with standard programming techniques, with rule based logic and other logic to accomplish the various connection steps, processing steps, comparison steps and decision steps. It should be understood that the identified embodiments are offered by way of example only. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the embodiments without departing from the scope of the present application. Accordingly, the present application is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the application. It should also be understood that the phraseology and terminology employed herein is for the purpose of description only and should not be regarded as limiting.

11857152

DESCRIPTION Applicant of the present application owns the following U.S. Provisional Patent Applications, filed on Mar. 28, 2018, each of which is herein incorporated by reference in its entirety:U.S. Provisional Patent Application Ser. No. 62/649,302, titled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES;U.S. Provisional Patent Application Ser. No. 62/649,294, titled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD;U.S. Provisional Patent Application Ser. No. 62/649,300, titled SURGICAL HUB SITUATIONAL AWARENESS;U.S. Provisional Patent Application Ser. No. 62/649,309, titled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;U.S. Provisional Patent Application Ser. No. 62/649,310, titled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;U.S. Provisional Patent Application Ser. No. 62/649,291, titled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;U.S. Provisional Patent Application Ser. No. 62/649,296, titled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;U.S. Provisional Patent Application Ser. No. 62/649,333, titled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER;U.S. Provisional Patent Application Ser. No. 62/649,327, titled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES;U.S. Provisional Patent Application Ser. No. 62/649,315, titled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK;U.S. Provisional Patent Application Ser. No. 62/649,313, titled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES;U.S. Provisional Patent Application Ser. No. 62/649,320, titled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;U.S. Provisional Patent Application Ser. No. 62/649,307, titled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; andU.S. Provisional Patent Application Ser. No. 62/649,323, titled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS. Applicant of the present application owns the following U.S. Patent Applications, filed on Mar. 29, 2018, each of which is herein incorporated by reference in its entirety:U.S. patent application Ser. No. 15/940,641, titled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES, now U.S. Pat. No. 10,944,728;U.S. patent application Ser. No. 15/940,648, titled INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES, now U.S. Pat. No. 11,069,012;U.S. patent application Ser. No. 15/940,656, titled SURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES, now U.S. Pat. No. 11,166,772;U.S. patent application Ser. No. 15/940,666, titled SPATIAL AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS, now U.S. Pat. No. 11,678,881;U.S. patent application Ser. No. 15/940,670, titled COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS, now U.S. Pat. No. 11,266,468;U.S. patent application Ser. No. 15/940,677, titled SURGICAL HUB CONTROL ARRANGEMENTS, now U.S. Pat. No. 10,987,178;U.S. patent application Ser. No. 15/940,632, titled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD, now U.S. Pat. No. 11,132,462;U.S. patent application Ser. No. 15/940,640, titled COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS, now U.S. Pat. No. 11,202,570;U.S. patent application Ser. No. 15/940,645, titled SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT, now U.S. Pat. No. 10,892,899;U.S. patent application Ser. No. 15/940,649, titled DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME, now U.S. Patent Application Publication No. 2019/0205567;U.S. patent application Ser. No. 15/940,654, titled SURGICAL HUB SITUATIONAL AWARENESS, now U.S. Patent Application Publication No. 2019/0201140;U.S. patent application Ser. No. 15/940,663, titled SURGICAL SYSTEM DISTRIBUTED PROCESSING, now U.S. Pat. No. 11,419,630;U.S. patent application Ser. No. 15/940,668, titled AGGREGATION AND REPORTING OF SURGICAL HUB DATA, now U.S. Patent Application Publication No. 2019/0201115;U.S. patent application Ser. No. 15/940,686, titled DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE, now U.S. Pat. No. 11,026,751;U.S. patent application Ser. No. 15/940,700, titled STERILE FIELD INTERACTIVE CONTROL DISPLAYS, now U.S. Pat. No. 11,672,605;U.S. patent application Ser. No. 15/940,629, titled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS, now U.S. Patent Application Publication No. 2019/0201112;U.S. patent application Ser. No. 15/940,704, titled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT, now U.S. Pat. No. 11,100,631;U.S. patent application Ser. No. 15/940,722, titled CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY, now U.S. Patent Application Publication No. 2019/0200905; andU.S. patent application Ser. No. 15/940,742, titled DUAL CMOS ARRAY IMAGING, now U.S. Patent Application Publication No. 2019/0200906. Applicant of the present application owns the following U.S. Patent Applications, filed on Mar. 29, 2018, each of which is herein incorporated by reference in its entirety:U.S. patent application Ser. No. 15/940,636, titled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES, now U.S. Pat. No. 11,410,259;U.S. patent application Ser. No. 15/940,653, titled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS, now U.S. Pat. No. 11,076,921;U.S. patent application Ser. No. 15/940,660, titled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER, now U.S. Patent Application Publication No. 2019/0206555;U.S. patent application Ser. No. 15/940,679, titled CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET, now U.S. Pat. No. 10,932,872;U.S. patent application Ser. No. 15/940,694, titled CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION, now U.S. Pat. No. 10,966,791;U.S. patent application Ser. No. 15/940,634, titled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES, now U.S. Pat. No. 11,179,208;U.S. patent application Ser. No. 15/940,706, titled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK, now U.S. Patent Application Publication No. 2019/0206561; andU.S. patent application Ser. No. 15/940,675, titled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES, now U.S. Pat. No. 10,849,697. Applicant of the present application owns the following U.S. Patent Applications, filed on Mar. 29, 2018, each of which is herein incorporated by reference in its entirety:U.S. patent application Ser. No. 15/940,627, titled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S. Pat. No. 11,013,563;U.S. patent application Ser. No. 15/940,637, titled COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S. Patent Application Publication No. 2019/0201139;U.S. patent application Ser. No. 15/940,642, titled CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S. Patent Application Publication No. 2019/0201113;U.S. patent application Ser. No. 15/940,676, titled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S. Patent Application Publication No. 2019/0201142;U.S. patent application Ser. No. 15/940,680, titled CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S. Pat. No. 11,213,359;U.S. patent application Ser. No. 15/940,683, titled COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S. Pat. No. 11,058,498;U.S. patent application Ser. No. 15/940,690, titled DISPLAY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S. Patent Application Publication No. 2019/0201118; andU.S. patent application Ser. No. 15/940,711, titled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, now U.S. Pat. No. 11,432,885. Before explaining various aspects of surgical devices and generators in detail, it should be noted that the illustrative examples are not limited in application or use to the details of construction and arrangement of parts illustrated in the accompanying drawings and description. The illustrative examples may be implemented or incorporated in other aspects, variations and modifications, and may be practiced or carried out in various ways. Further, unless otherwise indicated, the terms and expressions employed herein have been chosen for the purpose of describing the illustrative examples for the convenience of the reader and are not for the purpose of limitation thereof. Also, it will be appreciated that one or more of the following-described aspects, expressions of aspects, and/or examples, can be combined with any one or more of the other following-described aspects, expressions of aspects and/or examples. Referring toFIG.1, a computer-implemented interactive surgical system100includes one or more surgical systems102and a cloud-based system (e.g., the cloud104that may include a remote server113coupled to a storage device105). Each surgical system102includes at least one surgical hub106in communication with the cloud104that may include a remote server113. In one example, as illustrated inFIG.1, the surgical system102includes a visualization system108, a robotic system110, and a handheld intelligent surgical instrument112, which are configured to communicate with one another and/or the hub106. In some aspects, a surgical system102may include an M number of hubs106, an N number of visualization systems108, an O number of robotic systems110, and a P number of handheld intelligent surgical instruments112, where M, N, O, and P are integers greater than or equal to one. FIG.3depicts an example of a surgical system102being used to perform a surgical procedure on a patient who is lying down on an operating table114in a surgical operating room116. A robotic system110is used in the surgical procedure as a part of the surgical system102. The robotic system110includes a surgeon's console118, a patient side cart120(surgical robot), and a surgical robotic hub122. The patient side cart120can manipulate at least one removably coupled surgical tool117through a minimally invasive incision in the body of the patient while the surgeon views the surgical site through the surgeon's console118. An image of the surgical site can be obtained by a medical imaging device124, which can be manipulated by the patient side cart120to orient the imaging device124. The robotic hub122can be used to process the images of the surgical site for subsequent display to the surgeon through the surgeon's console118. Other types of robotic systems can be readily adapted for use with the surgical system102. Various examples of robotic systems and surgical tools that are suitable for use with the present disclosure are described in U.S. Provisional Patent Application Ser. No. 62/611,339, titled ROBOT ASSISTED SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety. Various examples of cloud-based analytics that are performed by the cloud104, and are suitable for use with the present disclosure, are described in U.S. Provisional Patent Application Ser. No. 62/611,340, titled CLOUD-BASED MEDICAL ANALYTICS, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety. In various aspects, the imaging device124includes at least one image sensor and one or more optical components. Suitable image sensors include, but are not limited to, Charge-Coupled Device (CCD) sensors and Complementary Metal-Oxide Semiconductor (CMOS) sensors. The optical components of the imaging device124may include one or more illumination sources and/or one or more lenses. The one or more illumination sources may be directed to illuminate portions of the surgical field. The one or more image sensors may receive light reflected or refracted from the surgical field, including light reflected or refracted from tissue and/or surgical instruments. The one or more illumination sources may be configured to radiate electromagnetic energy in the visible spectrum as well as the invisible spectrum. The visible spectrum, sometimes referred to as the optical spectrum or luminous spectrum, is that portion of the electromagnetic spectrum that is visible to (i.e., can be detected by) the human eye and may be referred to as visible light or simply light. A typical human eye will respond to wavelengths in air that are from about 380 nm to about 750 nm. The invisible spectrum (i.e., the non-luminous spectrum) is that portion of the electromagnetic spectrum that lies below and above the visible spectrum (i.e., wavelengths below about 380 nm and above about 750 nm). The invisible spectrum is not detectable by the human eye. Wavelengths greater than about 750 nm are longer than the red visible spectrum, and they become invisible infrared (IR), microwave, and radio electromagnetic radiation. Wavelengths less than about 380 nm are shorter than the violet spectrum, and they become invisible ultraviolet, x-ray, and gamma ray electromagnetic radiation. In various aspects, the imaging device124is configured for use in a minimally invasive procedure. Examples of imaging devices suitable for use with the present disclosure include, but not limited to, an arthroscope, angioscope, bronchoscope, choledochoscope, colonoscope, cytoscope, duodenoscope, enteroscope, esophagogastro-duodenoscope (gastroscope), endoscope, laryngoscope, nasopharyngo-neproscope, sigmoidoscope, thoracoscope, and ureteroscope. In one aspect, the imaging device employs multi-spectrum monitoring to discriminate topography and underlying structures. A multi-spectral image is one that captures image data within specific wavelength ranges across the electromagnetic spectrum. The wavelengths may be separated by filters or by the use of instruments that are sensitive to particular wavelengths, including light from frequencies beyond the visible light range, e.g., IR and ultraviolet. Spectral imaging can allow extraction of additional information the human eye fails to capture with its receptors for red, green, and blue. The use of multi-spectral imaging is described in greater detail under the heading “Advanced Imaging Acquisition Module” in U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety. Multi-spectrum monitoring can be a useful tool in relocating a surgical field after a surgical task is completed to perform one or more of the previously described tests on the treated tissue. It is axiomatic that strict sterilization of the operating room and surgical equipment is required during any surgery. The strict hygiene and sterilization conditions required in a “surgical theater,” i.e., an operating or treatment room, necessitate the highest possible sterility of all medical devices and equipment. Part of that sterilization process is the need to sterilize anything that comes in contact with the patient or penetrates the sterile field, including the imaging device124and its attachments and components. It will be appreciated that the sterile field may be considered a specified area, such as within a tray or on a sterile towel, that is considered free of microorganisms, or the sterile field may be considered an area, immediately around a patient, who has been prepared for a surgical procedure. The sterile field may include the scrubbed team members, who are properly attired, and all furniture and fixtures in the area. In various aspects, the visualization system108includes one or more imaging sensors, one or more image processing units, one or more storage arrays, and one or more displays that are strategically arranged with respect to the sterile field, as illustrated inFIG.2. In one aspect, the visualization system108includes an interface for HL7, PACS, and EMR. Various components of the visualization system108are described under the heading “Advanced Imaging Acquisition Module” in U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety. As illustrated inFIG.2, a primary display119is positioned in the sterile field to be visible to an operator at the operating table114. In addition, a visualization tower111is positioned outside the sterile field. The visualization tower111includes a first non-sterile display107and a second non-sterile display109, which face away from each other. The visualization system108, guided by the hub106, is configured to utilize the displays107,109, and119to coordinate information flow to operators inside and outside the sterile field. For example, the hub106may cause the visualization system108to display a snap-shot of a surgical site, as recorded by an imaging device124, on a non-sterile display107or109, while maintaining a live feed of the surgical site on the primary display119. The snap-shot on the non-sterile display107or109can permit a non-sterile operator to perform a diagnostic step relevant to the surgical procedure, for example. In one aspect, the hub106is also configured to route a diagnostic input or feedback entered by a non-sterile operator at the visualization tower111to the primary display119within the sterile field, where it can be viewed by a sterile operator at the operating table. In one example, the input can be in the form of a modification to the snap-shot displayed on the non-sterile display107or109, which can be routed to the primary display119by the hub106. Referring toFIG.2, a surgical instrument112is being used in the surgical procedure as part of the surgical system102. The hub106is also configured to coordinate information flow to a display of the surgical instrument112. For example, in U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety. A diagnostic input or feedback entered by a non-sterile operator at the visualization tower111can be routed by the hub106to the surgical instrument display115within the sterile field, where it can be viewed by the operator of the surgical instrument112. Example surgical instruments that are suitable for use with the surgical system102are described under the heading “Surgical Instrument Hardware” and in U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety, for example. Referring now toFIG.3, a hub106is depicted in communication with a visualization system108, a robotic system110, and a handheld intelligent surgical instrument112. The hub106includes a hub display135, an imaging module138, a generator module140, a communication module130, a processor module132, and a storage array134. In certain aspects, as illustrated inFIG.3, the hub106further includes a smoke evacuation module126and/or a suction/irrigation module128. During a surgical procedure, energy application to tissue, for sealing and/or cutting, is generally associated with smoke evacuation, suction of excess fluid, and/or irrigation of the tissue. Fluid, power, and/or data lines from different sources are often entangled during the surgical procedure. Valuable time can be lost addressing this issue during a surgical procedure. Detangling the lines may necessitate disconnecting the lines from their respective modules, which may require resetting the modules. The hub modular enclosure136offers a unified environment for managing the power, data, and fluid lines, which reduces the frequency of entanglement between such lines. Aspects of the present disclosure present a surgical hub for use in a surgical procedure that involves energy application to tissue at a surgical site. The surgical hub includes a hub enclosure and a combo generator module slidably receivable in a docking station of the hub enclosure. The docking station includes data and power contacts. The combo generator module includes two or more of an ultrasonic energy generator component, a bipolar RF energy generator component, and a monopolar RF energy generator component that are housed in a single unit. In one aspect, the combo generator module also includes a smoke evacuation component, at least one energy delivery cable for connecting the combo generator module to a surgical instrument, at least one smoke evacuation component configured to evacuate smoke, fluid, and/or particulates generated by the application of therapeutic energy to the tissue, and a fluid line extending from the remote surgical site to the smoke evacuation component. In one aspect, the fluid line is a first fluid line and a second fluid line extends from the remote surgical site to a suction and irrigation module slidably received in the hub enclosure. In one aspect, the hub enclosure comprises a fluid interface. Certain surgical procedures may require the application of more than one energy type to the tissue. One energy type may be more beneficial for cutting the tissue, while another different energy type may be more beneficial for sealing the tissue. For example, a bipolar generator can be used to seal the tissue while an ultrasonic generator can be used to cut the sealed tissue. Aspects of the present disclosure present a solution where a hub modular enclosure136is configured to accommodate different generators, and facilitate an interactive communication therebetween. One of the advantages of the hub modular enclosure136is enabling the quick removal and/or replacement of various modules. Aspects of the present disclosure present a modular surgical enclosure for use in a surgical procedure that involves energy application to tissue. The modular surgical enclosure includes a first energy-generator module, configured to generate a first energy for application to the tissue, and a first docking station comprising a first docking port that includes first data and power contacts, wherein the first energy-generator module is slidably movable into an electrical engagement with the power and data contacts and wherein the first energy-generator module is slidably movable out of the electrical engagement with the first power and data contacts. Further to the above, the modular surgical enclosure also includes a second energy-generator module configured to generate a second energy, different than the first energy, for application to the tissue, and a second docking station comprising a second docking port that includes second data and power contacts, wherein the second energy-generator module is slidably movable into an electrical engagement with the power and data contacts, and wherein the second energy-generator module is slidably movable out of the electrical engagement with the second power and data contacts. In addition, the modular surgical enclosure also includes a communication bus between the first docking port and the second docking port, configured to facilitate communication between the first energy-generator module and the second energy-generator module. Referring toFIGS.3-7, aspects of the present disclosure are presented for a hub modular enclosure136that allows the modular integration of a generator module140, a smoke evacuation module126, and a suction/irrigation module128. The hub modular enclosure136further facilitates interactive communication between the modules140,126,128. As illustrated inFIG.5, the generator module140can be a generator module with integrated monopolar, bipolar, and ultrasonic components supported in a single housing unit139slidably insertable into the hub modular enclosure136. As illustrated inFIG.5, the generator module140can be configured to connect to a monopolar device146, a bipolar device147, and an ultrasonic device148. Alternatively, the generator module140may comprise a series of monopolar, bipolar, and/or ultrasonic generator modules that interact through the hub modular enclosure136. The hub modular enclosure136can be configured to facilitate the insertion of multiple generators and interactive communication between the generators docked into the hub modular enclosure136so that the generators would act as a single generator. In one aspect, the hub modular enclosure136comprises a modular power and communication backplane149with external and wireless communication headers to enable the removable attachment of the modules140,126,128and interactive communication therebetween. In one aspect, the hub modular enclosure136includes docking stations, or drawers,151, herein also referred to as drawers, which are configured to slidably receive the modules140,126,128.FIG.4illustrates a partial perspective view of a surgical hub enclosure136, and a combo generator module145slidably receivable in a docking station151of the surgical hub enclosure136. A docking port152with power and data contacts on a rear side of the combo generator module145is configured to engage a corresponding docking port150with power and data contacts of a corresponding docking station151of the hub modular enclosure136as the combo generator module145is slid into position within the corresponding docking station151of the hub module enclosure136. In one aspect, the combo generator module145includes a bipolar, ultrasonic, and monopolar module and a smoke evacuation module integrated together into a single housing unit139, as illustrated inFIG.5. In various aspects, the smoke evacuation module126includes a fluid line154that conveys captured/collected smoke and/or fluid away from a surgical site and to, for example, the smoke evacuation module126. Vacuum suction originating from the smoke evacuation module126can draw the smoke into an opening of a utility conduit at the surgical site. The utility conduit, coupled to the fluid line, can be in the form of a flexible tube terminating at the smoke evacuation module126. The utility conduit and the fluid line define a fluid path extending toward the smoke evacuation module126that is received in the hub enclosure136. In various aspects, the suction/irrigation module128is coupled to a surgical tool comprising an aspiration fluid line and a suction fluid line. In one example, the aspiration and suction fluid lines are in the form of flexible tubes extending from the surgical site toward the suction/irrigation module128. One or more drive systems can be configured to cause irrigation and aspiration of fluids to and from the surgical site. In one aspect, the surgical tool includes a shaft having an end effector at a distal end thereof and at least one energy treatment associated with the end effector, an aspiration tube, and an irrigation tube. The aspiration tube can have an inlet port at a distal end thereof and the aspiration tube extends through the shaft. Similarly, an irrigation tube can extend through the shaft and can have an inlet port in proximity to the energy deliver implement. The energy deliver implement is configured to deliver ultrasonic and/or RF energy to the surgical site and is coupled to the generator module140by a cable extending initially through the shaft. The irrigation tube can be in fluid communication with a fluid source, and the aspiration tube can be in fluid communication with a vacuum source. The fluid source and/or the vacuum source can be housed in the suction/irrigation module128. In one example, the fluid source and/or the vacuum source can be housed in the hub enclosure136separately from the suction/irrigation module128. In such example, a fluid interface can be configured to connect the suction/irrigation module128to the fluid source and/or the vacuum source. In one aspect, the modules140,126,128and/or their corresponding docking stations on the hub modular enclosure136may include alignment features that are configured to align the docking ports of the modules into engagement with their counterparts in the docking stations of the hub modular enclosure136. For example, as illustrated inFIG.4, the combo generator module145includes side brackets155that are configured to slidably engage with corresponding brackets156of the corresponding docking station151of the hub modular enclosure136. The brackets cooperate to guide the docking port contacts of the combo generator module145into an electrical engagement with the docking port contacts of the hub modular enclosure136. In some aspects, the drawers151of the hub modular enclosure136are the same, or substantially the same size, and the modules are adjusted in size to be received in the drawers151. For example, the side brackets155and/or156can be larger or smaller depending on the size of the module. In other aspects, the drawers151are different in size and are each designed to accommodate a particular module. Furthermore, the contacts of a particular module can be keyed for engagement with the contacts of a particular drawer to avoid inserting a module into a drawer with mismatching contacts. As illustrated inFIG.4, the docking port150of one drawer151can be coupled to the docking port150of another drawer151through a communications link157to facilitate an interactive communication between the modules housed in the hub modular enclosure136. The docking ports150of the hub modular enclosure136may alternatively, or additionally, facilitate a wireless interactive communication between the modules housed in the hub modular enclosure136. Any suitable wireless communication can be employed, such as for example Air Titan-Bluetooth. FIG.6illustrates individual power bus attachments for a plurality of lateral docking ports of a lateral modular housing160configured to receive a plurality of modules of a surgical hub206. The lateral modular housing160is configured to laterally receive and interconnect the modules161. The modules161are slidably inserted into docking stations162of lateral modular housing160, which includes a backplane for interconnecting the modules161. As illustrated inFIG.6, the modules161are arranged laterally in the lateral modular housing160. Alternatively, the modules161may be arranged vertically in a lateral modular housing. FIG.7illustrates a vertical modular housing164configured to receive a plurality of modules165of the surgical hub106. The modules165are slidably inserted into docking stations, or drawers,167of vertical modular housing164, which includes a backplane for interconnecting the modules165. Although the drawers167of the vertical modular housing164are arranged vertically, in certain instances, a vertical modular housing164may include drawers that are arranged laterally. Furthermore, the modules165may interact with one another through the docking ports of the vertical modular housing164. In the example ofFIG.7, a display177is provided for displaying data relevant to the operation of the modules165. In addition, the vertical modular housing164includes a master module178housing a plurality of sub-modules that are slidably received in the master module178. In various aspects, the imaging module138comprises an integrated video processor and a modular light source and is adapted for use with various imaging devices. In one aspect, the imaging device is comprised of a modular housing that can be assembled with a light source module and a camera module. The housing can be a disposable housing. In at least one example, the disposable housing is removably coupled to a reusable controller, a light source module, and a camera module. The light source module and/or the camera module can be selectively chosen depending on the type of surgical procedure. In one aspect, the camera module comprises a CCD sensor. In another aspect, the camera module comprises a CMOS sensor. In another aspect, the camera module is configured for scanned beam imaging. Likewise, the light source module can be configured to deliver a white light or a different light, depending on the surgical procedure. During a surgical procedure, removing a surgical device from the surgical field and replacing it with another surgical device that includes a different camera or a different light source can be inefficient. Temporarily losing sight of the surgical field may lead to undesirable consequences. The module imaging device of the present disclosure is configured to permit the replacement of a light source module or a camera module midstream during a surgical procedure, without having to remove the imaging device from the surgical field. In one aspect, the imaging device comprises a tubular housing that includes a plurality of channels. A first channel is configured to slidably receive the camera module, which can be configured for a snap-fit engagement with the first channel. A second channel is configured to slidably receive the light source module, which can be configured for a snap-fit engagement with the second channel. In another example, the camera module and/or the light source module can be rotated into a final position within their respective channels. A threaded engagement can be employed in lieu of the snap-fit engagement. In various examples, multiple imaging devices are placed at different positions in the surgical field to provide multiple views. The imaging module138can be configured to switch between the imaging devices to provide an optimal view. In various aspects, the imaging module138can be configured to integrate the images from the different imaging device. Various image processors and imaging devices suitable for use with the present disclosure are described in U.S. Pat. No. 7,995,045, titled COMBINED SBI AND CONVENTIONAL IMAGE PROCESSOR, which issued on Aug. 9, 2011, which is herein incorporated by reference in its entirety. In addition, U.S. Pat. No. 7,982,776, titled SBI MOTION ARTIFACT REMOVAL APPARATUS AND METHOD, which issued on Jul. 19, 2011, which is herein incorporated by reference in its entirety, describes various systems for removing motion artifacts from image data. Such systems can be integrated with the imaging module138. Furthermore, U.S. Patent Application Publication No. 2011/0306840, titled CONTROLLABLE MAGNETIC SOURCE TO FIXTURE INTRACORPOREAL APPARATUS, which published on Dec. 15, 2011, and U.S. Patent Application Publication No. 2014/0243597, titled SYSTEM FOR PERFORMING A MINIMALLY INVASIVE SURGICAL PROCEDURE, which published on Aug. 28, 2014, each of which is herein incorporated by reference in its entirety. FIG.8illustrates a surgical data network201comprising a modular communication hub203configured to connect modular devices located in one or more operating theaters of a healthcare facility, or any room in a healthcare facility specially equipped for surgical operations, to a cloud-based system (e.g., the cloud204that may include a remote server213coupled to a storage device205). In one aspect, the modular communication hub203comprises a network hub207and/or a network switch209in communication with a network router. The modular communication hub203also can be coupled to a local computer system210to provide local computer processing and data manipulation. The surgical data network201may be configured as passive, intelligent, or switching. A passive surgical data network serves as a conduit for the data, enabling it to go from one device (or segment) to another and to the cloud computing resources. An intelligent surgical data network includes additional features to enable the traffic passing through the surgical data network to be monitored and to configure each port in the network hub207or network switch209. An intelligent surgical data network may be referred to as a manageable hub or switch. A switching hub reads the destination address of each packet and then forwards the packet to the correct port. Modular devices1a-1nlocated in the operating theater may be coupled to the modular communication hub203. The network hub207and/or the network switch209may be coupled to a network router211to connect the devices1a-1nto the cloud204or the local computer system210. Data associated with the devices1a-1nmay be transferred to cloud-based computers via the router for remote data processing and manipulation. Data associated with the devices1a-1nmay also be transferred to the local computer system210for local data processing and manipulation. Modular devices2a-2mlocated in the same operating theater also may be coupled to a network switch209. The network switch209may be coupled to the network hub207and/or the network router211to connect to the devices2a-2mto the cloud204. Data associated with the devices2a-2nmay be transferred to the cloud204via the network router211for data processing and manipulation. Data associated with the devices2a-2mmay also be transferred to the local computer system210for local data processing and manipulation. It will be appreciated that the surgical data network201may be expanded by interconnecting multiple network hubs207and/or multiple network switches209with multiple network routers211. The modular communication hub203may be contained in a modular control tower configured to receive multiple devices1a-1n/2a-2m. The local computer system210also may be contained in a modular control tower. The modular communication hub203is connected to a display212to display images obtained by some of the devices1a-1n/2a-2m, for example during surgical procedures. In various aspects, the devices1a-1n/2a-2mmay include, for example, various modules such as an imaging module138coupled to an endoscope, a generator module140coupled to an energy-based surgical device, a smoke evacuation module126, a suction/irrigation module128, a communication module130, a processor module132, a storage array134, a surgical device coupled to a display, and/or a non-contact sensor module, among other modular devices that may be connected to the modular communication hub203of the surgical data network201. In one aspect, the surgical data network201may comprise a combination of network hub(s), network switch(es), and network router(s) connecting the devices1a-1n/2a-2mto the cloud. Any one of or all of the devices1a-1n/2a-2mcoupled to the network hub or network switch may collect data in real time and transfer the data to cloud computers for data processing and manipulation. It will be appreciated that cloud computing relies on sharing computing resources rather than having local servers or personal devices to handle software applications. The word “cloud” may be used as a metaphor for “the Internet,” although the term is not limited as such. Accordingly, the term “cloud computing” may be used herein to refer to “a type of Internet-based computing,” where different services—such as servers, storage, and applications—are delivered to the modular communication hub203and/or computer system210located in the surgical theater (e.g., a fixed, mobile, temporary, or field operating room or space) and to devices connected to the modular communication hub203and/or computer system210through the Internet. The cloud infrastructure may be maintained by a cloud service provider. In this context, the cloud service provider may be the entity that coordinates the usage and control of the devices1a-1n/2a-2mlocated in one or more operating theaters. The cloud computing services can perform a large number of calculations based on the data gathered by smart surgical instruments, robots, and other computerized devices located in the operating theater. The hub hardware enables multiple devices or connections to be connected to a computer that communicates with the cloud computing resources and storage. Applying cloud computer data processing techniques on the data collected by the devices1a-1n/2a-2m, the surgical data network provides improved surgical outcomes, reduced costs, and improved patient satisfaction. At least some of the devices1a-1n/2a-2mmay be employed to view tissue states to assess leaks or perfusion of sealed tissue after a tissue sealing and cutting procedure. At least some of the devices1a-1n/2a-2mmay be employed to identify pathology, such as the effects of diseases, using the cloud-based computing to examine data including images of samples of body tissue for diagnostic purposes. This includes localization and margin confirmation of tissue and phenotypes. At least some of the devices1a-1n/2a-2mmay be employed to identify anatomical structures of the body using a variety of sensors integrated with imaging devices and techniques such as overlaying images captured by multiple imaging devices. The data gathered by the devices1a-1n/2a-2m, including image data, may be transferred to the cloud204or the local computer system210or both for data processing and manipulation including image processing and manipulation. The data may be analyzed to improve surgical procedure outcomes by determining if further treatment, such as the application of endoscopic intervention, emerging technologies, a targeted radiation, targeted intervention, and precise robotics to tissue-specific sites and conditions, may be pursued. Such data analysis may further employ outcome analytics processing, and using standardized approaches may provide beneficial feedback to either confirm surgical treatments and the behavior of the surgeon or suggest modifications to surgical treatments and the behavior of the surgeon. In one implementation, the operating theater devices1a-1nmay be connected to the modular communication hub203over a wired channel or a wireless channel depending on the configuration of the devices1a-1nto a network hub. The network hub207may be implemented, in one aspect, as a local network broadcast device that works on the physical layer of the Open System Interconnection (OSI) model. The network hub provides connectivity to the devices1a-1nlocated in the same operating theater network. The network hub207collects data in the form of packets and sends them to the router in half duplex mode. The network hub207does not store any media access control/internet protocol (MAC/IP) to transfer the device data. Only one of the devices1a-1ncan send data at a time through the network hub207. The network hub207has no routing tables or intelligence regarding where to send information and broadcasts all network data across each connection and to a remote server213(FIG.9) over the cloud204. The network hub207can detect basic network errors such as collisions, but having all information broadcast to multiple ports can be a security risk and cause bottlenecks. In another implementation, the operating theater devices2a-2mmay be connected to a network switch209over a wired channel or a wireless channel. The network switch209works in the data link layer of the OSI model. The network switch209is a multicast device for connecting the devices2a-2mlocated in the same operating theater to the network. The network switch209sends data in the form of frames to the network router211and works in full duplex mode. Multiple devices2a-2mcan send data at the same time through the network switch209. The network switch209stores and uses MAC addresses of the devices2a-2mto transfer data. The network hub207and/or the network switch209are coupled to the network router211for connection to the cloud204. The network router211works in the network layer of the OSI model. The network router211creates a route for transmitting data packets received from the network hub207and/or network switch211to cloud-based computer resources for further processing and manipulation of the data collected by any one of or all the devices1a-1n/2a-2m. The network router211may be employed to connect two or more different networks located in different locations, such as, for example, different operating theaters of the same healthcare facility or different networks located in different operating theaters of different healthcare facilities. The network router211sends data in the form of packets to the cloud204and works in full duplex mode. Multiple devices can send data at the same time. The network router211uses IP addresses to transfer data. In one example, the network hub207may be implemented as a USB hub, which allows multiple USB devices to be connected to a host computer. The USB hub may expand a single USB port into several tiers so that there are more ports available to connect devices to the host system computer. The network hub207may include wired or wireless capabilities to receive information over a wired channel or a wireless channel. In one aspect, a wireless USB short-range, high-bandwidth wireless radio communication protocol may be employed for communication between the devices1a-1nand devices2a-2mlocated in the operating theater. In other examples, the operating theater devices1a-1n/2a-2mmay communicate to the modular communication hub203via Bluetooth wireless technology standard for exchanging data over short distances (using short-wavelength UHF radio waves in the ISM band from 2.4 to 2.485 GHz) from fixed and mobile devices and building personal area networks (PANs). In other aspects, the operating theater devices1a-1n/2a-2mmay communicate to the modular communication hub203via a number of wireless or wired communication standards or protocols, including but not limited to W-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, long-term evolution (LTE), and Ev-DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT, and Ethernet derivatives thereof, as well as any other wireless and wired protocols that are designated as 3G, 4G, 5G, and beyond. The computing module may include a plurality of communication modules. For instance, a first communication module may be dedicated to shorter-range wireless communications such as Wi-Fi and Bluetooth, and a second communication module may be dedicated to longer-range wireless communications such as GPS, EDGE, GPRS, CDMA, WiMAX, LTE, Ev-DO, and others. The modular communication hub203may serve as a central connection for one or all of the operating theater devices1a-1n/2a-2mand handles a data type known as frames. Frames carry the data generated by the devices1a-1n/2a-2m. When a frame is received by the modular communication hub203, it is amplified and transmitted to the network router211, which transfers the data to the cloud computing resources by using a number of wireless or wired communication standards or protocols, as described herein. The modular communication hub203can be used as a standalone device or be connected to compatible network hubs and network switches to form a larger network. The modular communication hub203is generally easy to install, configure, and maintain, making it a good option for networking the operating theater devices1a-1n/2a-2m. FIG.9illustrates a computer-implemented interactive surgical system200. The computer-implemented interactive surgical system200is similar in many respects to the computer-implemented interactive surgical system100. For example, the computer-implemented interactive surgical system200includes one or more surgical systems202, which are similar in many respects to the surgical systems102. Each surgical system202includes at least one surgical hub206in communication with a cloud204that may include a remote server213. In one aspect, the computer-implemented interactive surgical system200comprises a modular control tower236connected to multiple operating theater devices such as, for example, intelligent surgical instruments, robots, and other computerized devices located in the operating theater. As shown inFIG.10, the modular control tower236comprises a modular communication hub203coupled to a computer system210. As illustrated in the example ofFIG.9, the modular control tower236is coupled to an imaging module238that is coupled to an endoscope239, a generator module240that is coupled to an energy device241, a smoke evacuator module226, a suction/irrigation module228, a communication module230, a processor module232, a storage array234, a smart device/instrument235optionally coupled to a display237, and a non-contact sensor module242. The operating theater devices are coupled to cloud computing resources and data storage via the modular control tower236. A robot hub222also may be connected to the modular control tower236and to the cloud computing resources. The devices/instruments235, visualization systems208, among others, may be coupled to the modular control tower236via wired or wireless communication standards or protocols, as described herein. The modular control tower236may be coupled to a hub display215(e.g., monitor, screen) to display and overlay images received from the imaging module, device/instrument display, and/or other visualization systems208. The hub display also may display data received from devices connected to the modular control tower in conjunction with images and overlaid images. FIG.10illustrates a surgical hub206comprising a plurality of modules coupled to the modular control tower236. The modular control tower236comprises a modular communication hub203, e.g., a network connectivity device, and a computer system210to provide local processing, visualization, and imaging, for example. As shown inFIG.10, the modular communication hub203may be connected in a tiered configuration to expand the number of modules (e.g., devices) that may be connected to the modular communication hub203and transfer data associated with the modules to the computer system210, cloud computing resources, or both. As shown inFIG.10, each of the network hubs/switches in the modular communication hub203includes three downstream ports and one upstream port. The upstream network hub/switch is connected to a processor to provide a communication connection to the cloud computing resources and a local display217. Communication to the cloud204may be made either through a wired or a wireless communication channel. The surgical hub206employs a non-contact sensor module242to measure the dimensions of the operating theater and generate a map of the surgical theater using either ultrasonic or laser-type non-contact measurement devices. An ultrasound-based non-contact sensor module scans the operating theater by transmitting a burst of ultrasound and receiving the echo when it bounces off the perimeter walls of an operating theater as described under the heading “Surgical Hub Spatial Awareness Within an Operating Room” in U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, which is herein incorporated by reference in its entirety, in which the sensor module is configured to determine the size of the operating theater and to adjust Bluetooth-pairing distance limits. A laser-based non-contact sensor module scans the operating theater by transmitting laser light pulses, receiving laser light pulses that bounce off the perimeter walls of the operating theater, and comparing the phase of the transmitted pulse to the received pulse to determine the size of the operating theater and to adjust Bluetooth pairing distance limits, for example. The computer system210comprises a processor244and a network interface245. The processor244is coupled to a communication module247, storage248, memory249, non-volatile memory250, and input/output interface251via a system bus. The system bus can be any of several types of bus structure(s) including the memory bus or memory controller, a peripheral bus or external bus, and/or a local bus using any variety of available bus architectures including, but not limited to, 9-bit bus, Industrial Standard Architecture (ISA), Micro-Charmel Architecture (MSA), Extended ISA (EISA), Intelligent Drive Electronics (IDE), VESA Local Bus (VLB), Peripheral Component Interconnect (PCI), USB, Advanced Graphics Port (AGP), Personal Computer Memory Card International Association bus (PCMCIA), Small Computer Systems Interface (SCSI), or any other proprietary bus. The processor244may be any single-core or multicore processor such as those known under the trade name ARM Cortex by Texas Instruments. In one aspect, the processor may be an LM4F230H5QR ARM Cortex-M4F Processor Core, available from Texas Instruments, for example, comprising an on-chip memory of 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, a 32 KB single-cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with StellarisWare® software, a 2 KB electrically erasable programmable read-only memory (EEPROM), and/or one or more pulse width modulation (PWM) modules, one or more quadrature encoder inputs (QEI) analogs, one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, details of which are available for the product datasheet. In one aspect, the processor244may comprise a safety controller comprising two controller-based families such as TMS570 and RM4x, known under the trade name Hercules ARM Cortex R4, also by Texas Instruments. The safety controller may be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options. The system memory includes volatile memory and non-volatile memory. The basic input/output system (BIOS), containing the basic routines to transfer information between elements within the computer system, such as during start-up, is stored in non-volatile memory. For example, the non-volatile memory can include ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), EEPROM, or flash memory. Volatile memory includes random-access memory (RAM), which acts as external cache memory. Moreover, RAM is available in many forms such as SRAM, dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM). The computer system210also includes removable/non-removable, volatile/non-volatile computer storage media, such as for example disk storage. The disk storage includes, but is not limited to, devices like a magnetic disk drive, floppy disk drive, tape drive, Jaz drive, Zip drive, LS-60 drive, flash memory card, or memory stick. In addition, the disk storage can include storage media separately or in combination with other storage media including, but not limited to, an optical disc drive such as a compact disc ROM device (CD-ROM), compact disc recordable drive (CD-R Drive), compact disc rewritable drive (CD-RW Drive), or a digital versatile disc ROM drive (DVD-ROM). To facilitate the connection of the disk storage devices to the system bus, a removable or non-removable interface may be employed. It is to be appreciated that the computer system210includes software that acts as an intermediary between users and the basic computer resources described in a suitable operating environment. Such software includes an operating system. The operating system, which can be stored on the disk storage, acts to control and allocate resources of the computer system. System applications take advantage of the management of resources by the operating system through program modules and program data stored either in the system memory or on the disk storage. It is to be appreciated that various components described herein can be implemented with various operating systems or combinations of operating systems. A user enters commands or information into the computer system210through input device(s) coupled to the I/O interface251. The input devices include, but are not limited to, a pointing device such as a mouse, trackball, stylus, touch pad, keyboard, microphone, joystick, game pad, satellite dish, scanner, TV tuner card, digital camera, digital video camera, web camera, and the like. These and other input devices connect to the processor through the system bus via interface port(s). The interface port(s) include, for example, a serial port, a parallel port, a game port, and a USB. The output device(s) use some of the same types of ports as input device(s). Thus, for example, a USB port may be used to provide input to the computer system and to output information from the computer system to an output device. An output adapter is provided to illustrate that there are some output devices like monitors, displays, speakers, and printers, among other output devices that require special adapters. The output adapters include, by way of illustration and not limitation, video and sound cards that provide a means of connection between the output device and the system bus. It should be noted that other devices and/or systems of devices, such as remote computer(s), provide both input and output capabilities. The computer system210can operate in a networked environment using logical connections to one or more remote computers, such as cloud computer(s), or local computers. The remote cloud computer(s) can be a personal computer, server, router, network PC, workstation, microprocessor-based appliance, peer device, or other common network node, and the like, and typically includes many or all of the elements described relative to the computer system. For purposes of brevity, only a memory storage device is illustrated with the remote computer(s). The remote computer(s) is logically connected to the computer system through a network interface and then physically connected via a communication connection. The network interface encompasses communication networks such as local area networks (LANs) and wide area networks (WANs). LAN technologies include Fiber Distributed Data Interface (FDDI), Copper Distributed Data Interface (CDDI), Ethernet/IEEE 802.3, Token Ring/IEEE 802.5 and the like. WAN technologies include, but are not limited to, point-to-point links, circuit-switching networks like Integrated Services Digital Networks (ISDN) and variations thereon, packet-switching networks, and Digital Subscriber Lines (DSL). In various aspects, the computer system210ofFIG.10, the imaging module238and/or visualization system208, and/or the processor module232ofFIGS.9-10, may comprise an image processor, image processing engine, media processor, or any specialized digital signal processor (DSP) used for the processing of digital images. The image processor may employ parallel computing with single instruction, multiple data (SIMD) or multiple instruction, multiple data (MIMD) technologies to increase speed and efficiency. The digital image processing engine can perform a range of tasks. The image processor may be a system on a chip with multicore processor architecture. The communication connection(s) refers to the hardware/software employed to connect the network interface to the bus. While the communication connection is shown for illustrative clarity inside the computer system, it can also be external to the computer system210. The hardware/software necessary for connection to the network interface includes, for illustrative purposes only, internal and external technologies such as modems, including regular telephone-grade modems, cable modems, and DSL modems, ISDN adapters, and Ethernet cards. FIG.11illustrates a functional block diagram of one aspect of a USB network hub300device, according to one aspect of the present disclosure. In the illustrated aspect, the USB network hub device300employs a TUSB2036 integrated circuit hub by Texas Instruments. The USB network hub300is a CMOS device that provides an upstream USB transceiver port302and up to three downstream USB transceiver ports304,306,308in compliance with the USB 2.0 specification. The upstream USB transceiver port302is a differential root data port comprising a differential data minus (DM0) input paired with a differential data plus (DP0) input. The three downstream USB transceiver ports304,306,308are differential data ports where each port includes differential data plus (DP1-DP3) outputs paired with differential data minus (DM1-DM3) outputs. The USB network hub300device is implemented with a digital state machine instead of a microcontroller, and no firmware programming is required. Fully compliant USB transceivers are integrated into the circuit for the upstream USB transceiver port302and all downstream USB transceiver ports304,306,308. The downstream USB transceiver ports304,306,308support both full-speed and low-speed devices by automatically setting the slew rate according to the speed of the device attached to the ports. The USB network hub300device may be configured either in bus-powered or self-powered mode and includes a hub power logic312to manage power. The USB network hub300device includes a serial interface engine310(SIE). The SIE310is the front end of the USB network hub300hardware and handles most of the protocol described in chapter 8 of the USB specification. The SIE310typically comprehends signaling up to the transaction level. The functions that it handles could include: packet recognition, transaction sequencing, SOP, EOP, RESET, and RESUME signal detection/generation, clock/data separation, non-return-to-zero invert (NRZI) data encoding/decoding and bit-stuffing, CRC generation and checking (token and data), packet ID (PID) generation and checking/decoding, and/or serial-parallel/parallel-serial conversion. The310receives a clock input314and is coupled to a suspend/resume logic and frame timer316circuit and a hub repeater circuit318to control communication between the upstream USB transceiver port302and the downstream USB transceiver ports304,306,308through port logic circuits320,322,324. The SIE310is coupled to a command decoder326via interface logic to control commands from a serial EEPROM via a serial EEPROM interface330. In various aspects, the USB network hub300can connect 127 functions configured in up to six logical layers (tiers) to a single computer. Further, the USB network hub300can connect to all peripherals using a standardized four-wire cable that provides both communication and power distribution. The power configurations are bus-powered and self-powered modes. The USB network hub300may be configured to support four modes of power management: a bus-powered hub, with either individual-port power management or ganged-port power management, and the self-powered hub, with either individual-port power management or ganged-port power management. In one aspect, using a USB cable, the USB network hub300, the upstream USB transceiver port302is plugged into a USB host controller, and the downstream USB transceiver ports304,306,308are exposed for connecting USB compatible devices, and so forth. Surgical Instrument Hardware FIG.12illustrates a logic diagram of a control system470of a surgical instrument or tool in accordance with one or more aspects of the present disclosure. The system470comprises a control circuit. The control circuit includes a microcontroller461comprising a processor462and a memory468. One or more of sensors472,474,476, for example, provide real-time feedback to the processor462. A motor482, driven by a motor driver492, operably couples a longitudinally movable displacement member to drive the I-beam knife element. A tracking system480is configured to determine the position of the longitudinally movable displacement member. The position information is provided to the processor462, which can be programmed or configured to determine the position of the longitudinally movable drive member as well as the position of a firing member, firing bar, and I-beam knife element. Additional motors may be provided at the tool driver interface to control I-beam firing, closure tube travel, shaft rotation, and articulation. A display473displays a variety of operating conditions of the instruments and may include touch screen functionality for data input. Information displayed on the display473may be overlaid with images acquired via endoscopic imaging modules. In one aspect, the microcontroller461may be any single-core or multicore processor such as those known under the trade name ARM Cortex by Texas Instruments. In one aspect, the main microcontroller461may be an LM4F230H5QR ARM Cortex-M4F Processor Core, available from Texas Instruments, for example, comprising an on-chip memory of 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, a 32 KB single-cycle SRAM, and internal ROM loaded with StellarisWare® software, a 2 KB EEPROM, one or more PWM modules, one or more QEI analogs, and/or one or more 12-bit ADCs with 12 analog input channels, details of which are available for the product datasheet. In one aspect, the microcontroller461may comprise a safety controller comprising two controller-based families such as TMS570 and RM4x, known under the trade name Hercules ARM Cortex R4, also by Texas Instruments. The safety controller may be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options. The microcontroller461may be programmed to perform various functions such as precise control over the speed and position of the knife and articulation systems. In one aspect, the microcontroller461includes a processor462and a memory468. The electric motor482may be a brushed direct current (DC) motor with a gearbox and mechanical links to an articulation or knife system. In one aspect, a motor driver492may be an A3941 available from Allegro Microsystems, Inc. Other motor drivers may be readily substituted for use in the tracking system480comprising an absolute positioning system. A detailed description of an absolute positioning system is described in U.S. Patent Application Publication No. 2017/0296213, titled SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, which published on Oct. 19, 2017, which is herein incorporated by reference in its entirety. The microcontroller461may be programmed to provide precise control over the speed and position of displacement members and articulation systems. The microcontroller461may be configured to compute a response in the software of the microcontroller461. The computed response is compared to a measured response of the actual system to obtain an “observed” response, which is used for actual feedback decisions. The observed response is a favorable, tuned value that balances the smooth, continuous nature of the simulated response with the measured response, which can detect outside influences on the system. In one aspect, the motor482may be controlled by the motor driver492and can be employed by the firing system of the surgical instrument or tool. In various forms, the motor482may be a brushed DC driving motor having a maximum rotational speed of approximately 25,000 RPM. In other arrangements, the motor482may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor driver492may comprise an H-bridge driver comprising field-effect transistors (FETs), for example. The motor482can be powered by a power assembly releasably mounted to the handle assembly or tool housing for supplying control power to the surgical instrument or tool. The power assembly may comprise a battery which may include a number of battery cells connected in series that can be used as the power source to power the surgical instrument or tool. In certain circumstances, the battery cells of the power assembly may be replaceable and/or rechargeable. In at least one example, the battery cells can be lithium-ion batteries which can be couplable to and separable from the power assembly. The motor driver492may be an A3941 available from Allegro Microsystems, Inc. The A3941 492 is a full-bridge controller for use with external N-channel power metal-oxide semiconductor field-effect transistors (MOSFETs) specifically designed for inductive loads, such as brush DC motors. The driver492comprises a unique charge pump regulator that provides full (>10 V) gate drive for battery voltages down to 7 V and allows the A3941 to operate with a reduced gate drive, down to 5.5 V. A bootstrap capacitor may be employed to provide the above battery supply voltage required for N-channel MOSFETs. An internal charge pump for the high-side drive allows DC (100% duty cycle) operation. The full bridge can be driven in fast or slow decay modes using diode or synchronous rectification. In the slow decay mode, current recirculation can be through the high-side or the lowside FETs. The power FETs are protected from shoot-through by resistor-adjustable dead time. Integrated diagnostics provide indications of undervoltage, overtemperature, and power bridge faults and can be configured to protect the power MOSFETs under most short circuit conditions. Other motor drivers may be readily substituted for use in the tracking system480comprising an absolute positioning system. The tracking system480comprises a controlled motor drive circuit arrangement comprising a position sensor472according to one aspect of this disclosure. The position sensor472for an absolute positioning system provides a unique position signal corresponding to the location of a displacement member. In one aspect, the displacement member represents a longitudinally movable drive member comprising a rack of drive teeth for meshing engagement with a corresponding drive gear of a gear reducer assembly. In other aspects, the displacement member represents the firing member, which could be adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member represents a firing bar or the I-beam, each of which can be adapted and configured to include a rack of drive teeth. Accordingly, as used herein, the term displacement member is used generically to refer to any movable member of the surgical instrument or tool such as the drive member, the firing member, the firing bar, the I-beam, or any element that can be displaced. In one aspect, the longitudinally movable drive member is coupled to the firing member, the firing bar, and the I-beam. Accordingly, the absolute positioning system can, in effect, track the linear displacement of the I-beam by tracking the linear displacement of the longitudinally movable drive member. In various other aspects, the displacement member may be coupled to any position sensor472suitable for measuring linear displacement. Thus, the longitudinally movable drive member, the firing member, the firing bar, or the I-beam, or combinations thereof, may be coupled to any suitable linear displacement sensor. Linear displacement sensors may include contact or non-contact displacement sensors. Linear displacement sensors may comprise linear variable differential transformers (LVDT), differential variable reluctance transducers (DVRT), a slide potentiometer, a magnetic sensing system comprising a movable magnet and a series of linearly arranged Hall effect sensors, a magnetic sensing system comprising a fixed magnet and a series of movable, linearly arranged Hall effect sensors, an optical sensing system comprising a movable light source and a series of linearly arranged photo diodes or photo detectors, an optical sensing system comprising a fixed light source and a series of movable linearly, arranged photo diodes or photo detectors, or any combination thereof. The electric motor482can include a rotatable shaft that operably interfaces with a gear assembly that is mounted in meshing engagement with a set, or rack, of drive teeth on the displacement member. A sensor element may be operably coupled to a gear assembly such that a single revolution of the position sensor472element corresponds to some linear longitudinal translation of the displacement member. An arrangement of gearing and sensors can be connected to the linear actuator, via a rack and pinion arrangement, or a rotary actuator, via a spur gear or other connection. A power source supplies power to the absolute positioning system and an output indicator may display the output of the absolute positioning system. The displacement member represents the longitudinally movable drive member comprising a rack of drive teeth formed thereon for meshing engagement with a corresponding drive gear of the gear reducer assembly. The displacement member represents the longitudinally movable firing member, firing bar, I-beam, or combinations thereof. A single revolution of the sensor element associated with the position sensor472is equivalent to a longitudinal linear displacement d1of the of the displacement member, where d1is the longitudinal linear distance that the displacement member moves from point “a” to point “b” after a single revolution of the sensor element coupled to the displacement member. The sensor arrangement may be connected via a gear reduction that results in the position sensor472completing one or more revolutions for the full stroke of the displacement member. The position sensor472may complete multiple revolutions for the full stroke of the displacement member. A series of switches, where n is an integer greater than one, may be employed alone or in combination with a gear reduction to provide a unique position signal for more than one revolution of the position sensor472. The state of the switches are fed back to the microcontroller461that applies logic to determine a unique position signal corresponding to the longitudinal linear displacement d1+d2+ . . . dn of the displacement member. The output of the position sensor472is provided to the microcontroller461. The position sensor472of the sensor arrangement may comprise a magnetic sensor, an analog rotary sensor like a potentiometer, or an array of analog Hall-effect elements, which output a unique combination of position signals or values. The position sensor472may comprise any number of magnetic sensing elements, such as, for example, magnetic sensors classified according to whether they measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors encompass many aspects of physics and electronics. The technologies used for magnetic field sensing include search coil, fluxgate, optically pumped, nuclear precession, SQUID, Hall-effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive/piezoelectric composites, magnetodiode, magnetotransistor, fiber-optic, magneto-optic, and microelectromechanical systems-based magnetic sensors, among others. In one aspect, the position sensor472for the tracking system480comprising an absolute positioning system comprises a magnetic rotary absolute positioning system. The position sensor472may be implemented as an AS5055EQFT single-chip magnetic rotary position sensor available from Austria Microsystems, AG. The position sensor472is interfaced with the microcontroller461to provide an absolute positioning system. The position sensor472is a low-voltage and low-power component and includes four Hall-effect elements in an area of the position sensor472that is located above a magnet. A high-resolution ADC and a smart power management controller are also provided on the chip. A coordinate rotation digital computer (CORDIC) processor, also known as the digit-by-digit method and Volder's algorithm, is provided to implement a simple and efficient algorithm to calculate hyperbolic and trigonometric functions that require only addition, subtraction, bitshift, and table lookup operations. The angle position, alarm bits, and magnetic field information are transmitted over a standard serial communication interface, such as a serial peripheral interface (SPI) interface, to the microcontroller461. The position sensor472provides 12 or 14 bits of resolution. The position sensor472may be an AS5055 chip provided in a small QFN 16-pin 4×4×0.85 mm package. The tracking system480comprising an absolute positioning system may comprise and/or be programmed to implement a feedback controller, such as a PID, state feedback, and adaptive controller. A power source converts the signal from the feedback controller into a physical input to the system: in this case the voltage. Other examples include a PWM of the voltage, current, and force. Other sensor(s) may be provided to measure physical parameters of the physical system in addition to the position measured by the position sensor472. In some aspects, the other sensor(s) can include sensor arrangements such as those described in U.S. Pat. No. 9,345,481, titled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which issued on May 24, 2016, which is herein incorporated by reference in its entirety; U.S. Patent Application Publication No. 2014/0263552, titled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which published on Sep. 18, 2014, which is herein incorporated by reference in its entirety; and U.S. patent application Ser. No. 15/628,175, titled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, filed Jun. 20, 2017, which is herein incorporated by reference in its entirety. In a digital signal processing system, an absolute positioning system is coupled to a digital data acquisition system where the output of the absolute positioning system will have a finite resolution and sampling frequency. The absolute positioning system may comprise a compare-and-combine circuit to combine a computed response with a measured response using algorithms, such as a weighted average and a theoretical control loop, that drive the computed response towards the measured response. The computed response of the physical system takes into account properties like mass, inertial, viscous friction, inductance resistance, etc., to predict what the states and outputs of the physical system will be by knowing the input. The absolute positioning system provides an absolute position of the displacement member upon power-up of the instrument, without retracting or advancing the displacement member to a reset (zero or home) position as may be required with conventional rotary encoders that merely count the number of steps forwards or backwards that the motor482has taken to infer the position of a device actuator, drive bar, knife, or the like. A sensor474, such as, for example, a strain gauge or a micro-strain gauge, is configured to measure one or more parameters of the end effector, such as, for example, the amplitude of the strain exerted on the anvil during a clamping operation, which can be indicative of the closure forces applied to the anvil. The measured strain is converted to a digital signal and provided to the processor462. Alternatively, or in addition to the sensor474, a sensor476, such as, for example, a load sensor, can measure the closure force applied by the closure drive system to the anvil. The sensor476, such as, for example, a load sensor, can measure the firing force applied to an I-beam in a firing stroke of the surgical instrument or tool. The I-beam is configured to engage a wedge sled, which is configured to upwardly cam staple drivers to force out staples into deforming contact with an anvil. The I-beam also includes a sharpened cutting edge that can be used to sever tissue as the I-beam is advanced distally by the firing bar. Alternatively, a current sensor478can be employed to measure the current drawn by the motor482. The force required to advance the firing member can correspond to the current drawn by the motor482, for example. The measured force is converted to a digital signal and provided to the processor462. In one form, the strain gauge sensor474can be used to measure the force applied to the tissue by the end effector. A strain gauge can be coupled to the end effector to measure the force on the tissue being treated by the end effector. A system for measuring forces applied to the tissue grasped by the end effector comprises a strain gauge sensor474, such as, for example, a micro-strain gauge, that is configured to measure one or more parameters of the end effector, for example. In one aspect, the strain gauge sensor474can measure the amplitude or magnitude of the strain exerted on a jaw member of an end effector during a clamping operation, which can be indicative of the tissue compression. The measured strain is converted to a digital signal and provided to a processor462of the microcontroller461. A load sensor476can measure the force used to operate the knife element, for example, to cut the tissue captured between the anvil and the staple cartridge. A magnetic field sensor can be employed to measure the thickness of the captured tissue. The measurement of the magnetic field sensor also may be converted to a digital signal and provided to the processor462. The measurements of the tissue compression, the tissue thickness, and/or the force required to close the end effector on the tissue, as respectively measured by the sensors474,476, can be used by the microcontroller461to characterize the selected position of the firing member and/or the corresponding value of the speed of the firing member. In one instance, a memory468may store a technique, an equation, and/or a lookup table which can be employed by the microcontroller461in the assessment. The control system470of the surgical instrument or tool also may comprise wired or wireless communication circuits to communicate with the modular communication hub as shown inFIGS.8-11. FIG.13illustrates a control circuit500configured to control aspects of the surgical instrument or tool according to one aspect of this disclosure. The control circuit500can be configured to implement various processes described herein. The control circuit500may comprise a microcontroller comprising one or more processors502(e.g., microprocessor, microcontroller) coupled to at least one memory circuit504. The memory circuit504stores machine-executable instructions that, when executed by the processor502, cause the processor502to execute machine instructions to implement various processes described herein. The processor502may be any one of a number of single-core or multicore processors known in the art. The memory circuit504may comprise volatile and non-volatile storage media. The processor502may include an instruction processing unit506and an arithmetic unit508. The instruction processing unit may be configured to receive instructions from the memory circuit504of this disclosure. FIG.14illustrates a combinational logic circuit510configured to control aspects of the surgical instrument or tool according to one aspect of this disclosure. The combinational logic circuit510can be configured to implement various processes described herein. The combinational logic circuit510may comprise a finite state machine comprising a combinational logic512configured to receive data associated with the surgical instrument or tool at an input514, process the data by the combinational logic512, and provide an output516. FIG.15illustrates a sequential logic circuit520configured to control aspects of the surgical instrument or tool according to one aspect of this disclosure. The sequential logic circuit520or the combinational logic522can be configured to implement various processes described herein. The sequential logic circuit520may comprise a finite state machine. The sequential logic circuit520may comprise a combinational logic522, at least one memory circuit524, and a clock529, for example. The at least one memory circuit524can store a current state of the finite state machine. In certain instances, the sequential logic circuit520may be synchronous or asynchronous. The combinational logic522is configured to receive data associated with the surgical instrument or tool from an input526, process the data by the combinational logic522, and provide an output528. In other aspects, the circuit may comprise a combination of a processor (e.g., processor502,FIG.13) and a finite state machine to implement various processes herein. In other aspects, the finite state machine may comprise a combination of a combinational logic circuit (e.g., combinational logic circuit510,FIG.14) and the sequential logic circuit520. FIG.16illustrates a surgical instrument or tool comprising a plurality of motors which can be activated to perform various functions. In certain instances, a first motor can be activated to perform a first function, a second motor can be activated to perform a second function, a third motor can be activated to perform a third function, a fourth motor can be activated to perform a fourth function, and so on. In certain instances, the plurality of motors of robotic surgical instrument600can be individually activated to cause firing, closure, and/or articulation motions in the end effector. The firing, closure, and/or articulation motions can be transmitted to the end effector through a shaft assembly, for example. In certain instances, the surgical instrument system or tool may include a firing motor602. The firing motor602may be operably coupled to a firing motor drive assembly604which can be configured to transmit firing motions, generated by the motor602to the end effector, in particular to displace the I-beam element. In certain instances, the firing motions generated by the motor602may cause the staples to be deployed from the staple cartridge into tissue captured by the end effector and/or the cutting edge of the I-beam element to be advanced to cut the captured tissue, for example. The I-beam element may be retracted by reversing the direction of the motor602. In certain instances, the surgical instrument or tool may include a closure motor603. The closure motor603may be operably coupled to a closure motor drive assembly605which can be configured to transmit closure motions, generated by the motor603to the end effector, in particular to displace a closure tube to close the anvil and compress tissue between the anvil and the staple cartridge. The closure motions may cause the end effector to transition from an open configuration to an approximated configuration to capture tissue, for example. The end effector may be transitioned to an open position by reversing the direction of the motor603. In certain instances, the surgical instrument or tool may include one or more articulation motors606a,606b, for example. The motors606a,606bmay be operably coupled to respective articulation motor drive assemblies608a,608b, which can be configured to transmit articulation motions generated by the motors606a,606bto the end effector. In certain instances, the articulation motions may cause the end effector to articulate relative to the shaft, for example. As described above, the surgical instrument or tool may include a plurality of motors which may be configured to perform various independent functions. In certain instances, the plurality of motors of the surgical instrument or tool can be individually or separately activated to perform one or more functions while the other motors remain inactive. For example, the articulation motors606a,606bcan be activated to cause the end effector to be articulated while the firing motor602remains inactive. Alternatively, the firing motor602can be activated to fire the plurality of staples, and/or to advance the cutting edge, while the articulation motor606remains inactive. Furthermore the closure motor603may be activated simultaneously with the firing motor602to cause the closure tube and the I-beam element to advance distally as described in more detail hereinbelow. In certain instances, the surgical instrument or tool may include a common control module610which can be employed with a plurality of motors of the surgical instrument or tool. In certain instances, the common control module610may accommodate one of the plurality of motors at a time. For example, the common control module610can be couplable to and separable from the plurality of motors of the robotic surgical instrument individually. In certain instances, a plurality of the motors of the surgical instrument or tool may share one or more common control modules such as the common control module610. In certain instances, a plurality of motors of the surgical instrument or tool can be individually and selectively engaged with the common control module610. In certain instances, the common control module610can be selectively switched from interfacing with one of a plurality of motors of the surgical instrument or tool to interfacing with another one of the plurality of motors of the surgical instrument or tool. In at least one example, the common control module610can be selectively switched between operable engagement with the articulation motors606a,606band operable engagement with either the firing motor602or the closure motor603. In at least one example, as illustrated inFIG.16, a switch614can be moved or transitioned between a plurality of positions and/or states. In a first position616, the switch614may electrically couple the common control module610to the firing motor602; in a second position617, the switch614may electrically couple the common control module610to the closure motor603; in a third position618a, the switch614may electrically couple the common control module610to the first articulation motor606a; and in a fourth position618b, the switch614may electrically couple the common control module610to the second articulation motor606b, for example. In certain instances, separate common control modules610can be electrically coupled to the firing motor602, the closure motor603, and the articulations motor606a,606bat the same time. In certain instances, the switch614may be a mechanical switch, an electromechanical switch, a solid-state switch, or any suitable switching mechanism. Each of the motors602,603,606a,606bmay comprise a torque sensor to measure the output torque on the shaft of the motor. The force on an end effector may be sensed in any conventional manner, such as by force sensors on the outer sides of the jaws or by a torque sensor for the motor actuating the jaws. In various instances, as illustrated inFIG.16, the common control module610may comprise a motor driver626which may comprise one or more H-Bridge FETs. The motor driver626may modulate the power transmitted from a power source628to a motor coupled to the common control module610based on input from a microcontroller620(the “controller”), for example. In certain instances, the microcontroller620can be employed to determine the current drawn by the motor, for example, while the motor is coupled to the common control module610, as described above. In certain instances, the microcontroller620may include a microprocessor622(the “processor”) and one or more non-transitory computer-readable mediums or memory units624(the “memory”). In certain instances, the memory624may store various program instructions, which when executed may cause the processor622to perform a plurality of functions and/or calculations described herein. In certain instances, one or more of the memory units624may be coupled to the processor622, for example. In certain instances, the power source628can be employed to supply power to the microcontroller620, for example. In certain instances, the power source628may comprise a battery (or “battery pack” or “power pack”), such as a lithium-ion battery, for example. In certain instances, the battery pack may be configured to be releasably mounted to a handle for supplying power to the surgical instrument600. A number of battery cells connected in series may be used as the power source628. In certain instances, the power source628may be replaceable and/or rechargeable, for example. In various instances, the processor622may control the motor driver626to control the position, direction of rotation, and/or velocity of a motor that is coupled to the common control module610. In certain instances, the processor622can signal the motor driver626to stop and/or disable a motor that is coupled to the common control module610. It should be understood that the term “processor” as used herein includes any suitable microprocessor, microcontroller, or other basic computing device that incorporates the functions of a computer's central processing unit (CPU) on an integrated circuit or, at most, a few integrated circuits. The processor is a multipurpose, programmable device that accepts digital data as input, processes it according to instructions stored in its memory, and provides results as output. It is an example of sequential digital logic, as it has internal memory. Processors operate on numbers and symbols represented in the binary numeral system. In one instance, the processor622may be any single-core or multicore processor such as those known under the trade name ARM Cortex by Texas Instruments. In certain instances, the microcontroller620may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F Processor Core comprising an on-chip memory of 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, a 32 KB single-cycle SRAM, an internal ROM loaded with StellarisWare® software, a 2 KB EEPROM, one or more PWM modules, one or more QEI analogs, one or more 12-bit ADCs with 12 analog input channels, among other features that are readily available for the product datasheet. Other microcontrollers may be readily substituted for use with the module4410. Accordingly, the present disclosure should not be limited in this context. In certain instances, the memory624may include program instructions for controlling each of the motors of the surgical instrument600that are couplable to the common control module610. For example, the memory624may include program instructions for controlling the firing motor602, the closure motor603, and the articulation motors606a,606b. Such program instructions may cause the processor622to control the firing, closure, and articulation functions in accordance with inputs from algorithms or control programs of the surgical instrument or tool. In certain instances, one or more mechanisms and/or sensors such as, for example, sensors630can be employed to alert the processor622to the program instructions that should be used in a particular setting. For example, the sensors630may alert the processor622to use the program instructions associated with firing, closing, and articulating the end effector. In certain instances, the sensors630may comprise position sensors which can be employed to sense the position of the switch614, for example. Accordingly, the processor622may use the program instructions associated with firing the I-beam of the end effector upon detecting, through the sensors630for example, that the switch614is in the first position616; the processor622may use the program instructions associated with closing the anvil upon detecting, through the sensors630for example, that the switch614is in the second position617; and the processor622may use the program instructions associated with articulating the end effector upon detecting, through the sensors630for example, that the switch614is in the third or fourth position618a,618b. FIG.17is a schematic diagram of a robotic surgical instrument700configured to operate a surgical tool described herein according to one aspect of this disclosure. The robotic surgical instrument700may be programmed or configured to control distal/proximal translation of a displacement member, distal/proximal displacement of a closure tube, shaft rotation, and articulation, either with single or multiple articulation drive links. In one aspect, the surgical instrument700may be programmed or configured to individually control a firing member, a closure member, a shaft member, and/or one or more articulation members. The surgical instrument700comprises a control circuit710configured to control motor-driven firing members, closure members, shaft members, and/or one or more articulation members. In one aspect, the robotic surgical instrument700comprises a control circuit710configured to control an anvil716and an I-beam714(including a sharp cutting edge) portion of an end effector702, a removable staple cartridge718, a shaft740, and one or more articulation members742a,742bvia a plurality of motors704a-704e. A position sensor734may be configured to provide position feedback of the I-beam714to the control circuit710. Other sensors738may be configured to provide feedback to the control circuit710. A timer/counter731provides timing and counting information to the control circuit710. An energy source712may be provided to operate the motors704a-704e, and a current sensor736provides motor current feedback to the control circuit710. The motors704a-704ecan be operated individually by the control circuit710in a open-loop or closed-loop feedback control. In one aspect, the control circuit710may comprise one or more microcontrollers, microprocessors, or other suitable processors for executing instructions that cause the processor or processors to perform one or more tasks. In one aspect, a timer/counter731provides an output signal, such as the elapsed time or a digital count, to the control circuit710to correlate the position of the I-beam714as determined by the position sensor734with the output of the timer/counter731such that the control circuit710can determine the position of the I-beam714at a specific time (t) relative to a starting position or the time (t) when the I-beam714is at a specific position relative to a starting position. The timer/counter731may be configured to measure elapsed time, count external events, or time external events. In one aspect, the control circuit710may be programmed to control functions of the end effector702based on one or more tissue conditions. The control circuit710may be programmed to sense tissue conditions, such as thickness, either directly or indirectly, as described herein. The control circuit710may be programmed to select a firing control program or closure control program based on tissue conditions. A firing control program may describe the distal motion of the displacement member. Different firing control programs may be selected to better treat different tissue conditions. For example, when thicker tissue is present, the control circuit710may be programmed to translate the displacement member at a lower velocity and/or with lower power. When thinner tissue is present, the control circuit710may be programmed to translate the displacement member at a higher velocity and/or with higher power. A closure control program may control the closure force applied to the tissue by the anvil716. Other control programs control the rotation of the shaft740and the articulation members742a,742b. In one aspect, the control circuit710may generate motor set point signals. The motor set point signals may be provided to various motor controllers708a-708e. The motor controllers708a-708emay comprise one or more circuits configured to provide motor drive signals to the motors704a-704eto drive the motors704a-704eas described herein. In some examples, the motors704a-704emay be brushed DC electric motors. For example, the velocity of the motors704a-704emay be proportional to the respective motor drive signals. In some examples, the motors704a-704emay be brushless DC electric motors, and the respective motor drive signals may comprise a PWM signal provided to one or more stator windings of the motors704a-704e. Also, in some examples, the motor controllers708a-708emay be omitted and the control circuit710may generate the motor drive signals directly. In one aspect, the control circuit710may initially operate each of the motors704a-704ein an open-loop configuration for a first open-loop portion of a stroke of the displacement member. Based on the response of the robotic surgical instrument700during the open-loop portion of the stroke, the control circuit710may select a firing control program in a closed-loop configuration. The response of the instrument may include a translation distance of the displacement member during the open-loop portion, a time elapsed during the open-loop portion, the energy provided to one of the motors704a-704eduring the open-loop portion, a sum of pulse widths of a motor drive signal, etc. After the open-loop portion, the control circuit710may implement the selected firing control program for a second portion of the displacement member stroke. For example, during a closed-loop portion of the stroke, the control circuit710may modulate one of the motors704a-704ebased on translation data describing a position of the displacement member in a closed-loop manner to translate the displacement member at a constant velocity. In one aspect, the motors704a-704emay receive power from an energy source712. The energy source712may be a DC power supply driven by a main alternating current power source, a battery, a super capacitor, or any other suitable energy source. The motors704a-704emay be mechanically coupled to individual movable mechanical elements such as the I-beam714, anvil716, shaft740, articulation742a, and articulation742bvia respective transmissions706a-706e. The transmissions706a-706emay include one or more gears or other linkage components to couple the motors704a-704eto movable mechanical elements. A position sensor734may sense a position of the I-beam714. The position sensor734may be or include any type of sensor that is capable of generating position data that indicate a position of the I-beam714. In some examples, the position sensor734may include an encoder configured to provide a series of pulses to the control circuit710as the I-beam714translates distally and proximally. The control circuit710may track the pulses to determine the position of the I-beam714. Other suitable position sensors may be used, including, for example, a proximity sensor. Other types of position sensors may provide other signals indicating motion of the I-beam714. Also, in some examples, the position sensor734may be omitted. Where any of the motors704a-704eis a stepper motor, the control circuit710may track the position of the I-beam714by aggregating the number and direction of steps that the motor704has been instructed to execute. The position sensor734may be located in the end effector702or at any other portion of the instrument. The outputs of each of the motors704a-704einclude a torque sensor744a-744eto sense force and have an encoder to sense rotation of the drive shaft. In one aspect, the control circuit710is configured to drive a firing member such as the I-beam714portion of the end effector702. The control circuit710provides a motor set point to a motor control708a, which provides a drive signal to the motor704a. The output shaft of the motor704ais coupled to a torque sensor744a. The torque sensor744ais coupled to a transmission706awhich is coupled to the I-beam714. The transmission706acomprises movable mechanical elements such as rotating elements and a firing member to control the movement of the I-beam714distally and proximally along a longitudinal axis of the end effector702. In one aspect, the motor704amay be coupled to the knife gear assembly, which includes a knife gear reduction set that includes a first knife drive gear and a second knife drive gear. A torque sensor744aprovides a firing force feedback signal to the control circuit710. The firing force signal represents the force required to fire or displace the I-beam714. A position sensor734may be configured to provide the position of the I-beam714along the firing stroke or the position of the firing member as a feedback signal to the control circuit710. The end effector702may include additional sensors738configured to provide feedback signals to the control circuit710. When ready to use, the control circuit710may provide a firing signal to the motor control708a. In response to the firing signal, the motor704amay drive the firing member distally along the longitudinal axis of the end effector702from a proximal stroke start position to a stroke end position distal to the stroke start position. As the firing member translates distally, an I-beam714, with a cutting element positioned at a distal end, advances distally to cut tissue located between the staple cartridge718and the anvil716. In one aspect, the control circuit710is configured to drive a closure member such as the anvil716portion of the end effector702. The control circuit710provides a motor set point to a motor control708b, which provides a drive signal to the motor704b. The output shaft of the motor704bis coupled to a torque sensor744b. The torque sensor744bis coupled to a transmission706bwhich is coupled to the anvil716. The transmission706bcomprises movable mechanical elements such as rotating elements and a closure member to control the movement of the anvil716from the open and closed positions. In one aspect, the motor704bis coupled to a closure gear assembly, which includes a closure reduction gear set that is supported in meshing engagement with the closure spur gear. The torque sensor744bprovides a closure force feedback signal to the control circuit710. The closure force feedback signal represents the closure force applied to the anvil716. The position sensor734may be configured to provide the position of the closure member as a feedback signal to the control circuit710. Additional sensors738in the end effector702may provide the closure force feedback signal to the control circuit710. The pivotable anvil716is positioned opposite the staple cartridge718. When ready to use, the control circuit710may provide a closure signal to the motor control708b. In response to the closure signal, the motor704badvances a closure member to grasp tissue between the anvil716and the staple cartridge718. In one aspect, the control circuit710is configured to rotate a shaft member such as the shaft740to rotate the end effector702. The control circuit710provides a motor set point to a motor control708c, which provides a drive signal to the motor704c. The output shaft of the motor704cis coupled to a torque sensor744c. The torque sensor744cis coupled to a transmission706cwhich is coupled to the shaft740. The transmission706ccomprises movable mechanical elements such as rotating elements to control the rotation of the shaft740clockwise or counterclockwise up to and over 360°. In one aspect, the motor704cis coupled to the rotational transmission assembly, which includes a tube gear segment that is formed on (or attached to) the proximal end of the proximal closure tube for operable engagement by a rotational gear assembly that is operably supported on the tool mounting plate. The torque sensor744cprovides a rotation force feedback signal to the control circuit710. The rotation force feedback signal represents the rotation force applied to the shaft740. The position sensor734may be configured to provide the position of the closure member as a feedback signal to the control circuit710. Additional sensors738such as a shaft encoder may provide the rotational position of the shaft740to the control circuit710. In one aspect, the control circuit710is configured to articulate the end effector702. The control circuit710provides a motor set point to a motor control708d, which provides a drive signal to the motor704d. The output shaft of the motor704dis coupled to a torque sensor744d. The torque sensor744dis coupled to a transmission706dwhich is coupled to an articulation member742a. The transmission706dcomprises movable mechanical elements such as articulation elements to control the articulation of the end effector702±65°. In one aspect, the motor704dis coupled to an articulation nut, which is rotatably journaled on the proximal end portion of the distal spine portion and is rotatably driven thereon by an articulation gear assembly. The torque sensor744dprovides an articulation force feedback signal to the control circuit710. The articulation force feedback signal represents the articulation force applied to the end effector702. Sensors738, such as an articulation encoder, may provide the articulation position of the end effector702to the control circuit710. In another aspect, the articulation function of the robotic surgical system700may comprise two articulation members, or links,742a,742b. These articulation members742a,742bare driven by separate disks on the robot interface (the rack) which are driven by the two motors708d,708e. When the separate firing motor704ais provided, each of articulation links742a,742bcan be antagonistically driven with respect to the other link in order to provide a resistive holding motion and a load to the head when it is not moving and to provide an articulation motion as the head is articulated. The articulation members742a,742battach to the head at a fixed radius as the head is rotated. Accordingly, the mechanical advantage of the push-and-pull link changes as the head is rotated. This change in the mechanical advantage may be more pronounced with other articulation link drive systems. In one aspect, the one or more motors704a-704emay comprise a brushed DC motor with a gearbox and mechanical links to a firing member, closure member, or articulation member. Another example includes electric motors704a-704ethat operate the movable mechanical elements such as the displacement member, articulation links, closure tube, and shaft. An outside influence is an unmeasured, unpredictable influence of things like tissue, surrounding bodies, and friction on the physical system. Such outside influence can be referred to as drag, which acts in opposition to one of electric motors704a-704e. The outside influence, such as drag, may cause the operation of the physical system to deviate from a desired operation of the physical system. In one aspect, the position sensor734may be implemented as an absolute positioning system. In one aspect, the position sensor734may comprise a magnetic rotary absolute positioning system implemented as an AS5055EQFT single-chip magnetic rotary position sensor available from Austria Microsystems, AG. The position sensor734may interface with the control circuit710to provide an absolute positioning system. The position may include multiple Hall-effect elements located above a magnet and coupled to a CORDIC processor, also known as the digit-by-digit method and Volder's algorithm, that is provided to implement a simple and efficient algorithm to calculate hyperbolic and trigonometric functions that require only addition, subtraction, bitshift, and table lookup operations. In one aspect, the control circuit710may be in communication with one or more sensors738. The sensors738may be positioned on the end effector702and adapted to operate with the robotic surgical instrument700to measure the various derived parameters such as the gap distance versus time, tissue compression versus time, and anvil strain versus time. The sensors738may comprise a magnetic sensor, a magnetic field sensor, a strain gauge, a load cell, a pressure sensor, a force sensor, a torque sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor, and/or any other suitable sensor for measuring one or more parameters of the end effector702. The sensors738may include one or more sensors. The sensors738may be located on the staple cartridge718deck to determine tissue location using segmented electrodes. The torque sensors744a-744emay be configured to sense force such as firing force, closure force, and/or articulation force, among others. Accordingly, the control circuit710can sense (1) the closure load experienced by the distal closure tube and its position, (2) the firing member at the rack and its position, (3) what portion of the staple cartridge718has tissue on it, and (4) the load and position on both articulation rods. In one aspect, the one or more sensors738may comprise a strain gauge, such as a micro-strain gauge, configured to measure the magnitude of the strain in the anvil716during a clamped condition. The strain gauge provides an electrical signal whose amplitude varies with the magnitude of the strain. The sensors738may comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil716and the staple cartridge718. The sensors738may be configured to detect impedance of a tissue section located between the anvil716and the staple cartridge718that is indicative of the thickness and/or fullness of tissue located therebetween. In one aspect, the sensors738may be implemented as one or more limit switches, electromechanical devices, solid-state switches, Hall-effect devices, magneto-resistive (MR) devices, giant magneto-resistive (GMR) devices, magnetometers, among others. In other implementations, the sensors738may be implemented as solid-state switches that operate under the influence of light, such as optical sensors, IR sensors, ultraviolet sensors, among others. Still, the switches may be solid-state devices such as transistors (e.g., FET, junction FET, MOSFET, bipolar, and the like). In other implementations, the sensors738may include electrical conductorless switches, ultrasonic switches, accelerometers, and inertial sensors, among others. In one aspect, the sensors738may be configured to measure forces exerted on the anvil716by the closure drive system. For example, one or more sensors738can be at an interaction point between the closure tube and the anvil716to detect the closure forces applied by the closure tube to the anvil716. The forces exerted on the anvil716can be representative of the tissue compression experienced by the tissue section captured between the anvil716and the staple cartridge718. The one or more sensors738can be positioned at various interaction points along the closure drive system to detect the closure forces applied to the anvil716by the closure drive system. The one or more sensors738may be sampled in real time during a clamping operation by the processor of the control circuit710. The control circuit710receives real-time sample measurements to provide and analyze time-based information and assess, in real time, closure forces applied to the anvil716. In one aspect, a current sensor736can be employed to measure the current drawn by each of the motors704a-704e. The force required to advance any of the movable mechanical elements such as the I-beam714corresponds to the current drawn by one of the motors704a-704e. The force is converted to a digital signal and provided to the control circuit710. The control circuit710can be configured to simulate the response of the actual system of the instrument in the software of the controller. A displacement member can be actuated to move an I-beam714in the end effector702at or near a target velocity. The robotic surgical instrument700can include a feedback controller, which can be one of any feedback controllers, including, but not limited to a PID, a state feedback, a linear-quadratic (LQR), and/or an adaptive controller, for example. The robotic surgical instrument700can include a power source to convert the signal from the feedback controller into a physical input such as case voltage, PWM voltage, frequency modulated voltage, current, torque, and/or force, for example. Additional details are disclosed in U.S. patent application Ser. No. 15/636,829, titled CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT, filed Jun. 29, 2017, which is herein incorporated by reference in its entirety. FIG.18illustrates a block diagram of a surgical instrument750programmed to control the distal translation of a displacement member according to one aspect of this disclosure. In one aspect, the surgical instrument750is programmed to control the distal translation of a displacement member such as the I-beam764. The surgical instrument750comprises an end effector752that may comprise an anvil766, an I-beam764(including a sharp cutting edge), and a removable staple cartridge768. The position, movement, displacement, and/or translation of a linear displacement member, such as the I-beam764, can be measured by an absolute positioning system, sensor arrangement, and position sensor784. Because the I-beam764is coupled to a longitudinally movable drive member, the position of the I-beam764can be determined by measuring the position of the longitudinally movable drive member employing the position sensor784. Accordingly, in the following description, the position, displacement, and/or translation of the I-beam764can be achieved by the position sensor784as described herein. A control circuit760may be programmed to control the translation of the displacement member, such as the I-beam764. The control circuit760, in some examples, may comprise one or more microcontrollers, microprocessors, or other suitable processors for executing instructions that cause the processor or processors to control the displacement member, e.g., the I-beam764, in the manner described. In one aspect, a timer/counter781provides an output signal, such as the elapsed time or a digital count, to the control circuit760to correlate the position of the I-beam764as determined by the position sensor784with the output of the timer/counter781such that the control circuit760can determine the position of the I-beam764at a specific time (t) relative to a starting position. The timer/counter781may be configured to measure elapsed time, count external events, or time external events. The control circuit760may generate a motor set point signal772. The motor set point signal772may be provided to a motor controller758. The motor controller758may comprise one or more circuits configured to provide a motor drive signal774to the motor754to drive the motor754as described herein. In some examples, the motor754may be a brushed DC electric motor. For example, the velocity of the motor754may be proportional to the motor drive signal774. In some examples, the motor754may be a brushless DC electric motor and the motor drive signal774may comprise a PWM signal provided to one or more stator windings of the motor754. Also, in some examples, the motor controller758may be omitted, and the control circuit760may generate the motor drive signal774directly. The motor754may receive power from an energy source762. The energy source762may be or include a battery, a super capacitor, or any other suitable energy source. The motor754may be mechanically coupled to the I-beam764via a transmission756. The transmission756may include one or more gears or other linkage components to couple the motor754to the I-beam764. A position sensor784may sense a position of the I-beam764. The position sensor784may be or include any type of sensor that is capable of generating position data that indicate a position of the I-beam764. In some examples, the position sensor784may include an encoder configured to provide a series of pulses to the control circuit760as the I-beam764translates distally and proximally. The control circuit760may track the pulses to determine the position of the I-beam764. Other suitable position sensors may be used, including, for example, a proximity sensor. Other types of position sensors may provide other signals indicating motion of the I-beam764. Also, in some examples, the position sensor784may be omitted. Where the motor754is a stepper motor, the control circuit760may track the position of the I-beam764by aggregating the number and direction of steps that the motor754has been instructed to execute. The position sensor784may be located in the end effector752or at any other portion of the instrument. The control circuit760may be in communication with one or more sensors788. The sensors788may be positioned on the end effector752and adapted to operate with the surgical instrument750to measure the various derived parameters such as gap distance versus time, tissue compression versus time, and anvil strain versus time. The sensors788may comprise a magnetic sensor, a magnetic field sensor, a strain gauge, a pressure sensor, a force sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor, and/or any other suitable sensor for measuring one or more parameters of the end effector752. The sensors788may include one or more sensors. The one or more sensors788may comprise a strain gauge, such as a micro-strain gauge, configured to measure the magnitude of the strain in the anvil766during a clamped condition. The strain gauge provides an electrical signal whose amplitude varies with the magnitude of the strain. The sensors788may comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil766and the staple cartridge768. The sensors788may be configured to detect impedance of a tissue section located between the anvil766and the staple cartridge768that is indicative of the thickness and/or fullness of tissue located therebetween. The sensors788may be is configured to measure forces exerted on the anvil766by a closure drive system. For example, one or more sensors788can be at an interaction point between a closure tube and the anvil766to detect the closure forces applied by a closure tube to the anvil766. The forces exerted on the anvil766can be representative of the tissue compression experienced by the tissue section captured between the anvil766and the staple cartridge768. The one or more sensors788can be positioned at various interaction points along the closure drive system to detect the closure forces applied to the anvil766by the closure drive system. The one or more sensors788may be sampled in real time during a clamping operation by a processor of the control circuit760. The control circuit760receives real-time sample measurements to provide and analyze time-based information and assess, in real time, closure forces applied to the anvil766. A current sensor786can be employed to measure the current drawn by the motor754. The force required to advance the I-beam764corresponds to the current drawn by the motor754. The force is converted to a digital signal and provided to the control circuit760. The control circuit760can be configured to simulate the response of the actual system of the instrument in the software of the controller. A displacement member can be actuated to move an I-beam764in the end effector752at or near a target velocity. The surgical instrument750can include a feedback controller, which can be one of any feedback controllers, including, but not limited to a PID, a state feedback, LQR, and/or an adaptive controller, for example. The surgical instrument750can include a power source to convert the signal from the feedback controller into a physical input such as case voltage, PWM voltage, frequency modulated voltage, current, torque, and/or force, for example. The actual drive system of the surgical instrument750is configured to drive the displacement member, cutting member, or I-beam764, by a brushed DC motor with gearbox and mechanical links to an articulation and/or knife system. Another example is the electric motor754that operates the displacement member and the articulation driver, for example, of an interchangeable shaft assembly. An outside influence is an unmeasured, unpredictable influence of things like tissue, surrounding bodies and friction on the physical system. Such outside influence can be referred to as drag which acts in opposition to the electric motor754. The outside influence, such as drag, may cause the operation of the physical system to deviate from a desired operation of the physical system. Various example aspects are directed to a surgical instrument750comprising an end effector752with motor-driven surgical stapling and cutting implements. For example, a motor754may drive a displacement member distally and proximally along a longitudinal axis of the end effector752. The end effector752may comprise a pivotable anvil766and, when configured for use, a staple cartridge768positioned opposite the anvil766. A clinician may grasp tissue between the anvil766and the staple cartridge768, as described herein. When ready to use the instrument750, the clinician may provide a firing signal, for example by depressing a trigger of the instrument750. In response to the firing signal, the motor754may drive the displacement member distally along the longitudinal axis of the end effector752from a proximal stroke begin position to a stroke end position distal of the stroke begin position. As the displacement member translates distally, an I-beam764with a cutting element positioned at a distal end, may cut the tissue between the staple cartridge768and the anvil766. In various examples, the surgical instrument750may comprise a control circuit760programmed to control the distal translation of the displacement member, such as the I-beam764, for example, based on one or more tissue conditions. The control circuit760may be programmed to sense tissue conditions, such as thickness, either directly or indirectly, as described herein. The control circuit760may be programmed to select a firing control program based on tissue conditions. A firing control program may describe the distal motion of the displacement member. Different firing control programs may be selected to better treat different tissue conditions. For example, when thicker tissue is present, the control circuit760may be programmed to translate the displacement member at a lower velocity and/or with lower power. When thinner tissue is present, the control circuit760may be programmed to translate the displacement member at a higher velocity and/or with higher power. In some examples, the control circuit760may initially operate the motor754in an open loop configuration for a first open loop portion of a stroke of the displacement member. Based on a response of the instrument750during the open loop portion of the stroke, the control circuit760may select a firing control program. The response of the instrument may include, a translation distance of the displacement member during the open loop portion, a time elapsed during the open loop portion, energy provided to the motor754during the open loop portion, a sum of pulse widths of a motor drive signal, etc. After the open loop portion, the control circuit760may implement the selected firing control program for a second portion of the displacement member stroke. For example, during the closed loop portion of the stroke, the control circuit760may modulate the motor754based on translation data describing a position of the displacement member in a closed loop manner to translate the displacement member at a constant velocity. Additional details are disclosed in U.S. patent application Ser. No. 15/720,852, titled SYSTEM AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICAL INSTRUMENT, filed Sep. 29, 2017, which is herein incorporated by reference in its entirety. FIG.19is a schematic diagram of a surgical instrument790configured to control various functions according to one aspect of this disclosure. In one aspect, the surgical instrument790is programmed to control distal translation of a displacement member such as the I-beam764. The surgical instrument790comprises an end effector792that may comprise an anvil766, an I-beam764, and a removable staple cartridge768which may be interchanged with an RF cartridge796(shown in dashed line). In one aspect, sensors788may be implemented as a limit switch, electromechanical device, solid-state switches, Hall-effect devices, MR devices, GMR devices, magnetometers, among others. In other implementations, the sensors638may be solid-state switches that operate under the influence of light, such as optical sensors, IR sensors, ultraviolet sensors, among others. Still, the switches may be solid-state devices such as transistors (e.g., FET, junction FET, MOSFET, bipolar, and the like). In other implementations, the sensors788may include electrical conductorless switches, ultrasonic switches, accelerometers, and inertial sensors, among others. In one aspect, the position sensor784may be implemented as an absolute positioning system comprising a magnetic rotary absolute positioning system implemented as an AS5055EQFT single-chip magnetic rotary position sensor available from Austria Microsystems, AG. The position sensor784may interface with the control circuit760to provide an absolute positioning system. The position may include multiple Hall-effect elements located above a magnet and coupled to a CORDIC processor, also known as the digit-by-digit method and Volder's algorithm, that is provided to implement a simple and efficient algorithm to calculate hyperbolic and trigonometric functions that require only addition, subtraction, bitshift, and table lookup operations. In one aspect, the I-beam764may be implemented as a knife member comprising a knife body that operably supports a tissue cutting blade thereon and may further include anvil engagement tabs or features and channel engagement features or a foot. In one aspect, the staple cartridge768may be implemented as a standard (mechanical) surgical fastener cartridge. In one aspect, the RF cartridge796may be implemented as an RF cartridge. These and other sensors arrangements are described in commonly owned U.S. patent application Ser. No. 15/628,175, titled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, filed Jun. 20, 2017, which is herein incorporated by reference in its entirety. The position, movement, displacement, and/or translation of a linear displacement member, such as the I-beam764, can be measured by an absolute positioning system, sensor arrangement, and position sensor represented as position sensor784. Because the I-beam764is coupled to the longitudinally movable drive member, the position of the I-beam764can be determined by measuring the position of the longitudinally movable drive member employing the position sensor784. Accordingly, in the following description, the position, displacement, and/or translation of the I-beam764can be achieved by the position sensor784as described herein. A control circuit760may be programmed to control the translation of the displacement member, such as the I-beam764, as described herein. The control circuit760, in some examples, may comprise one or more microcontrollers, microprocessors, or other suitable processors for executing instructions that cause the processor or processors to control the displacement member, e.g., the I-beam764, in the manner described. In one aspect, a timer/counter781provides an output signal, such as the elapsed time or a digital count, to the control circuit760to correlate the position of the I-beam764as determined by the position sensor784with the output of the timer/counter781such that the control circuit760can determine the position of the I-beam764at a specific time (t) relative to a starting position. The timer/counter781may be configured to measure elapsed time, count external events, or time external events. The control circuit760may generate a motor set point signal772. The motor set point signal772may be provided to a motor controller758. The motor controller758may comprise one or more circuits configured to provide a motor drive signal774to the motor754to drive the motor754as described herein. In some examples, the motor754may be a brushed DC electric motor. For example, the velocity of the motor754may be proportional to the motor drive signal774. In some examples, the motor754may be a brushless DC electric motor and the motor drive signal774may comprise a PWM signal provided to one or more stator windings of the motor754. Also, in some examples, the motor controller758may be omitted, and the control circuit760may generate the motor drive signal774directly. The motor754may receive power from an energy source762. The energy source762may be or include a battery, a super capacitor, or any other suitable energy source. The motor754may be mechanically coupled to the I-beam764via a transmission756. The transmission756may include one or more gears or other linkage components to couple the motor754to the I-beam764. A position sensor784may sense a position of the I-beam764. The position sensor784may be or include any type of sensor that is capable of generating position data that indicate a position of the I-beam764. In some examples, the position sensor784may include an encoder configured to provide a series of pulses to the control circuit760as the I-beam764translates distally and proximally. The control circuit760may track the pulses to determine the position of the I-beam764. Other suitable position sensors may be used, including, for example, a proximity sensor. Other types of position sensors may provide other signals indicating motion of the I-beam764. Also, in some examples, the position sensor784may be omitted. Where the motor754is a stepper motor, the control circuit760may track the position of the I-beam764by aggregating the number and direction of steps that the motor has been instructed to execute. The position sensor784may be located in the end effector792or at any other portion of the instrument. The control circuit760may be in communication with one or more sensors788. The sensors788may be positioned on the end effector792and adapted to operate with the surgical instrument790to measure the various derived parameters such as gap distance versus time, tissue compression versus time, and anvil strain versus time. The sensors788may comprise a magnetic sensor, a magnetic field sensor, a strain gauge, a pressure sensor, a force sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor, and/or any other suitable sensor for measuring one or more parameters of the end effector792. The sensors788may include one or more sensors. The one or more sensors788may comprise a strain gauge, such as a micro-strain gauge, configured to measure the magnitude of the strain in the anvil766during a clamped condition. The strain gauge provides an electrical signal whose amplitude varies with the magnitude of the strain. The sensors788may comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil766and the staple cartridge768. The sensors788may be configured to detect impedance of a tissue section located between the anvil766and the staple cartridge768that is indicative of the thickness and/or fullness of tissue located therebetween. The sensors788may be is configured to measure forces exerted on the anvil766by the closure drive system. For example, one or more sensors788can be at an interaction point between a closure tube and the anvil766to detect the closure forces applied by a closure tube to the anvil766. The forces exerted on the anvil766can be representative of the tissue compression experienced by the tissue section captured between the anvil766and the staple cartridge768. The one or more sensors788can be positioned at various interaction points along the closure drive system to detect the closure forces applied to the anvil766by the closure drive system. The one or more sensors788may be sampled in real time during a clamping operation by a processor portion of the control circuit760. The control circuit760receives real-time sample measurements to provide and analyze time-based information and assess, in real time, closure forces applied to the anvil766. A current sensor786can be employed to measure the current drawn by the motor754. The force required to advance the I-beam764corresponds to the current drawn by the motor754. The force is converted to a digital signal and provided to the control circuit760. An RF energy source794is coupled to the end effector792and is applied to the RF cartridge796when the RF cartridge796is loaded in the end effector792in place of the staple cartridge768. The control circuit760controls the delivery of the RF energy to the RF cartridge796. Additional details are disclosed in U.S. patent application Ser. No. 15/636,096, titled SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, filed Jun. 28, 2017, which is herein incorporated by reference in its entirety. Generator Hardware FIG.20is a simplified block diagram of a generator800configured to provide inductorless tuning, among other benefits. Additional details of the generator800are described in U.S. Pat. No. 9,060,775, titled SURGICAL GENERATOR FOR ULTRASONIC AND ELECTROSURGICAL DEVICES, which issued on Jun. 23, 2015, which is herein incorporated by reference in its entirety. The generator800may comprise a patient isolated stage802in communication with a non-isolated stage804via a power transformer806. A secondary winding808of the power transformer806is contained in the isolated stage802and may comprise a tapped configuration (e.g., a center-tapped or a non-center-tapped configuration) to define drive signal outputs810a,810b,810cfor delivering drive signals to different surgical instruments, such as, for example, an ultrasonic surgical instrument, an RF electrosurgical instrument, and a multifunction surgical instrument which includes ultrasonic and RF energy modes that can be delivered alone or simultaneously. In particular, drive signal outputs810a,810cmay output an ultrasonic drive signal (e.g., a 420V root-mean-square (RMS) drive signal) to an ultrasonic surgical instrument, and drive signal outputs810b,810cmay output an RF electrosurgical drive signal (e.g., a 100V RMS drive signal) to an RF electrosurgical instrument, with the drive signal output810bcorresponding to the center tap of the power transformer806. In certain forms, the ultrasonic and electrosurgical drive signals may be provided simultaneously to distinct surgical instruments and/or to a single surgical instrument, such as the multifunction surgical instrument, having the capability to deliver both ultrasonic and electrosurgical energy to tissue. It will be appreciated that the electrosurgical signal, provided either to a dedicated electrosurgical instrument and/or to a combined multifunction ultrasonic/electrosurgical instrument may be either a therapeutic or sub-therapeutic level signal where the sub-therapeutic signal can be used, for example, to monitor tissue or instrument conditions and provide feedback to the generator. For example, the ultrasonic and RF signals can be delivered separately or simultaneously from a generator with a single output port in order to provide the desired output signal to the surgical instrument, as will be discussed in more detail below. Accordingly, the generator can combine the ultrasonic and electrosurgical RF energies and deliver the combined energies to the multifunction ultrasonic/electrosurgical instrument. Bipolar electrodes can be placed on one or both jaws of the end effector. One jaw may be driven by ultrasonic energy in addition to electrosurgical RF energy, working simultaneously. The ultrasonic energy may be employed to dissect tissue, while the electrosurgical RF energy may be employed for vessel sealing. The non-isolated stage804may comprise a power amplifier812having an output connected to a primary winding814of the power transformer806. In certain forms, the power amplifier812may comprise a push-pull amplifier. For example, the non-isolated stage804may further comprise a logic device816for supplying a digital output to a digital-to-analog converter (DAC) circuit818, which in turn supplies a corresponding analog signal to an input of the power amplifier812. In certain forms, the logic device816may comprise a programmable gate array (PGA), a FPGA, programmable logic device (PLD), among other logic circuits, for example. The logic device816, by virtue of controlling the input of the power amplifier812via the DAC circuit818, may therefore control any of a number of parameters (e.g., frequency, waveform shape, waveform amplitude) of drive signals appearing at the drive signal outputs810a,810b,810c. In certain forms and as discussed below, the logic device816, in conjunction with a processor (e.g., a DSP discussed below), may implement a number of DSP-based and/or other control algorithms to control parameters of the drive signals output by the generator800. Power may be supplied to a power rail of the power amplifier812by a switch-mode regulator820, e.g., a power converter. In certain forms, the switch-mode regulator820may comprise an adjustable buck regulator, for example. The non-isolated stage804may further comprise a first processor822, which in one form may comprise a DSP processor such as an Analog Devices ADSP-21469 SHARC DSP, available from Analog Devices, Norwood, MA, for example, although in various forms any suitable processor may be employed. In certain forms the DSP processor822may control the operation of the switch-mode regulator820responsive to voltage feedback data received from the power amplifier812by the DSP processor822via an ADC circuit824. In one form, for example, the DSP processor822may receive as input, via the ADC circuit824, the waveform envelope of a signal (e.g., an RF signal) being amplified by the power amplifier812. The DSP processor822may then control the switch-mode regulator820(e.g., via a PWM output) such that the rail voltage supplied to the power amplifier812tracks the waveform envelope of the amplified signal. By dynamically modulating the rail voltage of the power amplifier812based on the waveform envelope, the efficiency of the power amplifier812may be significantly improved relative to a fixed rail voltage amplifier schemes. In certain forms, the logic device816, in conjunction with the DSP processor822, may implement a digital synthesis circuit such as a direct digital synthesizer control scheme to control the waveform shape, frequency, and/or amplitude of drive signals output by the generator800. In one form, for example, the logic device816may implement a DDS control algorithm by recalling waveform samples stored in a dynamically updated lookup table (LUT), such as a RAM LUT, which may be embedded in an FPGA. This control algorithm is particularly useful for ultrasonic applications in which an ultrasonic transducer, such as an ultrasonic transducer, may be driven by a clean sinusoidal current at its resonant frequency. Because other frequencies may excite parasitic resonances, minimizing or reducing the total distortion of the motional branch current may correspondingly minimize or reduce undesirable resonance effects. Because the waveform shape of a drive signal output by the generator800is impacted by various sources of distortion present in the output drive circuit (e.g., the power transformer806, the power amplifier812), voltage and current feedback data based on the drive signal may be input into an algorithm, such as an error control algorithm implemented by the DSP processor822, which compensates for distortion by suitably pre-distorting or modifying the waveform samples stored in the LUT on a dynamic, ongoing basis (e.g., in real time). In one form, the amount or degree of pre-distortion applied to the LUT samples may be based on the error between a computed motional branch current and a desired current waveform shape, with the error being determined on a sample-by-sample basis. In this way, the pre-distorted LUT samples, when processed through the drive circuit, may result in a motional branch drive signal having the desired waveform shape (e.g., sinusoidal) for optimally driving the ultrasonic transducer. In such forms, the LUT waveform samples will therefore not represent the desired waveform shape of the drive signal, but rather the waveform shape that is required to ultimately produce the desired waveform shape of the motional branch drive signal when distortion effects are taken into account. The non-isolated stage804may further comprise a first ADC circuit826and a second ADC circuit828coupled to the output of the power transformer806via respective isolation transformers830,832for respectively sampling the voltage and current of drive signals output by the generator800. In certain forms, the ADC circuits826,828may be configured to sample at high speeds (e.g., 80 mega samples per second (MSPS)) to enable oversampling of the drive signals. In one form, for example, the sampling speed of the ADC circuits826,828may enable approximately 200× (depending on frequency) oversampling of the drive signals. In certain forms, the sampling operations of the ADC circuit826,828may be performed by a single ADC circuit receiving input voltage and current signals via a two-way multiplexer. The use of high-speed sampling in forms of the generator800may enable, among other things, calculation of the complex current flowing through the motional branch (which may be used in certain forms to implement DDS-based waveform shape control described above), accurate digital filtering of the sampled signals, and calculation of real power consumption with a high degree of precision. Voltage and current feedback data output by the ADC circuits826,828may be received and processed (e.g., first-in-first-out (FIFO) buffer, multiplexer) by the logic device816and stored in data memory for subsequent retrieval by, for example, the DSP processor822. As noted above, voltage and current feedback data may be used as input to an algorithm for pre-distorting or modifying LUT waveform samples on a dynamic and ongoing basis. In certain forms, this may require each stored voltage and current feedback data pair to be indexed based on, or otherwise associated with, a corresponding LUT sample that was output by the logic device816when the voltage and current feedback data pair was acquired. Synchronization of the LUT samples and the voltage and current feedback data in this manner contributes to the correct timing and stability of the pre-distortion algorithm. In certain forms, the voltage and current feedback data may be used to control the frequency and/or amplitude (e.g., current amplitude) of the drive signals. In one form, for example, voltage and current feedback data may be used to determine impedance phase. The frequency of the drive signal may then be controlled to minimize or reduce the difference between the determined impedance phase and an impedance phase setpoint (e.g., 0°), thereby minimizing or reducing the effects of harmonic distortion and correspondingly enhancing impedance phase measurement accuracy. The determination of phase impedance and a frequency control signal may be implemented in the DSP processor822, for example, with the frequency control signal being supplied as input to a DDS control algorithm implemented by the logic device816. In another form, for example, the current feedback data may be monitored in order to maintain the current amplitude of the drive signal at a current amplitude setpoint. The current amplitude setpoint may be specified directly or determined indirectly based on specified voltage amplitude and power setpoints. In certain forms, control of the current amplitude may be implemented by control algorithm, such as, for example, a proportional-integral-derivative (PID) control algorithm, in the DSP processor822. Variables controlled by the control algorithm to suitably control the current amplitude of the drive signal may include, for example, the scaling of the LUT waveform samples stored in the logic device816and/or the full-scale output voltage of the DAC circuit818(which supplies the input to the power amplifier812) via a DAC circuit834. The non-isolated stage804may further comprise a second processor836for providing, among other things user interface (UI) functionality. In one form, the UI processor836may comprise an Atmel AT91SAM9263 processor having an ARM 926EJ-S core, available from Atmel Corporation, San Jose, California, for example. Examples of UI functionality supported by the UI processor836may include audible and visual user feedback, communication with peripheral devices (e.g., via a USB interface), communication with a foot switch, communication with an input device (e.g., a touch screen display) and communication with an output device (e.g., a speaker). The UI processor836may communicate with the DSP processor822and the logic device816(e.g., via SPI buses). Although the UI processor836may primarily support UI functionality, it may also coordinate with the DSP processor822to implement hazard mitigation in certain forms. For example, the UI processor836may be programmed to monitor various aspects of user input and/or other inputs (e.g., touch screen inputs, foot switch inputs, temperature sensor inputs) and may disable the drive output of the generator800when an erroneous condition is detected. In certain forms, both the DSP processor822and the UI processor836, for example, may determine and monitor the operating state of the generator800. For the DSP processor822, the operating state of the generator800may dictate, for example, which control and/or diagnostic processes are implemented by the DSP processor822. For the UI processor836, the operating state of the generator800may dictate, for example, which elements of a UI (e.g., display screens, sounds) are presented to a user. The respective DSP and UI processors822,836may independently maintain the current operating state of the generator800and recognize and evaluate possible transitions out of the current operating state. The DSP processor822may function as the master in this relationship and determine when transitions between operating states are to occur. The UI processor836may be aware of valid transitions between operating states and may confirm if a particular transition is appropriate. For example, when the DSP processor822instructs the UI processor836to transition to a specific state, the UI processor836may verify that requested transition is valid. In the event that a requested transition between states is determined to be invalid by the UI processor836, the UI processor836may cause the generator800to enter a failure mode. The non-isolated stage804may further comprise a controller838for monitoring input devices (e.g., a capacitive touch sensor used for turning the generator800on and off, a capacitive touch screen). In certain forms, the controller838may comprise at least one processor and/or other controller device in communication with the UI processor836. In one form, for example, the controller838may comprise a processor (e.g., a Meg168 8-bit controller available from Atmel) configured to monitor user input provided via one or more capacitive touch sensors. In one form, the controller838may comprise a touch screen controller (e.g., a QT5480 touch screen controller available from Atmel) to control and manage the acquisition of touch data from a capacitive touch screen. In certain forms, when the generator800is in a “power off” state, the controller838may continue to receive operating power (e.g., via a line from a power supply of the generator800, such as the power supply854discussed below). In this way, the controller838may continue to monitor an input device (e.g., a capacitive touch sensor located on a front panel of the generator800) for turning the generator800on and off. When the generator800is in the power off state, the controller838may wake the power supply (e.g., enable operation of one or more DC/DC voltage converters856of the power supply854) if activation of the “on/off” input device by a user is detected. The controller838may therefore initiate a sequence for transitioning the generator800to a “power on” state. Conversely, the controller838may initiate a sequence for transitioning the generator800to the power off state if activation of the “on/off” input device is detected when the generator800is in the power on state. In certain forms, for example, the controller838may report activation of the “on/off” input device to the UI processor836, which in turn implements the necessary process sequence for transitioning the generator800to the power off state. In such forms, the controller838may have no independent ability for causing the removal of power from the generator800after its power on state has been established. In certain forms, the controller838may cause the generator800to provide audible or other sensory feedback for alerting the user that a power on or power off sequence has been initiated. Such an alert may be provided at the beginning of a power on or power off sequence and prior to the commencement of other processes associated with the sequence. In certain forms, the isolated stage802may comprise an instrument interface circuit840to, for example, provide a communication interface between a control circuit of a surgical instrument (e.g., a control circuit comprising handpiece switches) and components of the non-isolated stage804, such as, for example, the logic device816, the DSP processor822, and/or the UI processor836. The instrument interface circuit840may exchange information with components of the non-isolated stage804via a communication link that maintains a suitable degree of electrical isolation between the isolated and non-isolated stages802,804, such as, for example, an IR-based communication link. Power may be supplied to the instrument interface circuit840using, for example, a low-dropout voltage regulator powered by an isolation transformer driven from the non-isolated stage804. In one form, the instrument interface circuit840may comprise a logic circuit842(e.g., logic circuit, programmable logic circuit, PGA, FPGA, PLD) in communication with a signal conditioning circuit844. The signal conditioning circuit844may be configured to receive a periodic signal from the logic circuit842(e.g., a 2 kHz square wave) to generate a bipolar interrogation signal having an identical frequency. The interrogation signal may be generated, for example, using a bipolar current source fed by a differential amplifier. The interrogation signal may be communicated to a surgical instrument control circuit (e.g., by using a conductive pair in a cable that connects the generator800to the surgical instrument) and monitored to determine a state or configuration of the control circuit. The control circuit may comprise a number of switches, resistors, and/or diodes to modify one or more characteristics (e.g., amplitude, rectification) of the interrogation signal such that a state or configuration of the control circuit is uniquely discernable based on the one or more characteristics. In one form, for example, the signal conditioning circuit844may comprise an ADC circuit for generating samples of a voltage signal appearing across inputs of the control circuit resulting from passage of interrogation signal therethrough. The logic circuit842(or a component of the non-isolated stage804) may then determine the state or configuration of the control circuit based on the ADC circuit samples. In one form, the instrument interface circuit840may comprise a first data circuit interface846to enable information exchange between the logic circuit842(or other element of the instrument interface circuit840) and a first data circuit disposed in or otherwise associated with a surgical instrument. In certain forms, for example, a first data circuit may be disposed in a cable integrally attached to a surgical instrument handpiece or in an adaptor for interfacing a specific surgical instrument type or model with the generator800. The first data circuit may be implemented in any suitable manner and may communicate with the generator according to any suitable protocol, including, for example, as described herein with respect to the first data circuit. In certain forms, the first data circuit may comprise a non-volatile storage device, such as an EEPROM device. In certain forms, the first data circuit interface846may be implemented separately from the logic circuit842and comprise suitable circuitry (e.g., discrete logic devices, a processor) to enable communication between the logic circuit842and the first data circuit. In other forms, the first data circuit interface846may be integral with the logic circuit842. In certain forms, the first data circuit may store information pertaining to the particular surgical instrument with which it is associated. Such information may include, for example, a model number, a serial number, a number of operations in which the surgical instrument has been used, and/or any other type of information. This information may be read by the instrument interface circuit840(e.g., by the logic circuit842), transferred to a component of the non-isolated stage804(e.g., to logic device816, DSP processor822, and/or UI processor836) for presentation to a user via an output device and/or for controlling a function or operation of the generator800. Additionally, any type of information may be communicated to the first data circuit for storage therein via the first data circuit interface846(e.g., using the logic circuit842). Such information may comprise, for example, an updated number of operations in which the surgical instrument has been used and/or dates and/or times of its usage. As discussed previously, a surgical instrument may be detachable from a handpiece (e.g., the multifunction surgical instrument may be detachable from the handpiece) to promote instrument interchangeability and/or disposability. In such cases, conventional generators may be limited in their ability to recognize particular instrument configurations being used and to optimize control and diagnostic processes accordingly. The addition of readable data circuits to surgical instruments to address this issue is problematic from a compatibility standpoint, however. For example, designing a surgical instrument to remain backwardly compatible with generators that lack the requisite data reading functionality may be impractical due to, for example, differing signal schemes, design complexity, and cost. Forms of instruments discussed herein address these concerns by using data circuits that may be implemented in existing surgical instruments economically and with minimal design changes to preserve compatibility of the surgical instruments with current generator platforms. Additionally, forms of the generator800may enable communication with instrument-based data circuits. For example, the generator800may be configured to communicate with a second data circuit contained in an instrument (e.g., the multifunction surgical instrument). In some forms, the second data circuit may be implemented in a many similar to that of the first data circuit described herein. The instrument interface circuit840may comprise a second data circuit interface848to enable this communication. In one form, the second data circuit interface848may comprise a tri-state digital interface, although other interfaces may also be used. In certain forms, the second data circuit may generally be any circuit for transmitting and/or receiving data. In one form, for example, the second data circuit may store information pertaining to the particular surgical instrument with which it is associated. Such information may include, for example, a model number, a serial number, a number of operations in which the surgical instrument has been used, and/or any other type of information. In some forms, the second data circuit may store information about the electrical and/or ultrasonic properties of an associated ultrasonic transducer, end effector, or ultrasonic drive system. For example, the first data circuit may indicate a burn-in frequency slope, as described herein. Additionally or alternatively, any type of information may be communicated to second data circuit for storage therein via the second data circuit interface848(e.g., using the logic circuit842). Such information may comprise, for example, an updated number of operations in which the instrument has been used and/or dates and/or times of its usage. In certain forms, the second data circuit may transmit data acquired by one or more sensors (e.g., an instrument-based temperature sensor). In certain forms, the second data circuit may receive data from the generator800and provide an indication to a user (e.g., a light emitting diode indication or other visible indication) based on the received data. In certain forms, the second data circuit and the second data circuit interface848may be configured such that communication between the logic circuit842and the second data circuit can be effected without the need to provide additional conductors for this purpose (e.g., dedicated conductors of a cable connecting a handpiece to the generator800). In one form, for example, information may be communicated to and from the second data circuit using a one-wire bus communication scheme implemented on existing cabling, such as one of the conductors used transmit interrogation signals from the signal conditioning circuit844to a control circuit in a handpiece. In this way, design changes or modifications to the surgical instrument that might otherwise be necessary are minimized or reduced. Moreover, because different types of communications implemented over a common physical channel can be frequency-band separated, the presence of a second data circuit may be “invisible” to generators that do not have the requisite data reading functionality, thus enabling backward compatibility of the surgical instrument. In certain forms, the isolated stage802may comprise at least one blocking capacitor850-1connected to the drive signal output810bto prevent passage of DC current to a patient. A single blocking capacitor may be required to comply with medical regulations or standards, for example. While failure in single-capacitor designs is relatively uncommon, such failure may nonetheless have negative consequences. In one form, a second blocking capacitor850-2may be provided in series with the blocking capacitor850-1, with current leakage from a point between the blocking capacitors850-1,850-2being monitored by, for example, an ADC circuit852for sampling a voltage induced by leakage current. The samples may be received by the logic circuit842, for example. Based changes in the leakage current (as indicated by the voltage samples), the generator800may determine when at least one of the blocking capacitors850-1,850-2has failed, thus providing a benefit over single-capacitor designs having a single point of failure. In certain forms, the non-isolated stage804may comprise a power supply854for delivering DC power at a suitable voltage and current. The power supply may comprise, for example, a 400 W power supply for delivering a 48 VDC system voltage. The power supply854may further comprise one or more DC/DC voltage converters856for receiving the output of the power supply to generate DC outputs at the voltages and currents required by the various components of the generator800. As discussed above in connection with the controller838, one or more of the DC/DC voltage converters856may receive an input from the controller838when activation of the “on/off” input device by a user is detected by the controller838to enable operation of, or wake, the DC/DC voltage converters856. FIG.21illustrates an example of a generator900, which is one form of the generator800(FIG.20). The generator900is configured to deliver multiple energy modalities to a surgical instrument. The generator900provides RF and ultrasonic signals for delivering energy to a surgical instrument either independently or simultaneously. The RF and ultrasonic signals may be provided alone or in combination and may be provided simultaneously. As noted above, at least one generator output can deliver multiple energy modalities (e.g., ultrasonic, bipolar or monopolar RF, irreversible and/or reversible electroporation, and/or microwave energy, among others) through a single port, and these signals can be delivered separately or simultaneously to the end effector to treat tissue. The generator900comprises a processor902coupled to a waveform generator904. The processor902and waveform generator904are configured to generate a variety of signal waveforms based on information stored in a memory coupled to the processor902, not shown for clarity of disclosure. The digital information associated with a waveform is provided to the waveform generator904which includes one or more DAC circuits to convert the digital input into an analog output. The analog output is fed to an amplifier1106for signal conditioning and amplification. The conditioned and amplified output of the amplifier906is coupled to a power transformer908. The signals are coupled across the power transformer908to the secondary side, which is in the patient isolation side. A first signal of a first energy modality is provided to the surgical instrument between the terminals labeled ENERGY1and RETURN. A second signal of a second energy modality is coupled across a capacitor910and is provided to the surgical instrument between the terminals labeled ENERGY2and RETURN. It will be appreciated that more than two energy modalities may be output and thus the subscript “n” may be used to designate that up to n ENERGYn terminals may be provided, where n is a positive integer greater than 1. It also will be appreciated that up to “n” return paths RETURNn may be provided without departing from the scope of the present disclosure. A first voltage sensing circuit912is coupled across the terminals labeled ENERGY1and the RETURN path to measure the output voltage therebetween. A second voltage sensing circuit924is coupled across the terminals labeled ENERGY2and the RETURN path to measure the output voltage therebetween. A current sensing circuit914is disposed in series with the RETURN leg of the secondary side of the power transformer908as shown to measure the output current for either energy modality. If different return paths are provided for each energy modality, then a separate current sensing circuit should be provided in each return leg. The outputs of the first and second voltage sensing circuits912,924are provided to respective isolation transformers916,922and the output of the current sensing circuit914is provided to another isolation transformer918. The outputs of the isolation transformers916,928,922in the on the primary side of the power transformer908(non-patient isolated side) are provided to a one or more ADC circuit926. The digitized output of the ADC circuit926is provided to the processor902for further processing and computation. The output voltages and output current feedback information can be employed to adjust the output voltage and current provided to the surgical instrument and to compute output impedance, among other parameters. Input/output communications between the processor902and patient isolated circuits is provided through an interface circuit920. Sensors also may be in electrical communication with the processor902by way of the interface circuit920. In one aspect, the impedance may be determined by the processor902by dividing the output of either the first voltage sensing circuit912coupled across the terminals labeled ENERGY1/RETURN or the second voltage sensing circuit924coupled across the terminals labeled ENERGY2/RETURN by the output of the current sensing circuit914disposed in series with the RETURN leg of the secondary side of the power transformer908. The outputs of the first and second voltage sensing circuits912,924are provided to separate isolations transformers916,922and the output of the current sensing circuit914is provided to another isolation transformer916. The digitized voltage and current sensing measurements from the ADC circuit926are provided the processor902for computing impedance. As an example, the first energy modality ENERGY1may be ultrasonic energy and the second energy modality ENERGY2may be RF energy. Nevertheless, in addition to ultrasonic and bipolar or monopolar RF energy modalities, other energy modalities include irreversible and/or reversible electroporation and/or microwave energy, among others. Also, although the example illustrated inFIG.21shows a single return path RETURN may be provided for two or more energy modalities, in other aspects, multiple return paths RETURNn may be provided for each energy modality ENERGYn. Thus, as described herein, the ultrasonic transducer impedance may be measured by dividing the output of the first voltage sensing circuit912by the current sensing circuit914and the tissue impedance may be measured by dividing the output of the second voltage sensing circuit924by the current sensing circuit914. As shown inFIG.21, the generator900comprising at least one output port can include a power transformer908with a single output and with multiple taps to provide power in the form of one or more energy modalities, such as ultrasonic, bipolar or monopolar RF, irreversible and/or reversible electroporation, and/or microwave energy, among others, for example, to the end effector depending on the type of treatment of tissue being performed. For example, the generator900can deliver energy with higher voltage and lower current to drive an ultrasonic transducer, with lower voltage and higher current to drive RF electrodes for sealing tissue, or with a coagulation waveform for spot coagulation using either monopolar or bipolar RF electrosurgical electrodes. The output waveform from the generator900can be steered, switched, or filtered to provide the frequency to the end effector of the surgical instrument. The connection of an ultrasonic transducer to the generator900output would be preferably located between the output labeled ENERGY1and RETURN as shown inFIG.21. In one example, a connection of RF bipolar electrodes to the generator900output would be preferably located between the output labeled ENERGY2and RETURN. In the case of monopolar output, the preferred connections would be active electrode (e.g., pencil or other probe) to the ENERGY2output and a suitable return pad connected to the RETURN output. Additional details are disclosed in U.S. Patent Application Publication No. 2017/0086914, titled TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICAL INSTRUMENTS, which published on Mar. 30, 2017, which is herein incorporated by reference in its entirety. As used throughout this description, the term “wireless” and its derivatives may be used to describe circuits, devices, systems, methods, techniques, communications channels, etc., that may communicate data through the use of modulated electromagnetic radiation through a non-solid medium. The term does not imply that the associated devices do not contain any wires, although in some aspects they might not. The communication module may implement any of a number of wireless or wired communication standards or protocols, including but not limited to W-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, long term evolution (LTE), Ev-DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT, Bluetooth, Ethernet derivatives thereof, as well as any other wireless and wired protocols that are designated as 3G, 4G, 5G, and beyond. The computing module may include a plurality of communication modules. For instance, a first communication module may be dedicated to shorter range wireless communications such as Wi-Fi and Bluetooth and a second communication module may be dedicated to longer range wireless communications such as GPS, EDGE, GPRS, CDMA, WiMAX, LTE, Ev-DO, and others. As used herein a processor or processing unit is an electronic circuit which performs operations on some external data source, usually memory or some other data stream. The term is used herein to refer to the central processor (central processing unit) in a system or computer systems (especially systems on a chip (SoCs)) that combine a number of specialized “processors.” As used herein, a system on a chip or system on chip (SoC or SOC) is an integrated circuit (also known as an “IC” or “chip”) that integrates all components of a computer or other electronic systems. It may contain digital, analog, mixed-signal, and often radio-frequency functions—all on a single substrate. A SoC integrates a microcontroller (or microprocessor) with advanced peripherals like graphics processing unit (GPU), Wi-Fi module, or coprocessor. A SoC may or may not contain built-in memory. As used herein, a microcontroller or controller is a system that integrates a microprocessor with peripheral circuits and memory. A microcontroller (or MCU for microcontroller unit) may be implemented as a small computer on a single integrated circuit. It may be similar to a SoC; an SoC may include a microcontroller as one of its components. A microcontroller may contain one or more core processing units (CPUs) along with memory and programmable input/output peripherals. Program memory in the form of Ferroelectric RAM, NOR flash or OTP ROM is also often included on chip, as well as a small amount of RAM. Microcontrollers may be employed for embedded applications, in contrast to the microprocessors used in personal computers or other general purpose applications consisting of various discrete chips. As used herein, the term controller or microcontroller may be a stand-alone IC or chip device that interfaces with a peripheral device. This may be a link between two parts of a computer or a controller on an external device that manages the operation of (and connection with) that device. Any of the processors or microcontrollers described herein, may be implemented by any single core or multicore processor such as those known under the trade name ARM Cortex by Texas Instruments. In one aspect, the processor may be an LM4F230H5QR ARM Cortex-M4F Processor Core, available from Texas Instruments, for example, comprising on-chip memory of 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, a 32 KB single-cycle serial random access memory (SRAM), internal read-only memory (ROM) loaded with StellarisWare® software, 2 KB electrically erasable programmable read-only memory (EEPROM), one or more pulse width modulation (PWM) modules, one or more quadrature encoder inputs (QEI) analog, one or more 12-bit Analog-to-Digital Converters (ADC) with 12 analog input channels, details of which are available for the product datasheet. In one aspect, the processor may comprise a safety controller comprising two controller-based families such as TMS570 and RM4x known under the trade name Hercules ARM Cortex R4, also by Texas Instruments. The safety controller may be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options. Modular devices include the modules (as described in connection withFIGS.3and9, for example) that are receivable within a surgical hub and the surgical devices or instruments that can be connected to the various modules in order to connect or pair with the corresponding surgical hub. The modular devices include, for example, intelligent surgical instruments, medical imaging devices, suction/irrigation devices, smoke evacuators, energy generators, ventilators, insufflators, and displays. The modular devices described herein can be controlled by control algorithms. The control algorithms can be executed on the modular device itself, on the surgical hub to which the particular modular device is paired, or on both the modular device and the surgical hub (e.g., via a distributed computing architecture). In some exemplifications, the modular devices' control algorithms control the devices based on data sensed by the modular device itself (i.e., by sensors in, on, or connected to the modular device). This data can be related to the patient being operated on (e.g., tissue properties or insufflation pressure) or the modular device itself (e.g., the rate at which a knife is being advanced, motor current, or energy levels). For example, a control algorithm for a surgical stapling and cutting instrument can control the rate at which the instrument's motor drives its knife through tissue according to resistance encountered by the knife as it advances. User Feedback Methods The present disclosure provides user feedback techniques. In one aspect, the present disclosure provides a display of images through a medical imaging device (e.g., laparoscope, endoscope, thoracoscope, and the like). A medical imaging device comprises an optical component and an image sensor. The optical component may comprise a lens and a light source, for example. The image sensor may be implemented as a charge coupled device (CCD) or complementary oxide semiconductor (CMOS). The image sensor provides image data to electronic components in the surgical hub. The data representing the images may be transmitted by wired or wireless communication to display instrument status, feedback data, imaging data, and highlight tissue irregularities and underlining structures. In another aspect, the present disclosure provides wired or wireless communication techniques for communicating user feedback from a device (e.g., instrument, robot, or tool) to the surgical hub. In another aspect, the present disclosure provides identification and usage recording and enabling. Finally, in another aspect, the surgical hub may have a direct interface control between the device and the surgical hub. Through Laparoscope Monitor Display of Data In various aspects, the present disclosure provides through laparoscope monitor display of data. The through laparoscope monitor display of data may comprise displaying a current instrument alignment to adjacent previous operations, cooperation between local instrument displays and paired laparoscope display, and display of instrument specific data needed for efficient use of an end-effector portion of a surgical instrument. Each of these techniques is described hereinbelow. Display of Current Instrument Alignment to Adjacent Previous Operations In one aspect, the present disclosure provides alignment guidance display elements that provide the user information about the location of a previous firing or actuation and allow them to align the next instrument use to the proper position without the need for seeing the instrument directly. In another aspect, the first device and second device and are separate; the first device is within the sterile field and the second is used from outside the sterile field. During a colorectal transection using a double-stapling technique it is difficult to align the location of an anvil trocar of a circular stapler with the center of an overlapping staple line. During the procedure, the anvil trocar of the circular stapler is inserted in the rectum below the staple line and a laparoscope is inserted in the peritoneal cavity above the staple line. Because the staple line seals off the colon, there is no light of sight to align the anvil trocar using the laparoscope to optically align the anvil trocar insertion location relative to the center of the staple line overlap. One solution provides a non-contact sensor located on the anvil trocar of the circular stapler and a target located at the distal end of the laparoscope. Another solution provides a non-contact sensor located at the distal end of the laparoscope and a target located on the anvil trocar of the circular stapler. A surgical hub computer processor receives signals from the non-contact sensor and displays a centering tool on a screen indicating the alignment of the anvil trocar of the circular stapler and the overlap portion at the center of staple line. The screen displays a first image of the target staple line with a radius around the staple line overlap portion and a second image of the projected anvil trocar location. The anvil trocar and the overlap portion at the center of staple line are aligned when the first and second images overlap. In one aspect, the present disclosure provides a surgical hub for aligning a surgical instrument. The surgical hub comprises a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to receive image data from an image sensor, generate a first image based on the image data, display the first image on a monitor coupled to the processor, receive a signal from a non-contact sensor, generate a second image based on the position of the surgical device, and display the second image on the monitor. The first image data represents a center of a staple line seal. The first image represents a target corresponding to the center of the staple line. The signal is indicative of a position of a surgical device relative to the center of the staple line. The second image represents the position of the surgical device along a projected path of the surgical device toward the center of the staple line. In one aspect, the center of the staple line is a double-staple overlap portion zone. In another aspect, the image sensor receives an image from a laparoscope. In another aspect, the surgical device is a circular stapler comprising an anvil trocar and the non-contact sensor is configured to detect the location of the anvil trocar relative to the center of the staple line seal. In another aspect, the non-contact sensor is an inductive sensor. In another aspect, the non-contact sensor is a capacitive sensor. In various aspects, the present disclosure provides a control circuit to align the surgical instrument as described above. In various aspects, the present disclosure provides a non-transitory computer readable medium storing computer readable instructions which, when executed, causes a machine to align the surgical instrument as described above. This technique provides better alignment of a surgical instrument such as a circular stapler about the overlap portion of the staple line to produce a better seal and cut after the circular stapler is fired. In one aspect, the present disclosure provides a system for displaying the current instrument alignment relative to prior adjacent operations. The instrument alignment information may be displayed on a monitor or any suitable electronic device suitable for the visual presentation of data whether located locally on the instrument or remotely from the instrument through the modular communication hub. The system may display the current alignment of a circular staple cartridge to an overlapping staple line, display the current alignment of a circular staple cartridge relative to a prior linear staple line, and/or show the existing staple line of the linear transection and an alignment circle indicating an appropriately centered circular staple cartridge. Each of these techniques is described hereinbelow. In one aspect, the present disclosure provides alignment guidance display elements that provide the user information about the location of a previous firing or actuation of a surgical instrument (e.g., surgical stapler) and allows the user to align the next instrument use (e.g., firing or actuation of the surgical stapler) to the proper position without the need for seeing the instrument directly. In another aspect, the present disclosure provides a first device and a second device that is separate from the first device. The first device is located within a sterile field and the second is located outside the sterile field. The techniques described herein may be applied to surgical staplers, ultrasonic instruments, electrosurgical instruments, combination ultrasonic/electrosurgical instruments, and/or combination surgical stapler/electrosurgical instruments. FIG.22illustrates a diagram6000of a surgical instrument6002centered on a staple line6003using the benefit of centering tools and techniques described in connection withFIGS.23-33, according to one aspect of the present disclosure. As used in the following description ofFIGS.23-33a staple line may include multiple rows of staggered staples and typically includes two or three rows of staggered staples, without limitation. The staple line may be a double staple line6004formed using a double-stapling technique as described in connection withFIGS.23-27or may be a linear staple line6052formed using a linear transection technique as described in connection withFIGS.28-33. The centering tools and techniques described herein can be used to align the instrument6002located in one part of the anatomy with either the staple line6003or with another instrument located in another part of the anatomy without the benefit of a line of sight. The centering tools and techniques include displaying the current alignment of the instrument6002adjacent to previous operations. The centering tool is useful, for example, during laparoscopic-assisted rectal surgery that employ a double-stapling technique, also referred to as an overlapping stapling technique. In the illustrated example, during a laparoscopic-assisted rectal surgical procedure, a circular stapler6002is positioned in the rectum6006of a patient within the pelvic cavity6008and a laparoscope is positioned in the peritoneal cavity. During the laparoscopic-assisted rectal surgery, the colon is transected and sealed by the staple line6003having a length “l.” The double-stapling technique uses the circular stapler6002to create an end-to-end anastomosis and is currently used widely in laparoscopic-assisted rectal surgery. For a successful formation of an anastomosis using a circular stapler6002, the anvil trocar6010of the circular stapler6002should be aligned with the center “l/2” of the staple line6003transection before puncturing through the center “l/2” of the staple line6003and/or fully clamping on the tissue before firing the circular stapler6002to cut out the staple overlap portion6012and forming the anastomosis. Misalignment of the anvil trocar6010to the center of the staple line6003transection may result in a high rate of anastomotic failures. This technique may be applied to ultrasonic instruments, electrosurgical instruments, combination ultrasonic/electrosurgical instruments, and/or combination surgical stapler/electrosurgical instruments. Several techniques are now described for aligning the anvil trocar6010of the circular stapler6002to the center “l/2” of the staple line6003. In one aspect, as described inFIGS.23-25and with reference also toFIGS.1-11to show interaction with an interactive surgical system100environment including a surgical hub106,206, the present disclosure provides an apparatus and method for detecting the overlapping portion of the double staple line6004in a laparoscopic-assisted rectal surgery colorectal transection using a double stapling technique. The overlapping portion of the double staple line6004is detected and the current location of the anvil trocar6010of the circular stapler6002is displayed on a surgical hub display215coupled to the surgical hub206. The surgical hub display215displays the alignment of a circular stapler6002cartridge relative to the overlapping portion of the double staple line6004, which is located at the center of the double staple line6004. The surgical hub display215displays a circular image centered around the overlapping double staple line6004region to ensure that the overlapping portion of the double staple line6004is contained within the knife of the circular stapler6002and therefore removed following the circular firing. Using the display, the surgeon aligns the anvil trocar6010with the center of the double staple line6004before puncturing through the center of the double staple line6004and/or fully clamping on the tissue before firing the circular stapler6002to cut out the staple overlap portion6012and form the anastomosis. FIGS.23-25illustrate a process of aligning an anvil trocar6010of a circular stapler6022to a staple overlap portion6012of a double staple line6004created by a double-stapling technique, according to one aspect of the present disclosure. The staple overlap portion6012is centered on the double staple line6004formed by a double-stapling technique. The circular stapler6002is inserted into the colon6020below the double staple line6004and a laparoscope6014is inserted through the abdomen above the double staple line6004. A laparoscope6014and a non-contact sensor6022are used to determine an anvil trocar6010location relative to the staple overlap portion6012of the double staple line6004. The laparoscope6014includes an image sensor to generate an image of the double staple line6004. The image sensor image is transmitted to the surgical hub206via the imaging module238. The sensor6022generates a signal6024that detects the metal staples using inductive or capacitive metal sensing technology. The signal6024varies based on the position of the anvil trocar6010relative to the staple overlap portion6004. A centering tool6030presents an image6038of the double staple line6004and a target alignment ring6032circumscribing the image6038of the double staple line6004centered about an image6040of the staple overlap portion6012on the surgical hub display215. The centering tool6030also presents a projected cut path6034of an anvil knife of the circular stapler6002. The alignment process includes displaying an image6038of the double staple line6004and a target alignment ring6032circumscribing the image6038of the double staple line6004centered on the image6040of the staple overlap portion6012to be cut out by the circular knife of the circular stapler6002. Also displayed is an image of a crosshair6036(X) relative to the image6040of the staple overlap portion6012. FIG.23illustrates an anvil trocar6010of a circular stapler6002that is not aligned with a staple overlap portion6012of a double staple line6004created by a double-stapling technique. The double staple line6004has a length “l” and the staple overlap portion6012is located midway along the double staple line6004at “l/2.” As shown inFIG.23, the circular stapler6002is inserted into a section of the colon6020and is positioned just below the double staple line6004transection. A laparoscope6014is positioned above the double staple line6004transection and feeds an image of the double staple line6004and staple overlap portion6012within the field of view6016of the laparoscope6014to the surgical hub display215. The position of the anvil trocar6010relative to the staple overlap portion6012is detected by a sensor6022located on the circular stapler6002. The sensor6022also provides the position of the anvil trocar6010relative to the staple overlap portion6012to the surgical hub display215. As shown in InFIG.23, the projected path6018of the anvil trocar6010is shown along a broken line to a position marked by an X. As shown inFIG.23, the projected path6018of the anvil trocar6010is not aligned with the staple overlap portion6012. Puncturing the anvil trocar6010through the double staple line6004at a point off the staple overlap portion6012could lead to an anastomotic failure. Using the anvil trocar6010centering tool6030described inFIG.25, the surgeon can align the anvil trocar6010with the staple overlap portion6012using the images displayed by the centering tool6030. For example, in one implementation, the sensor6022is an inductive sensor. Since the staple overlap portion6012contains more metal than the rest of the lateral portions of the double staple line6004, the signal6024is maximum when the sensor6022is aligned with and proximate to the staple overlap portion6012. The sensor6022provides a signal to the surgical hub206that indicates the location of the anvil trocar6010relative to the staple overlap portion6012. The output signal is converted to a visualization of the location of the anvil trocar6010relative to the staple overlap portion6012that is displayed on the surgical hub display215. As shown inFIG.24, the anvil trocar6010is aligned with the staple overlap portion6012at the center of the double staple line6004created by a double-stapling technique. The surgeon can now puncture the anvil trocar6010through the staple overlap portion6012of the double staple line6004and/or fully clamp on the tissue before firing the circular stapler6002to cut out the staple overlap portion6012and form an anastomosis. FIG.25illustrates a centering tool6030displayed on a surgical hub display215, the centering tool providing a display of a staple overlap portion6012of a double staple line6004created by a double-stapling technique, where the anvil trocar6010is not aligned with the staple overlap portion6012of the double staple line6004as shown inFIG.23. The centering tool6030presents an image6038on the surgical hub display215of the double staple line6004and an image6040of the staple overlap portion6012received from the laparoscope6014. A target alignment ring6032centered about the image6040of the staple overlap portion6012circumscribes the image6038of the double staple line6004to ensure that the staple overlap portion6012is located within the circumference of the projected cut path6034of the circular stapler6002knife when the projected cut path6034is aligned to the target alignment ring6032. The crosshair6036(X) represents the location of the anvil trocar6010relative to the staple overlap portion6012. The crosshair6036(X) indicates the point through the double staple line6004where the anvil trocar6010would puncture if it were advanced from its current location. As shown inFIG.25, the anvil trocar6010is not aligned with the desired puncture through location designated by the image6040of the staple overlap portion6012. To align the anvil trocar6010with the staple overlap portion6012the surgeon manipulates the circular stapler6002until the projected cut path6034overlaps the target alignment ring6032and the crosshair6036(X) is centered on the image6040of the staple overlap portion6012. Once alignment is complete, the surgeon punctures the anvil trocar6010through the staple overlap portion6012of the double staple line6004and/or fully clamps on the tissue before firing the circular stapler6002to cut out the staple overlap portion6012and form the anastomosis. As discussed above, the sensor6022is configured to detect the position of the anvil trocar6010relative to the staple overlap portion6012. Accordingly, the location of the crosshair6036(X) presented on the surgical hub display215is determined by the surgical stapler sensor6022. In another aspect, the sensor6022may be located on the laparoscope6014, where the sensor6022is configured to detect the tip of the anvil trocar6010. In other aspects, the sensor6022may be located either on the circular stapler6022or the laparoscope6014, or both, to determine the location of the anvil trocar6010relative to the staple overlap portion6012and provide the information to the surgical hub display215via the surgical hub206. FIGS.26and27illustrate a before image6042and an after image6043of a centering tool6030, according to one aspect of the present disclosure.FIG.26illustrates an image of a projected cut path6034of an anvil trocar6010and circular knife before alignment with the target alignment ring6032circumscribing the image6038of the double staple line6004over the image6040of the staple overlap portion6040presented on a surgical hub display215.FIG.27illustrates an image of a projected cut path6034of an anvil trocar6010and circular knife after alignment with the target alignment ring6032circumscribing the image6038of the double staple line6004over the image6040of the staple overlap portion6040presented on a surgical hub display215. The current location of the anvil trocar6010is marked by the crosshair6036(X), which as shown inFIG.26, is positioned below and to the left of center of the image6040of the staple overlap portion6040. As shown inFIG.27, as the surgeon moves the anvil trocar6010of the along the projected path6046, the projected cut path6034aligns with the target alignment ring6032. The target alignment ring6032may be displayed as a greyed out alignment circle overlaid over the current position of the anvil trocar6010relative to the center of the double staple line6004, for example. The image may include indication marks to assist the alignment process by indication which direction to move the anvil trocar6010. The target alignment ring6032may be shown in bold, change color or may be highlighted when it is located within a predetermined distance of center within acceptable limits. In another aspect, the sensor6022may be configured to detect the beginning and end of a linear staple line in a colorectal transection and to provide the position of the current location of the anvil trocar6010of the circular stapler6002. In another aspect, the present disclosure provides a surgical hub display215to present the circular stapler6002centered on the linear staple line, which would create even dog ears, and to provide the current position of the anvil trocar6010to allow the surgeon to center or align the anvil trocar6010as desired before puncturing and/or fully clamping on tissue prior to firing the circular stapler6002. In another aspect, as described inFIGS.28-30and with reference also toFIGS.1-11to show interaction with an interactive surgical system100environment including a surgical hub106,206, in a laparoscopic-assisted rectal surgery colorectal transection using a linear stapling technique, the beginning and end of the linear staple line6052is detected and the current location of the anvil trocar6010of the circular stapler6002is displayed on a surgical hub display215coupled to the surgical hub206. The surgical hub display215displays a circular image centered on the double staple line6004, which would create even dog ears and the current position of the anvil trocar6002is displayed to allow the surgeon to center or align the anvil trocar6010before puncturing through the linear staple line6052and/or fully clamping on the tissue before firing the circular stapler6002to cut out the center6050of the linear staple line6052to form an anastomosis. FIGS.28-30illustrate a process of aligning an anvil trocar6010of a circular stapler6022to a center6050of a linear staple line6052created by a linear stapling technique, according to one aspect of the present disclosure.FIGS.28and29illustrate a laparoscope6014and a sensor6022located on the circular stapler6022to determine the location of the anvil trocar6010relative to the center6050of the linear staple line6052. The anvil trocar6010and the sensor6022is inserted into the colon6020below the linear staple line6052and the laparoscope6014is inserted through the abdomen above the linear staple line6052. FIG.28illustrates the anvil trocar6010out of alignment with the center6050of the linear staple line6052andFIG.29illustrates the anvil trocar6010in alignment with the center6050of the linear staple line6052. The sensor6022is used to detect the center6050of the linear staple line6052to align the anvil trocar6010with the center of the staple line6052. In one aspect, the center6050of the linear staple line6052may be located by moving the circular stapler6002until one end of the linear staple line6052is detected. An end may be detected when there are no more staples in the path of the sensor6022. Once one of the ends is reached, the circular stapler6002is moved along the linear staple line6053until the opposite end is detected and the length “” of the linear staple line6052is determined by measurement or by counting individual staples by the sensor6022. Once the length of the linear staple line6052is determined, the center6050of the linear staple line6052can be determined by dividing the length by two “/2.” FIG.30illustrates a centering tool6054displayed on a surgical hub display215, the centering tool providing a display of a linear staple line6052, where the anvil trocar6010is not aligned with the staple overlap portion6012of the double staple line6004as shown inFIG.28. The surgical hub display215presents a standard reticle field of view6056of the laparoscopic field of view6016of the linear staple line6052and a portion of the colon6020. The surgical hub display215also presents a target ring6062circumscribing the image center of the linear staple line and a projected cut path6064of the anvil trocar and circular knife. The crosshair6066(X) represents the location of the anvil trocar6010relative to the center6050of the linear staple line6052. The crosshair6036(X) indicates the point through the linear staple line6052where the anvil trocar6010would puncture if it were advanced from its current location. As shown inFIG.30, the anvil trocar6010is not aligned with the desired puncture through location designated by the offset between the target ring6062and the projected cut path6064. To align the anvil trocar6010with the center6050of the linear staple line6052the surgeon manipulates the circular stapler6002until the projected cut path6064overlaps the target alignment ring6062and the crosshair6066(X) is centered on the image6040of the staple overlap portion6012. Once alignment is complete, the surgeon punctures the anvil trocar6010through the center6050of the linear staple line6052and/or fully clamps on the tissue before firing the circular stapler6002to cut out the staple overlap portion6012and forming the anastomosis. In one aspect, the present disclosure provides an apparatus and method for displaying an image of an linear staple line6052using a linear transection technique and an alignment ring or bullseye positioned as if the anvil trocar6010of the circular stapler6022were centered appropriately along the linear staple line6052. The apparatus displays a greyed out alignment ring overlaid over the current position of the anvil trocar6010relative to the center6050of the linear staple line6052. The image may include indication marks to assist the alignment process by indication which direction to move the anvil trocar6010. The alignment ring may be bold, change color or highlight when it is located within a predetermined distance of centered. With reference now toFIGS.28-31,FIG.31is an image6080of a standard reticle field view6080of a linear staple line6052transection of a surgical as viewed through a laparoscope6014displayed on the surgical hub display215, according to one aspect of the present disclosure. In a standard reticle view6080, it is difficult to see the linear staple line6052in the standard reticle field of view6056. Further, there are no alignment aids to assist with alignment and introduction of the anvil trocar6010to the center6050of the linear staple line. This view does not show an alignment circle or alignment mark to indicate if the circular stapler is centered appropriately and does not show the projected trocar path. In this view it also difficult to see the staples because there is no contrast with the background image. With reference now toFIGS.28-32,FIG.32is an image6082of a laser-assisted reticle field of view6072of the surgical site shown inFIG.31before the anvil trocar6010and circular knife of the circular stapler6002are aligned to the center6050of the linear staple line6052, according to one aspect of the present disclosure. The laser-assisted reticle field of view6072provides an alignment mark or crosshair6066(X), currently positioned below and to the left of center of the linear staple line6052showing the projected path of the anvil trocar6010to assist positioning of the anvil trocar6010. In addition to the projected path marked by the crosshair6066(X) of the anvil trocar6010, the image6082displays the staples of the linear staple line6052in a contrast color to make them more visible against the background. The linear staple line6052is highlighted and a bullseye target6070is displayed over the center6050of the linear staple line6052. Outside of the laser-assisted reticle field of view6072, the image6082displays a status warning box6068, a suggestion box6074, a target ring6062, and the current alignment position of the anvil trocar6010marked by the crosshair6066(X) relative to the center6050of the linear staple line6052. As shown inFIG.32, the status warning box6068indicates that the trocar is “MISALIGNED” and the suggestion box6074states “Adjust trocar to center staple line.” With reference now toFIGS.28-33,FIG.33is an image6084of a laser-assisted reticle field of view6072of the surgical site shown inFIG.32after the anvil trocar6010and circular knife of the circular stapler6002are aligned to the center6050of the linear staple line6052, according to one aspect of the present disclosure. The laser-assisted reticle field of view6072provides an alignment mark or crosshair6066(X), currently positioned below and to the left of center of the linear staple line6052showing the projected path of the anvil trocar6010to assist positioning of the anvil trocar6010. In addition to the projected path marked by the crosshair6066(X) of the anvil trocar6010, the image6082displays the staples of the linear staple line6052in a contrast color to make them more visible against the background. The linear staple line6052is highlighted and a bullseye target6070is displayed over the center6050of the linear staple line6052. Outside of the laser-assisted reticle field of view6072, the image6082displays a status warning box6068, a suggestion box6074, a target ring6062, and the current alignment position of the anvil trocar6010marked by the crosshair6066(X) relative to the center6050of the linear staple line6052. As shown inFIG.32, the status warning box6068indicates that the trocar is “MISALIGNED” and the suggestion box6074states “Adjust trocar to center staple line.” FIG.33is a laser assisted view of the surgical site shown inFIG.32after the anvil trocar6010and circular knife are aligned to the center of the staple line6052. In this view, inside the field of view6072of the laser-assisted reticle, the alignment mark crosshair6066(X) is positioned over the center of the staple line6052and the highlighted bullseye target to indicate alignment of the trocar to the center of the staple line. Outside the field of view6072of the laser-assisted reticle, the status warning box indicates that the trocar is “ALIGNED” and the suggestion is “Proceed trocar introduction.” FIG.34illustrates a non-contact inductive sensor6090implementation of the non-contact sensor6022to determine an anvil trocar6010location relative to the center of a staple line transection (the staple overlap portion6012of the double staple line6004shown in FIGS.23-24or the center6050of the linear staple line6052shown inFIGS.28-29, for example), according to one aspect of the present disclosure. The non-contact inductive sensor6090includes an oscillator6092that drives an inductive coil6094to generate an electromagnetic field6096. As a metal target6098, such as a metal staple, is introduced into the electromagnetic field6096, eddy currents6100induced in the target6098oppose the electromagnetic field6096and the reluctance shifts and the amplitude of the oscillator voltage6102drops. An amplifier6104amplifies the oscillator voltage6102amplitude as it changes. With reference now toFIGS.1-11to show interaction with an interactive surgical system100environment including a surgical hub106,206and also toFIGS.22-33, the inductive sensor6090is a non-contact electronic sensor. It can be used for positioning and detecting metal objects such as the metal staples in the staple lines6003,6004,6052described above. The sensing range of the inductive sensor6090is dependent on the type of metal being detected. Because the inductive sensor6090is a non-contact sensor, it can detect metal objects across a stapled tissue barrier. The inductive sensor6090can be located either on the circular stapler6002to detect staples in the staple lines6003,6004,6052, detect the location of the distal end of the laparoscope6014, or it may be located on the laparoscope6014to detect the location of the anvil trocar6010. A processor or control circuit located either in the circular stapler6002, laparoscope6014, or coupled to the surgical hub206receives signals from the inductive sensors6090and can be employed to display the centering tool on the surgical hub display215to determine the location of the anvil trocar6010relative to either staple overlap portion6012of a double staple line6004or the center6050of a linear staple line6052. In one aspect, the distal end of the laparoscope6014may be detected by the inductive sensor6090located on the circular stapler6002. The inductive sensor6090may detect a metal target6098positioned on the distal end of the laparoscope6014. Once the laparoscope6014is aligned with the center6050of the linear staple line6052or the staple overlap portion6012of the double staple line6004, a signal from the inductive sensor6090is transmitted to circuits that convert the signals from the inductive sensor6090to present an image of the relative alignment of the laparoscope6014with the anvil trocar6010of the circular stapler6002. FIGS.35A and35Billustrate one aspect of a non-contact capacitive sensor6110implementation of the non-contact sensor6022to determine an anvil trocar6010location relative to the center of a staple line transection (the staple overlap portion6012of the double staple line6004shown inFIGS.23-24or the center6050of the linear staple line6052shown inFIGS.28-29, for example), according to one aspect of the present disclosure.FIG.35Ashows the non-contact capacitive sensor6110without a nearby metal target andFIG.35Bshows the non-contact capacitive sensor6110near a metal target6112. The non-contact capacitive sensor6110includes capacitor plates6114,6116housed in a sensing head and establishes field lines6118when energized by an oscillator waveform to define a sensing zone.FIG.35Ashows the field lines6118when no target is present proximal to the capacitor plates6114,6116.FIG.35Bshows a ferrous or nonferrous metal target6120in the sensing zone. As the metal target6120enters the sensing zone, the capacitance increases causing the natural frequency to shift towards the oscillation frequency causing amplitude gain. Because the capacitive sensor6110is a non-contact sensor, it can detect metal objects across a stapled tissue barrier. The capacitive sensor6110can be located either on the circular stapler6002to detect the staple lines6004,6052or the location of the distal end of the laparoscope6014or the capacitive sensor6110may be located on the laparoscope6014to detect the location of the anvil trocar6010. A processor or control circuit located either in the circular stapler6002, the laparoscope6014, or coupled to the surgical hub206receives signals from the capacitive sensor6110to present an image of the relative alignment of the laparoscope6014with the anvil trocar6010of the circular stapler6002. FIG.36is a logic flow diagram6130of a process depicting a control program or a logic configuration for aligning a surgical instrument, according to one aspect of the present disclosure. With reference toFIGS.1-11to show interaction with an interactive surgical system100environment including a surgical hub106,206and also toFIGS.22-35, the surgical hub206comprises a processor244and a memory249coupled to the processor244. The memory249stores instructions executable by the processor244to receive6132image data from a laparoscope image sensor, generate6134a first image based on the image data, display6136the first image on a surgical hub display215coupled to the processor244, receive6138a signal from a non-contact sensor6022, the signal indicative of a position of a surgical device, generate a second image based on the signal indicative of the position of the surgical device, e.g., the anvil trocar6010and display6140the second image on the surgical hub display215. The first image data represents a center6044,6050of a staple line6004,6052seal. The first image represents a target corresponding to the center6044,6050of the staple line6004,6052seal. The signal is indicative of a position of a surgical device, e.g., an anvil trocar6010, relative to the center6044,6050of the staple line6004,6052seal. The second image represents the position of the surgical device, e.g., an anvil trocar6010, along a projected path6018of the surgical device, e.g., an anvil trocar6010, toward the center6044,6050of the staple line6004,6052seal. In one aspect, the center6044of the double staple line6004seal defines a staple overlap portion6012. In another aspect, an image sensor receives an image from a medical imaging device. In another aspect, the surgical device is a circular stapler6002comprising an anvil trocar6010and the non-contact sensor6022is configured to detect the location of the anvil trocar6010relative to the center6044of the double staple line6004seal. In another aspect, the non-contact sensor6022is an inductive sensor6090. In another aspect, the non-contact sensor6022is a capacitive sensor6110. In one aspect, the staple line may be a linear staple line6052formed using a linear transection technique. Cooperation Between Local Instrument Displays and Paired Imaging Device Display In one aspect, the present disclosure provides an instrument including a local display, a hub having an operating room (OR), or operating theater, display separate from the instrument display. When the instrument is linked to the surgical hub, the secondary display on the device reconfigures to display different information than when it is independent of the surgical hub connection. In another aspect, some portion of the information on the secondary display of the instrument is then displayed on the primary display of the surgical hub. In another aspect, image fusion allowing the overlay of the status of a device, the integration landmarks being used to interlock several images and at least one guidance feature are provided on the surgical hub and/or instrument display. Techniques for overlaying or augmenting images and/or text from multiple image/text sources to present composite images on a single display are described hereinbelow in connection withFIGS.45-53andFIGS.63-67. In another aspect, the present disclosure provides cooperation between local instrument displays and a paired laparoscope display. In one aspect, the behavior of a local display of an instrument changes when it senses the connectable presence of a global display coupled to the surgical hub. In another aspect, the present disclosure provides 360° composite top visual field of view of a surgical site to avoid collateral structures. Each of these techniques is described hereinbelow. During a surgical procedure, the surgical site is displayed on a remote “primary” surgical hub display. During a surgical procedure, surgical devices track and record surgical data and variables (e.g., surgical parameters) that are stored in the instrument (seeFIGS.12-19for instrument architectures comprising processors, memory, control circuits, storage, etc.). The surgical parameters include force-to-fire (FTF), force-to-close (FTC), firing progress, tissue gap, power level, impedance, tissue compression stability (creep), and the like. Using conventional techniques during the procedure the surgeon needs to watch two separate displays. Providing image/text overlay is thus advantageous because during the procedure the surgeon can watch a single display presenting the overlaid image/text information. One solution detects when the surgical device (e.g., instrument) is connected to the surgical hub and then display a composite image on the primary display that includes a field of view of the surgical site received from a first instrument (e.g., medical imaging device such as, e.g., laparoscope, endoscope, thoracoscope, and the like) augmented by surgical data and variables received from a second instrument (e.g., a surgical stapler) to provide pertinent images and data on the primary display. During a surgical procedure the surgical site is displayed as a narrow field of view of a medical imaging device on the primary surgical hub display. Items outside the current field of view, collateral structures, cannot be viewed without moving the medical imaging device. One solution provides a narrow field of view of the surgical site in a first window of the display augmented by a wide field of view of the surgical site in a separate window of the display. This provides a composite over head field of view mapped using two or more imaging arrays to provide an augmented image of multiple perspective views of the surgical site. In one aspect, the present disclosure provides a surgical hub, comprising a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to detect a surgical device connection to the surgical hub, transmit a control signal to the detected surgical device to transmit to the surgical hub surgical parameter data associated with the detected device, receive the surgical parameter data, receive image data from an image sensor, and display, on a display coupled to the surgical hub, an image received from the image sensor in conjunction with the surgical parameter data received from the surgical device. In another aspect, the present disclosure provides a surgical hub, comprising a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to receive first image data from a first image sensor, receive second image data from a second image sensor, and display, on a display coupled to the surgical hub, a first image corresponding to the first field of view and a second image corresponding to the second field of view. The first image data represents a first field of view and the second image data represents a second field of view. In one aspect, the first field of view is a narrow angle field of view and the second field of view is a wide angle field of view. In another aspect, the memory stores instructions executable by the processor to augment the first image with the second image on the display. In another aspect, the memory stores instructions executable by the processor to fuse the first image and the second image into a third image and display a fused image on the display. In another aspect, the fused image data comprises status information associated with a surgical device, an image data integration landmark to interlock a plurality of images, and at least one guidance parameter. In another aspect, the first image sensor is the same as the same image sensor and wherein the first image data is captured as a first time and the second image data is captured at a second time. In another aspect, the memory stores instructions executable by the processor to receive third image data from a third image sensor, wherein the third image data represents a third field of view, generate composite image data comprising the second and third image data, display the first image in a first window of the display, wherein the first image corresponds to the first image data, and display a third image in a second window of the display, wherein the third image corresponds to the composite image data. In another aspect, the memory stores instructions executable by the processor to receive third image data from a third image sensor, wherein the third image data represents a third field of view, fuse the second and third image data to generate fused image data, display the first image in a first window of the display, wherein the first image corresponds to the first image data, and display a third image in a second window of the display, wherein the third image corresponds to the fused image data. In various aspects, the present disclosure provides a control circuit to perform the functions described above. In various aspects, the present disclosure provides a non-transitory computer readable medium storing computer readable instructions, which when executed, causes a machine to perform the functions described above. By displaying endoscope images augmented with surgical device images on one primary surgical hub display, enables the surgeon to focus on one display to obtain a field of view of the surgical site augmented with surgical device data associated with the surgical procedure such as force-to-fire, force-to-close, firing progress, tissue gap, power level, impedance, tissue compression stability (creep), and the like. Displaying a narrow field of view image in a first window of a display and a composite image of several other perspectives such as wider fields of view enables the surgeon to view a magnified image of the surgical site simultaneously with wider fields of view of the surgical site without moving the scope. In one aspect, the present disclosure provides both global and local display of a device, e.g., a surgical instrument, coupled to the surgical hub. The device displays all of its relevant menus and displays on a local display until it senses a connection to the surgical hub at which point a sub-set of the information is displayed only on the monitor through the surgical hub and that information is either mirrored on the device display or is no longer accessible on the device detonated screen. This technique frees up the device display to show different information or display larger font information on the surgical hub display. In one aspect, the present disclosure provides an instrument having a local display, a surgical hub having an operating theater (e.g., operating room or OR) display that is separate from the instrument display. When the instrument is linked to the surgical hub, the instrument local display becomes a secondary display and the instrument reconfigures to display different information than when it is operating independent of the surgical hub connection. In another aspect, some portion of the information on the secondary display is then displayed on the primary display in the operating theater through the surgical hub. FIG.37illustrates a primary display6200of the surgical hub206comprising a global display6202and a local instrument display6204, according to one aspect of the present disclosure. With continued reference toFIGS.1-11to show interaction with an interactive surgical system100environment including a surgical hub106,206andFIGS.12-21for surgical hub connected instruments together withFIG.37, the local instrument display6204behavior is displayed when the instrument235senses the connectable presence of a global display6202through the surgical hub206. The global display6202shows a field of view6206of a surgical site6208, as viewed through a medical imaging device such as, for example, a laparoscope/endoscope219coupled to an imaging module238, at the center of the surgical hub display215, referred to herein also as a monitor, for example. The end effector6218portion of the connected instrument235is shown in the field of view6206of the surgical site6208in the global display6202. The images shown on the display237located on an instrument235coupled to the surgical hub206is shown, or mirrored, on the local instrument display6204located in the lower right corner of the monitor6200as shown inFIG.37, for example. During operation, all relevant instrument and information and menus are displayed on the display237located on the instrument235until the instrument235senses a connection of the instrument235to the surgical hub206at which point all or some sub-set of the information presented on the instrument display237is displayed only on the local instrument display6204portion of the surgical hub display6200through the surgical hub206. The information displayed on the local instrument display6204may be mirrored on the display237located on the instrument235or may be no longer accessible on the instrument display237detonated screen. This technique frees up the instrument235to show different information or to show larger font information on the surgical hub display6200. Several techniques for overlaying or augmenting images and/or text from multiple image/text sources to present composite images on a single display are described hereinbelow in connection withFIGS.45-53andFIGS.63-67. The surgical hub display6200provides perioperative visualization of the surgical site6208. Advanced imaging identifies and visually highlights6222critical structures such as the ureter6220(or nerves, etc.) and also tracks instrument proximity displays6210and shown on the left side of the display6200. In the illustrated example, the instrument proximity displays6210show instrument specific settings. For example the top instrument proximity display6212shows settings for a monopolar instrument, the middle instrument proximity display6214shows settings for a bipolar instrument, and the bottom instrument proximity display6212shows settings for an ultrasonic instrument. In another aspect, independent secondary displays or dedicated local displays can be linked to the surgical hub206to provide both an interaction portal via a touchscreen display and/or a secondary screen that can display any number of surgical hub206tracked data feeds to provide a clear non-confusing status. The secondary screen may display force to fire (FTF), tissue gap, power level, impedance, tissue compression stability (creep), etc., while the primary screen may display only key variables to keep the feed free of clutter. The interactive display may be used to move the display of specific information to the primary display to a desired location, size, color, etc. In the illustrated example, the secondary screen displays the instrument proximity displays6210on the left side of the display6200and the local instrument display6204on the bottom right side of the display6200. The local instrument display6204presented on the surgical hub display6200displays an icon of the end effector6218, such as the icon of a staple cartridge6224currently in use, the size6226of the staple cartridge6224(e.g., 60 mm), and an icon of the current position of the knife6228of the end effector. In another aspect, the display237located on the instrument235displays the wireless or wired attachment of the instrument235to the surgical hub206and the instrument's communication/recording on the surgical hub206. A setting may be provided on the instrument235to enable the user to select mirroring or extending the display to both monitoring devices. The instrument controls may be used to interact with the surgical hub display of the information being sourced on the instrument. As previously discussed, the instrument235may comprise wireless communication circuits to communicate wirelessly with the surgical hub206. In another aspect, a first instrument coupled to the surgical hub206can pair to a screen of a second instrument coupled to the surgical hub206allowing both instruments to display some hybrid combination of information from the two devices of both becoming mirrors of portions of the primary display. In yet another aspect, the primary display6200of the surgical hub206provides a 360° composite top visual view of the surgical site6208to avoid collateral structures. For example, a secondary display of the end-effector surgical stapler may be provided within the primary display6200of the surgical hub206or on another display in order to provide better perspective around the areas within a current the field of view6206. These aspects are described hereinbelow in connection withFIGS.38-40. FIGS.38-40illustrate a composite overhead views of an end-effector6234portion of a surgical stapler mapped using two or more imaging arrays or one array and time to provide multiple perspective views of the end-effector6234to enable the composite imaging of an overhead field of view. The techniques described herein may be applied to ultrasonic instruments, electrosurgical instruments, combination ultrasonic/electrosurgical instruments, and/or combination surgical stapler/electrosurgical instruments. Several techniques for overlaying or augmenting images and/or text from multiple image/text sources to present composite images on a single display are described hereinbelow in connection withFIGS.45-53andFIGS.63-67. FIG.38illustrates a primary display6200of the surgical hub206, according to one aspect of the present disclosure. A primary window6230is located at the center of the screen shows a magnified or exploded narrow angle view of a surgical field of view6232. The primary window6230located in the center of the screen shows a magnified or narrow angle view of an end-effector6234of the surgical stapler grasping a vessel6236. The primary window6230displays knitted images to produce a composite image that enables visualization of structures adjacent to the surgical field of view6232. A second window6240is shown in the lower left corner of the primary display6200. The second window6240displays a knitted image in a wide angle view at standard focus of the image shown in the primary window6230in an overhead view. The overhead view provided in the second window6240enables the viewer to easily see items that are out of the narrow field surgical field of view6232without moving the laparoscope, or other imaging device239coupled to the imaging module238of the surgical hub206. A third window6242is shown in the lower right corner of the primary display6200shows an icon6244representative of the staple cartridge of the end-effector6234(e.g., a staple cartridge in this instance) and additional information such as “4 Row” indicating the number of staple rows6246and “35 mm” indicating the distance6248traversed by the knife along the length of the staple cartridge. Below the third window6242is displayed an icon6258of a frame of the current state of a clamp stabilization sequence6250(FIG.39) that indicates clamp stabilization. FIG.39illustrates a clamp stabilization sequence6250over a five second period, according to one aspect of the present disclosure. The clamp stabilization sequence6250is shown over a five second period with intermittent displays6252,6254,6256,6258,6260spaced apart at one second intervals6268in addition to providing the real time6266(e.g., 09:35:10), which may be a pseudo real time to preserve anonymity of the patient. The intermittent displays6252,6254,6256,6258,6260show elapsed by filling in the circle until the clamp stabilization period is complete. At that point, the last display6260is shown in solid color. Clamp stabilization after the end effector6234clamps the vessel6236enables the formation of a better seal. FIG.40illustrates a diagram6270of four separate wide angle view images6272,6274,6276,6278of a surgical site at four separate times during the procedure, according to one aspect of the present disclosure. The sequence of images shows the creation of an overhead composite image in wide and narrow focus over time. A first image6272is a wide angle view of the end-effector6234clamping the vessel6236taken at an earlier time to(e.g., 09:35:09). A second image6274is another wide angle view of the end-effector6234clamping the vessel6236taken at the present time t1(e.g., 09:35:13). A third image6276is a composite image of an overhead view of the end-effector6234clamping the vessel6236taken at present time t1. The third image6276is displayed in the second window6240of the primary display6200of the surgical hub206as shown inFIG.38. A fourth image6278is a narrow angle view of the end-effector6234clamping the vessel6236at present time t1(e.g., 09:35:13). The fourth image6278is the narrow angle view of the surgical site shown in the primary window6230of the primary display6200of the surgical hub206as shown inFIG.38. Display of Instrument Specific Data Needed for Efficient Use of the End-Effector In one aspect, the present disclosure provides a surgical hub display of instrument specific data needed for efficient use of a surgical instrument, such as a surgical stapler. The techniques described herein may be applied to ultrasonic instruments, electrosurgical instruments, combination ultrasonic/electrosurgical instruments, and/or combination surgical stapler/electrosurgical instruments. In one aspect, a clamp time indicator based on tissue properties is shown on the display. In another aspect, a 360° composite top visual view is shown on the display to avoid collateral structures as shown and described in connection withFIGS.37-40is incorporated herein by reference and, for conciseness and clarity of disclosure, the description ofFIGS.37-40will not be repeated here. In one aspect, the present disclosure provides a display of tissue creep to provide the user with in-tissue compression/tissue stability data and to guide the user making an appropriate choice of when to conduct the next instrument action. In one aspect, an algorithm calculates a constant advancement of a progressive time based feedback system related to the viscoelastic response of tissue. These and other aspects are described hereinbelow. FIG.41is a graph6280of tissue creep clamp stabilization curves6282,6284for two tissue types, according to one aspect of the present disclosure. The clamp stabilization curves6284,6284are plotted as force-to-close (FTC) as a function of time, where FTC (N) is displayed along the vertical axis and Time, t, (Sec) is displayed along the horizontal axis. The FTC is the amount of force exerted to close the clamp arm on the tissue. The first clamp stabilization curve6282represents stomach tissue and the second clamp stabilization curve6284represents lung tissue. In one aspect, the FTC along the vertical axis is scaled from 0-180 N. and the horizontal axis is scaled from 0-5 Sec. As shown, the FTC as a different profile over a five second clamp stabilization period (e.g., as shown inFIG.39). With reference to the first clamp stabilization curve6282, as the stomach tissue is clamped by the end-effector6234, the force-to-close (FTC) applied by the end-effector6234increases from 0 N to a peak force-to-close of ˜180 N after ˜1 Sec. While the end-effector6234remains clamped on the stomach tissue, the force-to-close decays and stabilizes to ˜150 N over time due to tissue creep. Similarly, with reference to the second clamp stabilization curve6284, as the lung tissue is clamped by the end-effector6234, the force-to-close applied by the end-effector6234increases from 0 N to a peak force-to-close of ˜90 N after just less than ˜1 Sec. While the end-effector6234remains clamped on the lung tissue, the force-to-close decays and stabilizes to ˜60 N over time due to tissue creep. The end-effector6234clamp stabilization is monitored as described above in connection withFIGS.38-40and is displayed every second corresponding the sampling times t1, t2, t3, t4, t5of the force-to-close to provide user feedback regarding the state of the clamped tissue.FIG.41shows an example of monitoring tissue stabilization for the lung tissue by sampling the force-to-close every second over a 5 seconds period. At each sample time t1, t2, t3, t4, t5, the instrument235or the surgical hub206calculates a corresponding vector tangent6288,6292,6294,6298,6302to the second clamp stabilization curve6284. The vector tangent6288,6292,6294,6298,6302is monitored until its slope drops below a threshold to indicate that the tissue creep is complete and the tissue is ready to sealed and cut. As shown inFIG.41, the lung tissue is ready to be sealed and cut after ˜5 Sec. clamp stabilization period, where a solid gray circle is shown at sample time6300. As shown, the vector tangent6302is less than a predetermined threshold. The equation of a vector tangent6288,6292,6294,6298,6302to the clamp stabilization curve6284may be calculated using differential calculus techniques, for example. In one aspect, at a given point on the clamp stabilization curve6284, the gradient of the curve6284is equal to the gradient of the tangent to the curve6284. The derivative (or gradient function) describes the gradient of the curve6284at any point on the curve6284. Similarly, it also describes the gradient of a tangent to the curve6284at any point on the curve6284. The normal to the curve6284is a line perpendicular to the tangent to the curve6284at any given point. To determine the equation of a tangent to a curve find the derivative using the rules of differentiation. Substitute the x coordinate (independent variable) of the given point into the derivative to calculate the gradient of the tangent. Substitute the gradient of the tangent and the coordinates of the given point into an appropriate form of the straight line equation. Make the y coordinate (dependent variable) the subject of the formula. FIG.42is a graph6310of time dependent proportionate fill of a clamp force stabilization curve, according to one aspect of the present disclosure. The graph6310includes clamp stabilization curves6312,6314,6316for standard thick stomach tissue, thin stomach tissue, and standard lung tissue. The vertical axis represents FTC (N) scaled from 0-240 N and the horizontal axis represents Time, t, (Sec) scaled from 0-15 Sec. As shown, the standard thick stomach tissue curve6316is the default force decay stability curve. All three clamp stabilization curves6312,6314,6316FTC profiles reach a maximum force shortly after clamping on the tissue and then the FTC decreases over time until it eventually stabilizes due to the viscoelastic response of the tissue. As shown the standard lung tissue clamp stabilization curve6312stabilizes after a period of ˜5 Sec., the thin stomach tissue clamp stabilization curve6314stabilizes after a period of ˜10 Sec., and the thick stomach tissue clamp stabilization curve6316stabilizes after a period of ˜15 Sec. FIG.43is a graph6320of the role of tissue creep in the clamp force stabilization curve6322, according to one aspect of the present disclosure. The vertical axis represents force-to-close FTC (N) and the horizontal axis represents Time, t, (Sec) in seconds. Vector tangent angles dθ1, dθ2. . . dθnare measured at each force-to-close sampling (t0, t1, t2, t3, t4, etc.) times. The vector tangent angle dθnis used to determine when the tissue has reached the creep termination threshold, which indicates that the tissue has reached creep stability. FIGS.44A and44Billustrate two graphs6330,6340for determining when the clamped tissue has reached creep stability, according to one aspect of the present disclosure. The graph6330inFIG.44Aillustrates a curve6332that represents a vector tangent angle dθ as a function of time. The vector tangent angle dθ is calculated as discussed inFIG.43. The horizontal line6334is the tissue creep termination threshold. The tissue creep is deemed to be stable at the intersection6336of the vector tangent angle dθ curve6332and the tissue creep termination threshold6334. The graph6340inFIG.44Billustrates a ΔFTC curve6342that represents ΔFTC as a function of time. The ΔFTC curve6342illustrates the threshold6344to 100% complete tissue creep stability meter. The tissue creep is deemed to be stable at the intersection6346of the ΔFTC curve6342and the threshold6344. Communication Techniques With reference toFIGS.1-11to show interaction with an interactive surgical system100environment including a surgical hub106,206, and in particular,FIGS.9-10, in various aspects, the present disclosure provides communications techniques for exchanging information between an instrument235, or other modules, and the surgical hub206. In one aspect, the communications techniques include image fusion to place instrument status and analysis over a laparoscope image, such as a screen overlay of data, within and around the perimeter of an image presented on a surgical hub display215,217. In another aspect, the communication techniques include combining an intermediate short range wireless, e.g., Bluetooth, signal with the image, and in another aspect, the communication techniques include applying security and identification of requested pairing. In yet another aspect, the communication techniques include an independent interactive headset worn by a surgeon that links to the hub with audio and visual information that avoids the need for overlays, but allows customization of displayed information around periphery of view. Each of these communication techniques is discussed hereinbelow. Screen Overlay of Data within and Around the Perimeter of the Displayed Image In one aspect, the present disclosure provides image fusion allowing the overlay of the status of a device, the integration landmarks being used to interlock several images, and at least one guidance feature. In another aspect, the present disclosure provides a technique for screen overlay of data within and around the perimeter of displayed image. Radiographic integration may be employed for live internal sensing and pre-procedure overlay. Image fusion of one source may be superimposed over another. Image fusion may be employed to place instrument status and analysis on a medical imaging device (e.g., laparoscope, endoscope, thoracoscope, etc.) image. Image fusion allows the overlay of the status of a device or instrument, integration landmarks to interlock several images, and at least one guidance feature. FIG.45illustrates an example of an augmented video image6350comprising a pre-operative video image6352augmented with data6354,6356,6358identifying displayed elements. An augmented reality vision system may be employed in surgical procedures to implement a method for augmenting data onto a pre-operative image6352. The method includes generating a pre-operative image6352of an anatomical section of a patient and generating an augmented video image of a surgical site within the patient. The augmented video image6350includes an image of at least a portion of a surgical tool6354operated by a user6456. The method further includes processing the pre-operative image6352to generate data about the anatomical section of the patient. The data includes a label6358for the anatomical section and a peripheral margin of at least a portion of the anatomical section. The peripheral margin is configured to guide a surgeon to a cutting location relative to the anatomical section, embedding the data and an identity of the user6356within the pre-operative image6350to display an augmented video image6350to the user about the anatomical section of the patient. The method further includes sensing a loading condition on the surgical tool6354, generating a feedback signal based on the sensed loading condition, and updating, in real time, the data and a location of the identity of the user operating the surgical tool6354embedded within the augmented video image6350in response to a change in a location of the surgical tool6354within the augmented video image6350. Further examples are disclosed in U.S. Pat. No. 9,123,155, titled APPARATUS AND METHOD FOR USING AUGMENTED REALITY VISION SYSTEM IN SURGICAL PROCEDURES, which issued on Sep. 1, 2015, which is herein incorporated by reference in its entirety. In another aspect, radiographic integration techniques may be employed to overlay the pre-operative image6352with data obtained through live internal sensing or pre-procedure techniques. Radiographic integration may include marker and landmark identification using surgical landmarks, radiographic markers placed in or outside the patient, identification of radio-opaque staples, clips or other tissue-fixated items. Digital radiography techniques may be employed to generate digital images for overlaying with a pre-operative image6352. Digital radiography is a form of X-ray imaging that employs a digital image capture device with digital X-ray sensors instead of traditional photographic film. Digital radiography techniques provide immediate image preview and availability for overlaying with the pre-operative image6352. In addition, special image processing techniques can be applied to the digital X-ray mages to enhance the overall display quality of the image. Digital radiography techniques employ image detectors that include flat panel detectors (FPDs), which are classified in two main categories indirect FPDs and direct FPDs. Indirect FPDs include amorphous silicon (a-Si) combined with a scintillator in the detector's outer layer, which is made from cesium iodide (CsI) or gadolinium oxy-sulfide (Gd2O2S), converts X-rays to light. The light is channeled through the a-Si photodiode layer where it is converted to a digital output signal. The digital signal is then read out by thin film transistors (TFTs) or fiber-coupled charge coupled devices (CODs). Direct FPDs include amorphous selenium (a-Se) FPDs that convert X-ray photons directly into charge. The outer layer of a flat panel in this design is typically a high-voltage bias electrode. X-ray photons create electron-hole pairs in a-Se, and the transit of these electrons and holes depends on the potential of the bias voltage charge. As the holes are replaced with electrons, the resultant charge pattern in the selenium layer is read out by a TFT array, active matrix array, electrometer probes or micro plasma line addressing. Other direct digital detectors are based on CMOS and CCD technology. Phosphor detectors also may be employed to record the X-ray energy during exposure and is scanned by a laser diode to excite the stored energy which is released and read out by a digital image capture array of a CCD. FIG.46is a logic flow diagram6360of a process depicting a control program or a logic configuration to display images, according to one aspect of the present disclosure. With reference also toFIGS.1-11to show interaction with an interactive surgical system100environment including a surgical hub106,206, the present disclosure provides, in one aspect, a surgical hub206, comprising a processor244and a memory249coupled to the processor244. The memory249stores instructions executable by the processor244to receive6362first image data from a first image sensor, receive6364second image data from a second image sensor, and display6366, on a display217coupled to the surgical hub206, a first image corresponding to the first field of view and a second image corresponding to the second field of view. The first image data represents a first field of view and the second image data represents a second field of view. In one aspect, the first field of view is a narrow angle field of view and the second field of view is a wide angle field of view. In another aspect, the memory249stores instructions executable by the processor244to augment the first image with the second image on the display. In another aspect, the memory249stores instructions executable by the processor244to fuse the first image and the second image into a third image and display a fused image on the display217. In another aspect, the fused image data comprises status information associated with a surgical device235, an image data integration landmark to interlock a plurality of images, and at least one guidance parameter. In another aspect, the first image sensor is the same as the same image sensor and wherein the first image data is captured as a first time and the second image data is captured at a second time. In another aspect, the memory249stores instructions executable by the processor244to receive third image data from a third image sensor, wherein the third image data represents a third field of view, generate composite image data comprising the second and third image data, display the first image in a first window of the display, wherein the first image corresponds to the first image data, and display a third image in a second window of the display215, wherein the third image corresponds to the composite image data. In another aspect, the memory249stores instructions executable by the processor244to receive third image data from a third image sensor, wherein the third image data represents a third field of view, fuse the second and third image data to generate fused image data, display the first image in a first window of the display217, wherein the first image corresponds to the first image data, and display a third image in a second window of the display217, wherein the third image corresponds to the fused image data. Intermediate Short Range Wireless (e.g., Bluetooth) Signal Combiner An intermediate short range wireless, e.g., Bluetooth, signal combiner may comprise a wireless heads-up display adapter placed into the communication path of the monitor to a laparoscope console allowing the surgical hub to overlay data onto the screen. Security and identification of requested pairing may augment the communication techniques. FIG.47illustrates a communication system6370comprising an intermediate signal combiner6372positioned in the communication path between an imaging module238and a surgical hub display217, according to one aspect of the present disclosure. The signal combiner6372receives image data from an imaging module238in the form of short range wireless or wired signals. The signal combiner6372also receives audio and image data form a headset6374and combines the image data from the imaging module238with the audio and image data from the headset6374. The surgical hub206receives the combined data from the combiner6372and overlays the data provided to the display217, where the overlaid data is displayed. The signal combiner6372may communicate with the surgical hub206via wired or wireless signals. The headset6374receives image data from an imaging device6376coupled to the headset6374and receives audio data from an audio device6378coupled to the headset6374. The imaging device6376may be a digital video camera and the audio device6378may be a microphone. In one aspect, the signal combiner6372may be an intermediate short range wireless, e.g., Bluetooth, signal combiner. The signal combiner6374may comprise a wireless heads-up display adapter to couple to the headset6374placed into the communication path of the display217to a console allowing the surgical hub206to overlay data onto the screen of the display217. Security and identification of requested pairing may augment the communication techniques. The imaging module238may be coupled to a variety if imaging devices such as an endoscope239, laparoscope, etc., for example. Independent Interactive Headset FIG.48illustrates an independent interactive headset6380worn by a surgeon6382to communicate data to the surgical hub, according to one aspect of the present disclosure. Peripheral information of the independent interactive headset6380does not include active video. Rather, the peripheral information includes only device settings, or signals that do not have same demands of refresh rates. Interaction may augment the surgeon's6382information based on linkage with preoperative computerized tomography (CT) or other data linked in the surgical hub206. The independent interactive headset6380can identify structure—ask whether instrument is touching a nerve, vessel, or adhesion, for example. The independent interactive headset6380may include pre-operative scan data, an optical view, tissue interrogation properties acquired throughout procedure, and/or processing in the surgical hub206used to provide an answer. The surgeon6382can dictate notes to the independent interactive headset6380to be saved with patient data in the hub storage248for later use in report or in follow up. In one aspect, the independent interactive headset6380worn by the surgeon6382links to the surgical hub206with audio and visual information to avoid the need for overlays, and allows customization of displayed information around periphery of view. The independent interactive headset6380provides signals from devices (e.g., instruments), answers queries about device settings, or positional information linked with video to identify quadrant or position. The independent interactive headset6380has audio control and audio feedback from the headset6380. The independent interactive headset6380is still able to interact with all other systems in the operating theater (e.g., operating room), and have feedback and interaction available wherever the surgeon6382is viewing. Identification and Usage Recording In one aspect, the present disclosure provides a display of the authenticity of reloads, modular components, or loading units.FIG.49illustrates a method6390for controlling the usage of a device6392. A device6392is connected to an energy source6394. The device6392includes a memory device6396that includes storage6398and communication6400devices. The storage6398includes data6402that may be locked data6404or unlocked data6406. Additionally, the storage6398includes an error-detecting code6408such as a cyclic redundancy check (CRC) value and a sterilization indicator6410. The energy source6394includes a reader6412, display6414, a processor6416, and a data port6418that couples the energy source6394to a network6420. The network6420is coupled to a central server6422, which is coupled to a central database6424. The network6420also is coupled to a reprocessing facility6426. The reprocessing facility6426includes a reprocessing data reader/writer6428and a sterilizing device6430. The method comprises connecting the device to an energy source6394. Data is read from a memory device6396incorporated in the device6392. The data including one or more of a unique identifier (UID), a usage value, an activation value, a reprocessing value, or a sterilization indicator. The usage value is incremented when the device6392is connected to the energy source6394. The activation value is incremented when the device6392is activated permitting energy to flow from the energy source6394to an energy consuming component of the device6392. Usage of the device6392may be prevented if: the UID is on a list of prohibited UIDs, the usage value is not lower than a usage limitation value, the reprocessing value is equal to a reprocessing limitation value, the activation value is equal to an activation limitation value, and/or the sterilization indicator does not indicate that the device has been sterilized since its previous usage. Further examples are disclosed in U.S. Patent Application Publication No. 2015/0317899, titled SYSTEM AND METHOD FOR USING RFID TAGS TO DETERMINE STERILIZATION OF DEVICES, which published on Nov. 5, 2015, which is herein incorporated by reference in its entirety. FIG.50provides a surgical system6500in accordance with the present disclosure and includes a surgical instrument6502that is in communication with a console6522or a portable device6526through a local area network6518or a cloud network6520via a wired or wireless connection. In various aspects, the console6522and the portable device6526may be any suitable computing device. The surgical instrument6502includes a handle6504, an adapter6508, and a loading unit6514. The adapter6508releasably couples to the handle6504and the loading unit6514releasably couples to the adapter6508such that the adapter6508transmits a force from a drive shaft to the loading unit6514. The adapter6508or the loading unit6514may include a force gauge (not explicitly shown) disposed therein to measure a force exerted on the loading unit6514. The loading unit6514includes an end effector6530having a first jaw6532and a second jaw6534. The loading unit6514may be an in-situ loaded or multi-firing loading unit (MFLU) that allows a clinician to fire a plurality of fasteners multiple times without requiring the loading unit6514to be removed from a surgical site to reload the loading unit6514. The first and second jaws6532,6534are configured to clamp tissue therebetween, fire fasteners through the clamped tissue, and sever the clamped tissue. The first jaw6532may be configured to fire at least one fastener a plurality of times, or may be configured to include a replaceable multi-fire fastener cartridge including a plurality of fasteners (e.g., staples, clips, etc.) that may be fired more that one time prior to being replaced. The second jaw6534may include an anvil that deforms or otherwise secures the fasteners about tissue as the fasteners are ejected from the multi-fire fastener cartridge. The handle6504includes a motor that is coupled to the drive shaft to affect rotation of the drive shaft. The handle6504includes a control interface to selectively activate the motor. The control interface may include buttons, switches, levers, sliders, touchscreen, and any other suitable input mechanisms or user interfaces, which can be engaged by a clinician to activate the motor. The control interface of the handle6504is in communication with a controller6528of the handle6504to selectively activate the motor to affect rotation of the drive shafts. The controller6528is disposed within the handle6504and is configured to receive input from the control interface and adapter data from the adapter6508or loading unit data from the loading unit6514. The controller6528analyzes the input from the control interface and the data received from the adapter6508and/or loading unit6514to selectively activate the motor. The handle6504may also include a display that is viewable by a clinician during use of the handle6504. The display is configured to display portions of the adapter or loading unit data before, during, or after firing of the instrument6502. The adapter6508includes an adapter identification device6510disposed therein and the loading unit6514includes a loading unit identification device6516disposed therein. The adapter identification device6510is in communication with the controller6528, and the loading unit identification device6516is in communication with the controller6528. It will be appreciated that the loading unit identification device6516may be in communication with the adapter identification device6510, which relays or passes communication from the loading unit identification device6516to the controller6528. The adapter6508may also include a plurality of sensors6512(one shown) disposed thereabout to detect various conditions of the adapter6508or of the environment (e.g., if the adapter6508is connected to a loading unit, if the adapter6508is connected to a handle, if the drive shafts are rotating, the torque of the drive shafts, the strain of the drive shafts, the temperature within the adapter6508, a number of firings of the adapter6508, a peak force of the adapter6508during firing, a total amount of force applied to the adapter6508, a peak retraction force of the adapter6508, a number of pauses of the adapter6508during firing, etc.). The plurality of sensors6512provides an input to the adapter identification device6510in the form of data signals. The data signals of the plurality of sensors6512may be stored within, or be used to update the adapter data stored within, the adapter identification device6510. The data signals of the plurality of sensors6512may be analog or digital. The plurality of sensors6512may include a force gauge to measure a force exerted on the loading unit6514during firing. The handle6504and the adapter6508are configured to interconnect the adapter identification device6510and the loading unit identification device6516with the controller6528via an electrical interface. The electrical interface may be a direct electrical interface (i.e., include electrical contacts that engage one another to transmit energy and signals therebetween). Additionally or alternatively, the electrical interface may be a non-contact electrical interface to wirelessly transmit energy and signals therebetween (e.g., inductively transfer). It is also contemplated that the adapter identification device6510and the controller6528may be in wireless communication with one another via a wireless connection separate from the electrical interface. The handle6504includes a transmitter6506that is configured to transmit instrument data from the controller6528to other components of the system6500(e.g., the LAN6518, the cloud6520, the console6522, or the portable device6526). The transmitter6506also may receive data (e.g., cartridge data, loading unit data, or adapter data) from the other components of the system6500. For example, the controller6528may transmit instrument data including a serial number of an attached adapter (e.g., adapter6508) attached to the handle6504, a serial number of a loading unit (e.g., loading unit6514) attached to the adapter, and a serial number of a multi-fire fastener cartridge (e.g., multi-fire fastener cartridge), loaded into the loading unit, to the console6528. Thereafter, the console6522may transmit data (e.g., cartridge data, loading unit data, or adapter data) associated with the attached cartridge, loading unit, and adapter, respectively, back to the controller6528. The controller6528can display messages on the local instrument display or transmit the message, via transmitter6506, to the console6522or the portable device6526to display the message on the display6524or portable device screen, respectively. Multi-Functional Surgical Control System and Switching Interface for Verbal Control of Imaging Device FIG.51illustrates a verbal AESOP camera positioning system. Further examples are disclosed in U.S. Pat. No. 7,097,640, titled MULTI-FUNCTIONAL SURGICAL CONTROL SYSTEM AND SWITCHING INTERFACE, which issued on Aug. 29, 2006, which is herein incorporated by reference in its entirety.FIG.51shows a surgical system6550that may be coupled to surgical hub206, described in connection withFIGS.1-11. The system6550allows a surgeon to operate a number of different surgical devices6552,6554,6556, and6558from a single input device6560. Providing a single input device reduces the complexity of operating the various devices and improves the efficiency of a surgical procedure performed by a surgeon. The system6550may be adapted and configured to operate a positioning system for an imaging device such as a camera or endoscope using verbal commands. The surgical device6552may be a robotic arm which can hold and move a surgical instrument. The arm6552may be a device such as that sold by Computer Motion, Inc. of Goleta, Calif. under the trademark AESOP, which is an acronym for Automated Endoscopic System for Optimal Positioning. The arm6552is commonly used to hold and move an endoscope within a patient. The system6550allows the surgeon to control the operation of the robotic arm6552through the input device6560. The surgical device6554may be an electrocautery device. Electrocautery devices typically have a bi-polar tip which carries a current that heats and denatures tissue. The device is typically coupled to an on-off switch to actuate the device and heat the tissue. The electrocautery device may also receive control signals to vary its power output. The system6550allows the surgeon to control the operation of the electrocautery device through the input device6560. The surgical device6556may be a laser. The laser6556may be actuated through an on-off switch. Additionally, the power of the laser6556may be controlled by control signals. The system6550allows the surgeon to control the operation of the laser6556through the input device6560. The device6558may be an operating table. The operating table6558may contain motors and mechanisms which adjust the position of the table. The present invention allows the surgeon to control the position of the table6558through the input device6560. Although four surgical devices6552,6554,6556, and6558are described, it is to be understood that other functions within the operating room may be controlled through the input device6560. By way of example, the system6560may allow the surgeon to control the lighting and temperature of the operating room through the input device6560. The input device6560may be a foot pedal which has a plurality of buttons6562,6564,6565,6566, and6568that can be depressed by the surgeon. Each button is typically associated with a specific control command of a surgical device. For example, when the input device6560is controlling the robotic arm6552, depressing the button6562may move the arm in one direction and depressing the button6566may move the arm in an opposite direction. Likewise, when the electrocautery device6554or the laser6556is coupled to the input device6560, depressing the button6568may energize the devices, and so forth and so on. Although a foot pedal is shown and described, it is to be understood that the input device6560may be a hand controller, a speech interface which accepts voice commands from the surgeon, a cantilever pedal or other input devices which may be well known in the art of surgical device control. Using the speech interface, the surgeon is able to position a camera or endoscope connected to the robotic arm6552using verbal commands. The imaging device, such as a camera or endoscope, may be coupled to the robotic arm6552positioning system that be controlled through the system6550using verbal commands. The system6550has a switching interface6570which couples the input device6560to the surgical devices6552,6554,6556, and6558. The interface6570has an input channel6572which is connected to the input device6560by a bus6574. The interface6570also has a plurality of output channels6576,6578,6580, and6582that are coupled to the surgical devices by busses6584,6586,6588,6590,6624,6626,6628and which may have adapters or controllers disposed in electrical communication therewith and therebetween. Such adapters and controllers will be discussed in more detail hereinbelow. Because each device6552,6554,6556,6558may require specifically configured control signals for proper operation, adapters6620,6622or a controller6618may be placed intermediate and in electrical communication with a specific output channel and a specific surgical device. In the case of the robotic arm system6552, no adapter is necessary and as such, the robotic arm system6552may be in direct connection with a specific output channel. The interface6570couples the input channel6572to one of the output channels6576,6578,6580, and6582. The interface6570has a select channel6592which can switch the input channel6572to a different output channel6576,6578,6580, or6582so that the input device6560can control any of the surgical devices. The interface6570may be a multiplexor circuit constructed as an integrated circuit and placed on an ASIC. Alternatively, the interface6570may be a plurality of solenoid actuated relays coupled to the select channel by a logic circuit. The interface6570switches to a specific output channel in response to an input signal or switching signal applied on the select channel6592. As depicted inFIG.51, there may be several inputs to the select channel6592. Such inputs originate from the foot pedal6560, the speech interface6600and the CPU6662. The interface6570may have a multiplexing unit such that only one switching signal may be received at the select channel6592at any one time, thus ensuring no substantial hardware conflicts. The prioritization of the input devices may be configured so the foot pedal has highest priority followed by the voice interface and the CPU. This is intended for example as the prioritization scheme may be employed to ensure the most efficient system. As such other prioritization schemes may be employed. The select channel6592may sequentially connect the input channel to one of the output channels each time a switching signal is provided to the select channel6592. Alternatively, the select channel6592may be addressable so that the interface6570connects the input channel to a specific output channel when an address is provided to the select channel6592. Such addressing is known in the art of electrical switches. The select channel6592may be connected by line6594to a dedicated button6596on the foot pedal6560. The surgeon can switch surgical devices by depressing the button6596. Alternatively, the select channel6592may be coupled by line6598to a speech interface6600which allows the surgeon to switch surgical devices with voice commands. The system6550may have a central processing unit (CPU)6602which receives input signals from the input device6560through the interface6570and a bus6585. The CPU6602receives the input signals, and can ensure that no improper commands are being input at the controller. If this occurs, the CPU6602may respond accordingly, either by sending a different switching signal to select channel6592, or by alerting the surgeon via a video monitor or speaker. The CPU6602can also provide output commands for the select channel6592on the bus6608and receives input commands from the speech interface6600on the same bidirectional bus6608. The CPU6602may be coupled to a monitor6610and/or a speaker6612by buses6614and6616, respectively. The monitor6610may provide a visual indication of which surgical device is coupled to the input device6560. The monitor may also provide a menu of commands which can be selected by the surgeon either through the speech interface6600or button6596. Alternatively, the surgeon could switch to a surgical device by selecting a command through a graphic user interface. The monitor6610may also provide information regarding improper control signals sent to a specific surgical device6552,6554,6556,6558and recognized by the CPU6602. Each device6552,6554,6556,6558has a specific appropriate operating range, which is well known to the skilled artisan. As such, the CPU6602may be programmed to recognize when the requested operation from the input device6560is inappropriate and will then alert the surgeon either visually via the monitor6610or audibly via the speaker6612. The speaker6612may also provide an audio indication of which surgical device is coupled to the input device6560. The system6550may include a controller6618which receives the input signals from the input device6560and provides corresponding output signals to control the operating table6558. Likewise, the system may have adapters6620,6622which provide an interface between the input device6560and the specific surgical instruments connected to the system. In operation, the interface6570initially couples the input device6560to one of the surgical devices. The surgeon can control a different surgical device by generating an input command that is provided to the select channel6592. The input command switches the interface6570so that the input device6560is coupled to a different output channel and corresponding surgical device or adapter. What is thus provided is an interface6570that allows a surgeon to select, operate and control a plurality of different surgical devices through a common input device6560. FIG.52illustrates a multi-functional surgical control system6650and switching interface for virtual operating room integration. A virtual control system for controlling surgical equipment in an operating room while a surgeon performs a surgical procedure on a patient, comprising: a virtual control device including an image of a control device located on a surface and a sensor for interrogating contact interaction of an object with the image on the surface, the virtual control device delivering an interaction signal indicative of the contact interaction of the object with the image; and a system controller connected to receive the interaction signal from the virtual control device and to deliver a control signal to the surgical equipment in response to the interaction signal to control the surgical equipment in response to the contact interaction of the object with the image. Further examples are disclosed in U.S. Pat. No. 7,317,955, titled VIRTUAL OPERATING ROOM INTEGRATION, which issued on Jan. 8, 2008, which is herein incorporated by reference in its entirety. As shown inFIG.52, communication links6674are established between the system controller6676and the various components and functions of the virtual control system6650. The communication links6674are preferably optical paths, but the communication links may also be formed by radio frequency transmission and reception paths, hardwired electrical connections, or combinations of optical, radio frequency and hardwired connection paths as may be appropriate for the type of components and functions obtained by those components. The arrows at the ends of the links6674represent the direction of primary information flow. The communication links6674with the surgical equipment6652, a virtual control panel6556, a virtual foot switch6654and patient monitoring equipment6660are bidirectional, meaning that the information flows in both directions through the links6674connecting those components and functions. For example, the system controller6676supplies signals which are used to create a control panel image from the virtual control panel6656and a foot switch image from the virtual foot switch6654. The virtual control panel6656and the virtual foot switch6654supply information to the system controller6676describing the physical interaction of the surgeon's finger and foot relative to a projected control panel image and the projected foot switch image. The system controller6676responds to the information describing the physical interaction with the projected image, and supplies control signals to the surgical equipment6652and patient monitoring equipment6660to control functionality of those components in response to the physical interaction information. The control, status and functionality information describing the surgical equipment6652and patient monitoring equipment6660flows to the system controller6676, and after that information is interpreted by the system controller6676, it is delivered to a system display6670, a monitor6666, and/or a heads up display6668for presentation. The communication links6674between the system controller6676and the system display6670, the heads up display6668, the monitor6666, a tag printer6658and output devices6664are all uni-directional, meaning that the information flows from the system controller6676to those components and functions. In a similar manner, the communication links6674between the system controller6676and a scanner6672and the input devices6662are also unidirectional, but the information flows from the components6662,6672to the system controller6676. In certain circumstances, certain control and status information may flow between the system controller6676and the components6658,6660,6662,6664,6666,6668,6670,6672in order to control the functionality of the those components. Each communication link6674preferably has a unique identity so that the system controller6676can individually communicate with each of the components of the virtual control system6650. The unique identity of each communication link is preferable when some or all of the communication links6674are through the same medium, as would be the case of optical and radio frequency communications. The unique identity of each communication link6674assures that the system controller6676has the ability to exercise individual control over each of the components and functions on a very rapid and almost simultaneous manner. The unique identity of each communication link6674can be achieved by using different frequencies for each communication link6674or by using unique address and identification codes associated with the communications transferred over each communication link6674. In one aspect, the present disclosure provides illustrates a surgical communication and control headset that interfaces with the surgical hub206described in connection withFIGS.1-11. Further examples are disclosed in U.S. Patent Application Publication No. 2009/0046146, titled SURGICAL COMMUNICATION AND CONTROL SYSTEM, which published on Feb. 19, 2009, which is herein incorporated by reference in its entirety.FIG.53illustrates a diagram6680of a beam source and combined beam detector system utilized as a device control mechanism in an operating theater. The system6680is configured and wired to allow for device control with the overlay generated on the primary procedural display. The footswitch shows a method to allow the user to click on command icons that would appear on the screen while the beam source is used to aim at the particular desired command icon to be clicked. The control system graphic user interface (GUI) and device control processor communicate and parameters are changed using the system. The system6680includes a display6684coupled to a beam detecting sensor6682and a head mounted source6686. The beam detecting sensor6682is in communication with a control system GUI overlay processor and beam source processor6688. The surgeon operates a footswitch6692or other adjunctive switch, which provides a signal to a device control interface unit6694. The system6680will provide a means for a sterile clinician to control procedural devices in an easy and quick, yet hands free and centralized fashion. The ability to maximize the efficiency of the operation and minimize the time a patient is under anesthesia is important to the best patient outcomes. It is common for surgeons, cardiologists or radiologists to verbally request adjustments be made to certain medical devices and electronic equipment used in the procedure outside the sterile field. It is typical that he or she must rely on another staff member to make the adjustments he or she needs to settings on devices such as cameras, bovies, surgical beds, shavers, insufflators, injectors, to name a few. In many circumstances, having to command a staff member to make a change to a setting can slow down a procedure because the non-sterile staff member is busy with another task. The sterile physician cannot adjust non-sterile equipment without compromising sterility, so he or she must often wait for the non-sterile staff member to make the requested adjustment to a certain device before resuming the procedure. The system6680allows a user to use a beam source and beam detector to regenerate a pointer overlay coupled with a GUI and a concurrent switching method (i.e., a foot switch, etc.) to allow the clinician to click through commands on the primary display. In one aspect, a GUI could appear on the procedural video display when activated, such as when the user tilts his or her head twice to awaken it or steps on a foot switch provided with the system. Or it is possible that a right head tilt wakes up the system, and a left head tilt simply activates the beam source. When the overlay (called device control GUI overlay) appears on the screen it shows button icons representing various surgical devices and the user can use the beam source, in this case a laser beam, to aim at the button icons. Once the laser is over the proper button icon, a foot switch, or other simultaneous switch method can be activated, effectively acting like a mouse click on a computer. For example a user can “wake up” the system, causing a the device control GUI overlay to pop up that lists button icons on the screen, each one labeled as a corresponding procedural medical device. The user can point the laser at the correct box or device and click a foot pedal (or some other concurrent control—like voice control, waistband button, etc.) to make a selection, much like clicking a mouse on a computer. The sterile physician can then select “insufflator, for example” The subsequent screen shows arrow icons that can be clicked for various settings for the device that need to be adjusted (pressure, rate, etc.). In one iteration, the user can then can point the laser at the up arrow and click the foot pedal repeatedly until the desired setting is attained. In one aspect, components of the system6680could be coupled with existing robotic endoscope holders to “steer” a rigid surgical endoscopic camera by sending movement commands to the robotic endoscope holding arm (provided separately, i.e., AESOP by Computer Motion). The endoscope is normally held by an assistant nurse or resident physician. There are robotic and mechanical scope holders currently on the market and some have even had been introduced with voice control. However, voice control systems have often proven cumbersome, slow and inaccurate. This aspect would employ a series of software and hardware components to allow the overlay to appear as a crosshair on the primary procedural video screen. The user could point the beam source at any part of the quadrant and click a simultaneous switch, such as a foot pedal, to send movement commands to the existing robotic arm, which, when coupled with the secondary trigger (i.e., a foot switch, waist band switch, etc.) would send a command to adjust the arm in minute increments in the direction of the beam source. It could be directed by holding down the secondary trigger until the desired camera angle and position is achieved and then released. This same concept could be employed for surgical bed adjustments by having the overlay resemble the controls of a surgical bed. The surgical bed is commonly adjusted during surgery to allow better access to the anatomy. Using the combination of the beam source, in this case a laser, a beam detecting sensor such as a camera, a control system GUI overlay processing unit and beam source processor, and a device control interface unit, virtually any medical device could be controlled through this system. Control codes would be programmed into the device control interface unit, and most devices can be connected using an RS-232 interface, which is a standard for serial binary data signals connecting between a DTE (Data Terminal Equipment) and a DCE (Data Circuit-terminating Equipment). The present invention while described with reference to application in the medical field can be expanded/modified for use in other fields. Another use of this invention could be in helping those who are without use of their hands due to injury or handicap or for professions where the hands are occupied and hands free interface is desired. Surgical Hub with Direct Interface Control with Secondary Surgeon Display Units Designed to be within the Sterile Field and Accessible for Input and Display by the Surgeon In one aspect, the surgical hub206provides a secondary user interface that enables display and control of surgical hub206functions from with the sterile field. The secondary display could be used to change display locations, what information is displayed where, pass off control of specific functions or devices. During a surgical procedure, the surgeon may not have a user interface device accessible for interactive input by the surgeon and display within the sterile field. Thus, the surgeon cannot interface with the user interface device and the surgical hub from within the sterile field and cannot control other surgical devices through the surgical hub from within the sterile field. One solution provides a display unit designed to be used within the sterile field and accessible for input and display by the surgeon to allow the surgeon to have interactive input control from the sterile field to control other surgical devices coupled to the surgical hub. The display unit is sterile and located within the sterile field to allow the surgeons to interface with the display unit and the surgical hub to directly interface and configure instruments as necessary without leaving the sterile field. The display unit is a master device and may be used for display, control, interchanges of tool control, allowing feeds from other surgical hubs without the surgeon leaving the sterile field. In one aspect, the present disclosure provides a control unit, comprising an interactive touchscreen display, an interface configured to couple the interactive touchscreen display to a surgical hub, a processor, and a memory coupled to the processor. The memory stores instructions executable by the processor to receive input commands from the interactive touchscreen display located inside a sterile field and transmits the input commands to a surgical hub to control devices coupled to the surgical hub located outside the sterile field. In another aspect, the present disclosure provides a control unit, comprising an interactive touchscreen display, an interface configured to couple the interactive touchscreen display to a surgical hub, and a control circuit configured to receive input commands from the interactive touchscreen display located inside a sterile field and transmit the input commands to a surgical hub to control devices coupled to the surgical hub located outside the sterile field. In another aspect, the present disclosure provides a non-transitory computer readable medium storing computer readable instructions which, when executed, causes a machine to receive input commands from an interactive touchscreen display located inside a sterile field and transmit the input commands to a surgical hub through an interface configured to couple the interactive touchscreen display to the surgical hub to control devices coupled to the surgical hub located outside the sterile field. Providing a display unit designed to be used within the sterile field and accessible for input and display by the surgeon provides the surgeon interactive input control from the sterile field to control other surgical devices coupled to the surgical hub. This display unit within the sterile field is sterile and allows the surgeons to interface with it and the surgical hub. This gives the surgeon control of the instruments coupled to the surgical hub and allows the surgeon to directly interface and configure the instruments as necessary without leaving the sterile field. The display unit is a master device and may be used for display, control, interchanges of tool control, allowing feeds from other surgical hubs without the surgeon leaving the sterile field. In various aspects, the present disclosure provides a secondary user interface to enable display and control of surgical hub functions from within a sterile field. This control could be a display device like an I-pad, e.g., a portable interactive touchscreen display device configured to be introduced into the operating theater in a sterile manner. It could be paired like any other device or it could be location sensitive. The display device would be allowed to function in this manner whenever the display device is placed over a specific location of the draped abdomen of the patient during a surgical procedure. In other aspects, the present disclosure provides a smart retractor and a smart sticker. These and other aspects are described hereinbelow. In one aspect, the present disclosure provides a secondary user interface to enable display and control of surgical hub functions from within the sterile field. In another aspect, the secondary display could be used to change display locations, determine what information and where the information is displayed, and pass off control of specific functions or devices. There are four types of secondary surgeon displays in two categories. One type of secondary surgeon display units is designed to be used within the sterile field and accessible for input and display by the surgeon within the sterile field interactive control displays. Sterile field interactive control displays may be shared or common sterile field input control displays. A sterile field display may be mounted on the operating table, on a stand, or merely laying on the abdomen or chest of the patient. The sterile field display is sterile and allows the surgeons to interface with the sterile field display and the surgical hub. This gives the surgeon control of the system and allows them to directly interface and configure the sterile field display as necessary. The sterile field display may be configured as a master device and may be used for display, control, interchanges of tool control, allowing feeds from other surgical hubs, etc. In one aspect, the sterile field display may be employed to re-configure the wireless activation devices within the operating theater (OR) and their paired energy device if a surgeon hands the device to another.FIGS.54A-54Eillustrate various types of sterile field control and data input consoles6700,6702,6708,6712,6714according to various aspects of the present disclosure. Each of the disclosed sterile field control and data input consoles6700,6702,6708,6712,6714comprise at least one touchscreen6701,6704/6706,6709,6713,6716input/output device layered on the top of an electronic visual display of an information processing system. The sterile field control and data input consoles6700,6702,6708,6712,6714may include batteries as a power source. Some include a cable6710to connect to a separate power source or to recharge the batteries. A user can give input or control the information processing system through simple or multi-touch gestures by touching the touchscreen6701,6704/6706,6709,6713,6716with a stylus, one or more fingers, or a surgical tool. The sterile field control and data input consoles6700,6702,6708,6712,6714may be used to re-configure wireless activation devices within the operating theater and a paired energy device if a surgeon hands the device to another surgeon. The sterile field control and data input consoles6700,6702,6708,6712,6714may be used to accept consult feeds from another operating theater where it would then configure a portion of the operating theater screens or all of them to mirror the other operating theater so the surgeon is able to see what is needed to help. The sterile field control and data input consoles6700,6702,6708,6712,6714are configured to communicate with the surgical hub206. Accordingly, the description of the surgical hub206discussed in connection withFIGS.1-11is incorporated in this section by reference. FIG.54Aillustrates a single zone sterile field control and data input console6700, according to one aspect of the present disclosure. The single zone console6700is configured for use in a single zone within a sterile field. Once deployed in a sterile field, the single zone console6700can receive touchscreen inputs from a user in the sterile field. The touchscreen6701enables the user to interact directly with what is displayed, rather than using a mouse, touchpad, or other such devices (other than a stylus or surgical tool). The single zone console6700includes wireless communication circuits to communicate wirelessly to the surgical hub206. FIG.54Billustrates a multi zone sterile field control and data input console6702, according to one aspect of the present disclosure. The multi zone console6702comprises a first touchscreen6704to receive an input from a first zone of a sterile field and a second touchscreen6706to receive an input from a second zone of a sterile field. The multi zone console6702is configured to receive inputs from multiple users in a sterile field. The multi zone console6702includes wireless communication circuits to communicate wirelessly to the surgical hub206. Accordingly, the multi zone sterile field control and data input console6702comprises an interactive touchscreen display with multiple input and output zones. FIG.54Cillustrates a tethered sterile field control and data input console6708, according to one aspect of the present disclosure. The tethered console6708includes a cable6710to connect the tethered console6708to the surgical hub206via a wired connection. The cable6710enables the tethered console6708to communicate over a wired link in addition to a wireless link. The cable6710also enables the tethered console6708to connect to a power source for powering the console6708and/or recharging the batteries in the console6708. FIG.54Dillustrates a battery operated sterile field control and data input console6712, according to one aspect of the present disclosure. The sterile field console6712is battery operated and includes wireless communication circuits to communicate wirelessly with the surgical hub206. In particular, in one aspect, the sterile field console6712is configured to communicate with any of the modules coupled to the hub206such as the generator module240. Through the sterile field console6712, the surgeon can adjust the power output level of a generator using the touchscreen6713interface. One example is described below in connection withFIG.54E. FIG.54Eillustrates a battery operated sterile field control and data input console6714, according to one aspect of the present disclosure. The sterile field console6714includes a user interface displayed on the touchscreen of a generator. The surgeon can thus control the output of the generator by touching the up/down arrow icons6718A,6718B that increase/decrease the power output of the generator module240. Additional icons6719enable access to the generator module settings6174, volume6178using the +/− icons, among other features directly from the sterile field console6714. The sterile field console6714may be employed to adjust the settings or reconfigure other wireless activations devices or modules coupled to the hub206within the operating theater and their paired energy device when the surgeon hands the sterile field console6714to another. FIGS.55A-55Billustrate a sterile field console6700in use in a sterile field during a surgical procedure, according to one aspect of the present disclosure.FIG.55Ashows the sterile field console6714positioned in the sterile field near two surgeons engaged in an operation. InFIG.55B, one of the surgeons is shown tapping the touchscreen6701of the sterile field console with a surgical tool6722to adjust the output of a modular device coupled to the surgical hub206, reconfigure the modular device, or an energy device paired with the modular device coupled to the surgical hub206. In another aspect, the sterile field display may be employed to accept consult feeds from another operating room (OR), such as another operating theater or surgical hub206, where it would then configure a portion of the OR screens or all of them to mirror the other ORs so the surgeon could see what is needed to help.FIG.56illustrates a process6750for accepting consult feeds from another operating room, according to one aspect of the present disclosure. The sterile field control and data input consoles6700,6702,6708,6712,6714shown inFIGS.54A-54E,55A-55Bmay be used as an interact-able scalable secondary display allowing the surgeon to overlay other feeds or images from laser Doppler image scanning arrays or other image sources. The sterile field control and data input consoles6700,6702,6708,6712,6714may be used to call up a pre-operative scan or image to review. Laser Doppler techniques are described in U.S. Provisional Patent Application No. 62/611,341, filed Dec. 28, 2017, and titled INTERACTIVE SURGICAL PLATFORM, which is incorporated herein by reference in its entirety. It is recognized that the tissue penetration depth of light is dependent on the wavelength of the light used. Thus, the wavelength of the laser source light may be chosen to detect particle motion (such a blood cells) at a specific range of tissue depth. A laser Doppler employs means for detecting moving particles such as blood cells based at a variety of tissue depths based on the laser light wavelength. A laser source may be directed to a surface of a surgical site. A blood vessel (such as a vein or artery) may be disposed within the tissue at some depth δ from the tissue surface. Red laser light (having a wavelength in the range of about 635 nm to about 660 nm) may penetrate the tissue to a depth of about 1 mm. Green laser light (having a wavelength in the range of about 520 nm to about 532 nm) may penetrate the tissue to a depth of about 2-3 mm. Blue laser light (having a wavelength in the range of about 405 nm to about 445 nm) may penetrate the tissue to a depth of about 4 mm or greater. A blood vessel may be located at a depth of about 2-3 mm below the tissue surface. Red laser light will not penetrate to this depth and thus will not detect blood cells flowing within this vessel. However, both green and blue laser light can penetrate this depth. Therefore, scattered green and blue laser light from the blood cells will result in an observed Doppler shift in both the green and blue. In some aspects, a tissue may be probed by red, green, and blue laser illumination in a sequential manner and the effect of such illumination may be detected by a CMOS imaging sensor over time. It may be recognized that sequential illumination of the tissue by laser illumination at differing wavelengths may permit a Doppler analysis at varying tissue depths over time. Although red, green, and blue laser sources may be used to illuminate the surgical site, it may be recognized that other wavelengths outside of visible light (such as in the infra red or ultraviolet regions) may be used to illuminate the surgical site for Doppler analysis. The imaging sensor information may be provided to the sterile field control and data input consoles6700,6702,6708,6712,6714. The sterile field control and data input consoles6700,6702,6708,6712,6714provide access to past recorded data. In one operating theater designated as OR1, the sterile field control and data input consoles6700,6702,6708,6712,6714may be configured as “consultants” and to erase all data when the consultation is complete. In another operating theater designated as OR3 (operating room 3), the sterile field control and data input consoles6700,6702,6708,6712,6714may be configured as a “consultees” and are configured to record all data received from operating theater OR1 (operating room 1) sterile field control and data input consoles6700,6702,6708,6712,6714. These configurations are summarized in TABLE 1 below: TABLE 1Sterile Field Control AndSterile Field Control AndData Input Console In OR1Data Input Console In OR3Access to past recorded dataOR1 ConsultantOR 3 ConsulteeErase data when doneRecord all data In one implementation of the process6750, operating theater OR1 receives6752a consult request from OR3. Data is transferred to the OR1 sterile field control and data input console6700, for example. The data is temporarily stored6754. The data is backed up in time and the OR1 view6756of the temporary data begins on the OR1 sterile field control and data input console6700touchscreen6701. When the view is complete, the data is erased6758and control returns6760to OR1. The data is then erased6762from the OR1 sterile field control and data input console6700memory. In yet another aspect, the sterile field display may be employed as an interactable scalable secondary display allowing the surgeon to overlay other feeds or images like laser Doppler scanning arrays. In yet another aspect, the sterile field display may be employed to call up a pre-operative scan or image to review. Once vessel path and depth and device trajectory are estimated, the surgeon employs a sterile field interactable scalable secondary display allowing the surgeon to overlay other feeds or images. FIG.57is a diagram6770that illustrates a technique for estimating vessel path, depth, and device trajectory. Prior to dissecting a vessel6772,6774located below the surface of the tissue6775using a standard approach, the surgeon estimates the path and depth of the vessel6772,6774and a trajectory6776of a surgical device6778will take to reach the vessel6772,6774. It is often difficult to estimate the path and depth6776of a vessel6772,6774located below the surface of the tissue6775because the surgeon cannot accurately visualize the location of the vessel6772,6774path and depth6776. FIGS.58A-58Dillustrate multiple real time views of images of a virtual anatomical detail for dissection including perspective views (FIGS.58A,58C) and side views (FIGS.58B,58D). The images are displayed on a sterile field display of tablet computer or sterile field control and data input console employed as an interactable scalable secondary display allowing the surgeon to overlay other feeds or images, according to one aspect of the present disclosure. The images of the virtual anatomy enable the surgeon to more accurately predict the path and depth of a vessel6772,6774located below the surface of the tissue6775as shown inFIG.57and the best trajectory6776of the surgical device6778. FIG.58Ais a perspective view of a virtual anatomy6780displayed on a tablet computer or sterile field control and data input console.FIG.58Bis a side view of the virtual anatomy6780shown inFIG.58A, according to one aspect of the present disclosure. With reference toFIGS.58A-58B, in one aspect, the surgeon uses a smart surgical device6778and a tablet computer to visualize the virtual anatomy6780in real time and in multiple views. The three dimensional perspective view includes a portion of tissue6775in which the vessels6772,6774are located below surface. The portion of tissue is overlaid with a grid6786to enable the surgeon to visualize a scale and gauge the path and depth of the vessels6772,6774at target locations6782,6784each marked by an X. The grid6786also assists the surgeon determine the best trajectory6776of the surgical device6778. As illustrated, the vessels6772,6774have an unusual vessel path. FIG.58Cillustrates a perspective view of the virtual anatomy6780for dissection, according to one aspect of the present disclosure.FIG.58Dis a side view of the virtual anatomy6780for dissection, according to one aspect of the present disclosure. With reference toFIGS.58C-58D, using the tablet computer, the surgeon can zoom and pan 360° to obtain an optimal view of the virtual anatomy6780for dissection. The surgeon then determines the best path or trajectory6776to insert the surgical device6778(e.g., a dissector in this example). The surgeon may view the anatomy in a three-dimensional perspective view or any one of six views. See for example the side view of the virtual anatomy inFIG.58Dand the insertion of the surgical device6778(e.g., the dissector). In another aspect, a sterile field control and data input console may allow live chatting between different departments, such as, for example, with the oncology or pathology department, to discuss margins or other particulars associated with imaging. The sterile field control and data input console may allow the pathology department to tell the surgeon about relationships of the margins within a specimen and show them to the surgeon in real time using the sterile field console. In another aspect, a sterile field control and data input console may be used to change the focus and field of view of its own image or control that of any of the other monitors coupled to the surgical hub. In another aspect, a sterile field control and data input console may be used to display the status of any of the equipment or modules coupled to the surgical hub206. Knowledge of which device coupled to the surgical hub206is being used may be obtained via information such as the device is not on the instrument pad or on-device sensors. Based on this information, the sterile field control and data input console may change display, configurations, switch power to drive one device, and not another, one cord from capital to instrument pad and multiple cords from there. Device diagnostics may obtain knowledge that the device is inactive or not being used. Device diagnostics may be based on information such as the device is not on the instrument pad or based on-device sensors. In another aspect, a sterile field control and data input console may be used as a learning tool. The console may display checklists, procedure steps, and/or sequence of steps. A timer/clock may be displayed to measure time to complete steps and/or procedures. The console may display room sound pressure level as indicator for activity, stress, etc. FIGS.59A-59Billustrate a touchscreen display6890that may be used within the sterile field, according to one aspect of the present disclosure. Using the touchscreen display6890, a surgeon can manipulate images6892displayed on the touchscreen display6890using a variety of gestures such as, for example, drag and drop, scroll, zoom, rotate, tap, double tap, flick, drag, swipe, pinch open, pinch close, touch and hold, two-finger scroll, among others. FIG.59Aillustrates an image6892of a surgical site displayed on a touchscreen display6890in portrait mode.FIG.59Bshows the touchscreen display6890rotated6894to landscape mode and the surgeon uses his index finger6896to scroll the image6892in the direction of the arrows.FIG.59Cshows the surgeon using his index finger6896and thumb6898to pinch open the image6892in the direction of the arrows6899to zoom in.FIG.59Dshows the surgeon using his index finger6896and thumb6898to pinch close the image6892in the direction of the arrows6897to zoom out.FIG.59Eshows the touchscreen display6890rotated in two directions indicated by arrows6894,6896to enable the surgeon to view the image6892in different orientations. Outside the sterile field, control and static displays are used that are different from the control and static displays used inside the sterile field. The control and static displays located outside the sterile field provide interactive and static displays for operating theater (OR) and device control. The control and static displays located outside the sterile field may include secondary static displays and secondary touchscreens for input and output. Secondary static non-sterile displays107,109,119(FIG.2) for used outside the sterile field include monitors placed on the wall of the operating theater, on a rolling stand, or on capital equipment. A static display is presented with a feed from the control device to which they are attached and merely displays what is presented to it. Secondary touch input screens located outside the sterile field may be part of the visualization system108(FIG.2), part of the surgical hub108(FIG.2), or may be fixed placement touch monitors on the walls or rolling stands. One difference between secondary touch input screens and static displays is that a user can interact with a secondary touch input screen by changing what is displayed on that specific monitor or others. For capital equipment applications, it could be the interface to control the setting of the connected capital equipment. The secondary touch input screens and the static displays outside the sterile field can be used to preload the surgeon's preferences (instrumentation settings and modes, lighting, procedure and preferred steps and sequence, music, etc.) Secondary surgeon displays may include personal input displays with a personal input device that functions similarly to the common sterile field input display device but it is controlled by a specific surgeon. Personal secondary displays may be implemented in many form factors such as, for example, a watch, a small display pad, interface glasses, etc. A personal secondary display may include control capabilities of a common display device and since it is located on or controlled by a specific surgeon, the personal secondary display would be keyed to him/her specifically and would indicate that to others and itself. Generally speaking, a personal secondary display would normally not be useful to exchanging paired devices because they are not accessible to more than one surgeon. Nevertheless, a personal secondary display could be used to grant permission for release of a device. A personal secondary display may be used to provide dedicated data to one of several surgical personnel that wants to monitor something that the others typically would not want to monitor. In addition, a personal secondary display may be used as the command module. Further, a personal secondary display may be held by the chief surgeon in the operating theater and would give the surgeon the control to override any of the other inputs from anyone else. A personal secondary display may be coupled to a short range wireless, e.g., Bluetooth, microphone and earpiece allowing the surgeon to have discrete conversations or calls or the personal secondary display may be used to broadcast to all the others in the operating theater or other department. FIG.60illustrates a surgical site6900employing a smart surgical retractor6902comprising a direct interface control to a surgical hub206(FIGS.1-11), according to one aspect of the present disclosure. The smart surgical retractor6902helps the surgeon and operating room professionals hold an incision or wound open during surgical procedures. The smart surgical retractor6902aids in holding back underlying organs or tissues, allowing doctors/nurses better visibility and access to the exposed area. With reference also toFIGS.1-11, the smart surgical retractor6902may comprise an input display6904operated by the smart surgical retractor6902. The smart surgical retractor6902may comprise a wireless communication device to communicate with a device connected to a generator module240coupled to the surgical hub206. Using the input display6904of the smart surgical retractor6902, the surgeon can adjust power level or mode of the generator module240to cut and/or coagulate tissue. If using automatic on/off for energy delivery on closure of an end effector on the tissue, the status of automatic on/off may be indicated by a light, screen, or other device located on the smart retractor6902housing. Power being used may be changed and displayed. In one aspect, the smart surgical retractor6902can sense or know what device/instrument235the surgeon is using, either through the surgical hub206or RFID or other device placed on the device/instrument235or the smart surgical retractor6902, and provide an appropriate display. Alarm and alerts may be activated when conditions require. Other features include displaying the temperature of the ultrasonic blade, nerve monitoring, light source6906or fluorescence. The light source6906may be employed to illuminate the surgical field of view6908and to charge photocells6918on single use sticker display that stick onto the smart retractor6902(seeFIG.61, for example). In another aspect, the smart surgical retractor6902may include an augmented reality projected on the patient's anatomy (e.g., like a vein viewer). FIG.61illustrates a surgical site6910with a smart flexible sticker display6912attached to the body/skin6914of a patient, according to one aspect of the present disclosure. As shown, the smart flexible sticker display6912is applied to the body/skin6914of a patient between the area exposed by the surgical retractors6916. In one aspect, the smart flexible sticker display6912may be powered by light, an on board battery, or a ground pad. The flexible sticker display6912may communicate via short range wireless (e.g., Bluetooth) to a device, may provide readouts, lock power, or change power. The smart flexible sticker display6912also comprises photocells6918to power the smart flexible sticker display6912using ambient light energy. The flexible sticker display6912includes a display of a control panel6920user interface to enable the surgeon to control devices235or other modules coupled to the surgical hub206(FIGS.1-11). FIG.62is a logic flow diagram6920of a process depicting a control program or a logic configuration to communicate from inside a sterile field to a device located outside the sterile field, according to one aspect of the present disclosure. In one aspect, a control unit comprises an interactive touchscreen display, an interface configured to couple the interactive touchscreen display to a surgical hub, a processor, and a memory coupled to the processor. The memory stores instructions executable by the processor to receive6922input commands from the interactive touchscreen display located inside a sterile field and transmits6924the input commands to a surgical hub to control devices coupled to the surgical hub located outside the sterile field. FIG.63illustrates a system for performing surgery. The system comprises a control box which includes internal circuitry; a surgical instrument including a distal element and techniques for sensing a position or condition of said distal element; techniques associated with said surgical instrument for transmitting said sensed position or condition to said internal circuitry of said control box; and for transmitting said sensed position or condition from said internal circuitry of said control box to a video monitor for display thereon, wherein said sensed position or condition is displayed on said video monitor as an icon or symbol, further comprising a voltage source for generating a voltage contained entirely within said surgical instrument. Further examples are disclosed in U.S. Pat. No. 5,503,320, titled SURGICAL APPARATUS WITH INDICATOR, which issued on Apr. 2, 1996, which is herein incorporated by reference in its entirety. FIG.63shows schematically a system whereby data is transmitted to a video monitor for display, such data relating to the position and/or condition of one or more surgical instruments. As shown inFIG.63, a laparoscopic surgical procedure is being performed wherein a plurality of trocar sleeves6930are inserted through a body wall6931to provide access to a body cavity6932. A laparoscope6933is inserted through one of the trocar sleeves6930to provide illumination (light cable6934is shown leading toward a light source, not pictured) to the surgical site and to obtain an image thereof. A camera adapter6935is attached at the proximal end of laparoscope6933and image cable6936extends therefrom to a control box6937discussed in more detail below. Image cable inputs to image receiving port416on control box6937. Additional surgical instruments6939,6940are inserted through additional trocar sleeves6900which extend through body wall6931. InFIG.63, instrument6939schematically illustrates an endoscopic stapling device, e.g., an Endo GIA* instrument manufactured by the assignee of this application, and instrument6940schematically illustrates a hand instrument, e.g., an Endo Grasp* device also manufactured by the present assignee. Additional and/or alternative instruments may also be utilized according to the present invention; the illustrated instruments are merely exemplary of surgical instruments which may be utilized according to the present invention. Instruments6939,6940include adapters6941,6942associated with their respective handle portions. The adapters electronically communicate with conductive mechanisms (not pictured). These mechanisms, which include electrically conductive contact members electrically connected by wires, cables and the like, are associated with the distal elements of the respective instruments, e.g., the anvil6943and cartridge6944of the Endo GIA* instrument, the jaws6945,6946of the Endo Grasp* device, and the like. The mechanisms are adapted to interrupt an electronic circuit when the distal elements are in a first position or condition and to complete the electronic circuit when the distal elements are in a second position or condition. A voltage source for the electronic circuit may be provided in the surgical instrument, e.g., in the form of a battery, or supplied from control box6937through cables6947,6948. Control box6937includes a plurality of jacks6949which are adapted to receive cables6947,6948and the like. Control box6937further includes an outgoing adapter6950which is adapted to cooperate with a cable6951for transmitting the laparoscopic image obtained by the laparoscope6933together with data concerning surgical instruments6939,6940to video monitor6952. Circuitry within control box6937is provided for converting the presence of an interrupted circuit, e.g., for the electronics within cable6947and the mechanism associated with the distal elements of instrument6939, to an icon or symbol for display on video monitor6952. Similarly, the circuitry within control box6937is adapted to provide a second icon or symbol to video monitor6952when a completed circuit exists for cable6947and the associated mechanism. Illustrative icons/symbols6953,6954are shown on video monitor6952. Icon6953shows a surgical staple and could be used to communicate to the surgeon that the cartridge6944and anvil6943of instrument6939are properly positioned to form staples in tissue6955. Icon6953could take another form when the cartridge6944and anvil6943are not properly positioned for forming staples, thereby interrupting the circuit. Icon6954shows a hand instrument with jaws spread apart, thereby communicating to the surgeon that the jaws6945,6946of instrument6940are open. Icon6954could take another form when jaws6945,6946are closed, thereby completing the circuit. FIG.64illustrates a second layer of information overlaying a first layer of information. The second layer of information includes a symbolic representation of the knife overlapping the detected position of the knife in the DLU depicted in the first layer of information. Further examples are disclosed in U.S. Pat. No. 9,283,054, titled SURGICAL APPARATUS WITH INDICATOR, which issued on Mar. 15, 2016, which is herein incorporated by reference in its entirety. Referring toFIG.64, the second layer of information6963can overlay at least a portion of the first layer of information6962on the display6960. Furthermore, the touch screen6961can allow a user to manipulate the second layer of information6963relative to the video feedback in the underlying first layer of information6962on the display6960. For example, a user can operate the touch screen6961to select, manipulate, reformat, resize, and/or otherwise modify the information displayed in the second layer of information6963. In certain aspects, the user can use the touch screen6961to manipulate the second layer of information6963relative to the surgical instrument6964depicted in the first layer of information6962on the display6960. A user can select a menu, category and/or classification of the control panel6967thereof, for example, and the second layer of information6963and/or the control panel6967can be adjusted to reflect the user's selection. In various aspects, a user may select a category from the instrument feedback category6969that corresponds to a specific feature or features of the surgical instrument6964depicted in the first layer of information6962. Feedback corresponding to the user-selected category can move, locate itself, and/or “snap” to a position on the display6960relative to the specific feature or features of the surgical instrument6964. For example, the selected feedback can move to a position near and/or overlapping the specific feature or features of the surgical instrument6964depicted in the first layer of information6962. The instrument feedback menu6969can include a plurality of feedback categories, and can relate to the feedback data measured and/or detected by the surgical instrument6964during a surgical procedure. As described herein, the surgical instrument6964can detect and/or measure the position6970of a moveable jaw between an open orientation and a closed orientation, the thickness6973of clamped tissue, the clamping force6976on the clamped tissue, the articulation6974of the DLU6965, and/or the position6971, velocity6972, and/or force6975of the firing element, for example. Furthermore, the feedback controller in signal communication with the surgical instrument6964can provide the sensed feedback to the display6960, which can display the feedback in the second layer of information6963. As described herein, the selection, placement, and/or form of the feedback data displayed in the second layer of information6963can be modified based on the user's input to the touch screen6961, for example. When the knife of the DLU6965is blocked from view by the end effector jaws6966and/or tissue T, for example, the operator can track and/or approximate the position of the knife in the DLU6964based on the changing value of the feedback data and/or the shifting position of the feedback data relative to the DLU6965depicted in the underlying first layer of information6962. In various aspects, the display menu6977of the control panel6967can relate to a plurality of categories, such as unit systems6978and/or data modes6979, for example. In certain aspects, a user can select the unit systems category6978to switch between unit systems, such as between metric and U.S. customary units, for example. Additionally, a user can select the data mode category6979to switch between types of numerical representations of the feedback data and/or types of graphical representations of the feedback data, for example. The numerical representations of the feedback data can be displayed as numerical values and/or percentages, for example. Furthermore, the graphical representations of the feedback data can be displayed as a function of time and/or distance, for example. As described herein, a user can select the instrument controller menu6980from the control panel6967to input directives for the surgical instrument6964, which can be implemented via the instrument controller and/or the microcontroller, for example. A user can minimize or collapse the control panel6967by selecting the minimize/maximize icon6968, and can maximize or un-collapse the control panel6967by re-selecting the minimize/maximize icon6968. FIG.65depicts a perspective view of a surgeon using a surgical instrument that includes a handle assembly housing and a wireless circuit board during a surgical procedure, with the surgeon wearing a set of safety glasses. The wireless circuit board transmits a signal to a set of safety glasses worn by a surgeon using the surgical instrument during a procedure. The signal is received by a wireless port on the safety glasses. One or more lighting devices on a front lens of the safety glasses change color, fade, or glow in response to the received signal to indicate information to the surgeon about the status of the surgical instrument. The lighting devices are disposable on peripheral edges of the front lens to not distract the direct line of vision of the surgeon. Further examples are disclosed in U.S. Pat. No. 9,011,427, titled SURGICAL INSTRUMENT WITH SAFETY GLASSES, which issued on Apr. 21, 2015, which is herein incorporated by reference in its entirety. FIG.65shows a version of safety glasses6991that may be worn by a surgeon6992during a surgical procedure while using a medical device. In use, a wireless communications board housed in a surgical instrument6993may communicate with a wireless port6994on safety glasses6991. Exemplary surgical instrument6993is a battery-operated device, though instrument6993could be powered by a cable or otherwise. Instrument6993includes an end effector. Particularly, wireless communications board6995transmits one or more wireless signals indicated by arrows (B, C) to wireless port6994of safety glasses6991. Safety glasses6991receive the signal, analyze the received signal, and display indicated status information received by the signal on lenses6996to a user, such as surgeon6992, wearing safety glasses6991. Additionally or alternatively, wireless communications board6995transmits a wireless signal to surgical monitor6997such that surgical monitor6997may display received indicated status information to surgeon6992, as described above. A version of the safety glasses6991may include lighting device on peripheral edges of the safety glasses6991. A lighting device provides peripheral-vision sensory feedback of instrument6993, with which the safety glasses6991communicate to a user wearing the safety glasses6991. The lighting device may be, for example, a light-emitted diode (“LED”), a series of LEDs, or any other suitable lighting device known to those of ordinary skill in the art and apparent in view of the teachings herein. LEDs may be located at edges or sides of a front lens of the safety glasses6991so not to distract from a user's center of vision while still being positioned within the user's field of view such that the user does not need to look away from the surgical site to see the lighting device. Displayed lights may pulse and/or change color to communicate to the wearer of the safety glasses6991various aspects of information retrieved from instrument6993, such as system status information or tissue sensing information (i.e., whether the end effector has sufficiently severed and sealed tissue). Feedback from housed wireless communications board6995may cause a lighting device to activate, blink, or change color to indicate information about the use of instrument6993to a user. For example, a device may incorporate a feedback mechanism based on one or more sensed tissue parameters. In this case, a change in the device output(s) based on this feedback in synch with a tone change may submit a signal through wireless communications board6995to the safety glasses6991to trigger activation of the lighting device. Such described means of activation of the lighting device should not be considered limiting as other means of indicating status information of instrument6993to the user via the safety glasses6991are contemplated. Further, the safety glasses6991may be single-use or reusable eyewear. Button-cell power supplies such as button-cell batteries may be used to power wireless receivers and LEDs of versions of safety glasses6991, which may also include a housed wireless board and tri-color LEDs. Such button-cell power supplies may provide a low-cost means of providing sensory feedback of information about instrument6993when in use to surgeon6992wearing safety glasses6991. FIG.66is a schematic diagram of a feedback control system for controlling a surgical instrument. The surgical instrument includes a housing and an elongated shaft that extends distally from the housing and defines a first longitudinal axis. The surgical instrument also includes a firing rod disposed in the elongated shaft and a drive mechanism disposed at least partially within the housing. The drive mechanism mechanically cooperates with the firing rod to move the firing rod. A motion sensor senses a change in the electric field (e.g., capacitance, impedance, or admittance) between the firing rod and the elongated shaft. The measurement unit determines a parameter of the motion of the firing rod, such as the position, speed, and direction of the firing rod, based on the sensed change in the electric field. A controller uses the measured parameter of the motion of the firing rod to control the drive mechanism. Further examples are disclosed in U.S. Pat. No. 8,960,520, titled METHOD AND APPARATUS FOR DETERMINING PARAMETERS OF LINEAR MOTION IN A SURGICAL INSTRUMENT, which issued on Feb. 24, 2015, which is herein incorporated by reference in its entirety. With reference toFIG.66, aspects of the present disclosure may include a feedback control system6150. The system6150includes a feedback controller6152. The surgical instrument6154is connected to the feedback controller6152via a data port, which may be either wired (e.g., FireWire®, USB, Serial RS232, Serial RS485, USART, Ethernet, etc.) or wireless (e.g., Bluetooth®, ANT3®, KNX®, Z-Wave X10®, Wireless USB®, IrDA®, nanoNET®, TinyOS®, ZigBee®, 802.11 IEEE, and other radio, infrared, UHF, VHF communications and the like). The feedback controller6152is configured to store the data transmitted to it by the surgical instrument6154as well as process and analyze the data. The feedback controller6152is also connected to other devices, such as a video display6154, a video processor6156and a computing device6158(e.g., a personal computer, a PDA, a smartphone, a storage device, etc.). The video processor6156is used for processing output data generated by the feedback controller6152for output on the video display6154. The computing device6158is used for additional processing of the feedback data. In one aspect, the results of the sensor feedback analysis performed by a microcontroller may be stored internally for later retrieval by the computing device6158. FIG.67illustrates a feedback controller6152including an on-screen display (OSD) module and a heads-up-display (HUD) module. The modules process the output of a microcontroller for display on various displays. More specifically, the OSD module overlays text and/or graphical information from the feedback controller6152over other video images received from the surgical site via cameras disposed therein. The modified video signal having overlaid text is transmitted to the video display allowing the user to visualize useful feedback information from the surgical instrument6154and/or feedback controller6152while still observing the surgical site. The feedback controller6152includes a data port6160coupled to a microcontroller which allows the feedback controller6152to be connected to the computing device6158(FIG.66). The data port6160may provide for wired and/or wireless communication with the computing device6158providing for an interface between the computing device6158and the feedback controller6152for retrieval of stored feedback data, configuration of operating parameters of the feedback controller6152and upgrade of firmware and/or other software of the feedback controller6152. The feedback controller6152includes a housing6162and a plurality of input and output ports, such as a video input6164, a video output6166, and a HUD display output6168. The feedback controller6152also includes a screen for displaying status information concerning the feedback controller6152. Further examples are disclosed in U.S. Pat. No. 8,960,520, titled METHOD AND APPARATUS FOR DETERMINING PARAMETERS OF LINEAR MOTION IN A SURGICAL INSTRUMENT, which issued on Feb. 24, 2015, which is herein incorporated by reference in its entirety. Situational Awareness Situational awareness is the ability of some aspects of a surgical system to determine or infer information related to a surgical procedure from data received from databases and/or instruments. The information can include the type of procedure being undertaken, the type of tissue being operated on, or the body cavity that is the subject of the procedure. With the contextual information related to the surgical procedure, the surgical system can, for example, improve the manner in which it controls the modular devices (e.g. a robotic arm and/or robotic surgical tool) that are connected to it and provide contextualized information or suggestions to the surgeon during the course of the surgical procedure. Referring now toFIG.68, a timeline5200depicting situational awareness of a hub, such as the surgical hub106or206, for example, is depicted. The timeline5200is an illustrative surgical procedure and the contextual information that the surgical hub106,206can derive from the data received from the data sources at each step in the surgical procedure. The timeline5200depicts the typical steps that would be taken by the nurses, surgeons, and other medical personnel during the course of a lung segmentectomy procedure, beginning with setting up the operating theater and ending with transferring the patient to a post-operative recovery room. The situationally aware surgical hub106,206receives data from the data sources throughout the course of the surgical procedure, including data generated each time medical personnel utilize a modular device that is paired with the surgical hub106,206. The surgical hub106,206can receive this data from the paired modular devices and other data sources and continually derive inferences (i.e., contextual information) about the ongoing procedure as new data is received, such as which step of the procedure is being performed at any given time. The situational awareness system of the surgical hub106,206is able to, for example, record data pertaining to the procedure for generating reports, verify the steps being taken by the medical personnel, provide data or prompts (e.g., via a display screen) that may be pertinent for the particular procedural step, adjust modular devices based on the context (e.g., activate monitors, adjust the field of view (FOV) of the medical imaging device, or change the energy level of an ultrasonic surgical instrument or RF electrosurgical instrument), and take any other such action described above. As the first step5202in this illustrative procedure, the hospital staff members retrieve the patient's EMR from the hospital's EMR database. Based on select patient data in the EMR, the surgical hub106,206determines that the procedure to be performed is a thoracic procedure. Second step5204, the staff members scan the incoming medical supplies for the procedure. The surgical hub106,206cross-references the scanned supplies with a list of supplies that are utilized in various types of procedures and confirms that the mix of supplies corresponds to a thoracic procedure. Further, the surgical hub106,206is also able to determine that the procedure is not a wedge procedure (because the incoming supplies either lack certain supplies that are necessary for a thoracic wedge procedure or do not otherwise correspond to a thoracic wedge procedure). Third step5206, the medical personnel scan the patient band via a scanner that is communicably connected to the surgical hub106,206. The surgical hub106,206can then confirm the patient's identity based on the scanned data. Fourth step5208, the medical staff turns on the auxiliary equipment. The auxiliary equipment being utilized can vary according to the type of surgical procedure and the techniques to be used by the surgeon, but in this illustrative case they include a smoke evacuator, insufflator, and medical imaging device. When activated, the auxiliary equipment that are modular devices can automatically pair with the surgical hub106,206that is located within a particular vicinity of the modular devices as part of their initialization process. The surgical hub106,206can then derive contextual information about the surgical procedure by detecting the types of modular devices that pair with it during this pre-operative or initialization phase. In this particular example, the surgical hub106,206determines that the surgical procedure is a VATS procedure based on this particular combination of paired modular devices. Based on the combination of the data from the patient's EMR, the list of medical supplies to be used in the procedure, and the type of modular devices that connect to the hub, the surgical hub106,206can generally infer the specific procedure that the surgical team will be performing. Once the surgical hub106,206knows what specific procedure is being performed, the surgical hub106,206can then retrieve the steps of that procedure from a memory or from the cloud and then cross-reference the data it subsequently receives from the connected data sources (e.g., modular devices and patient monitoring devices) to infer what step of the surgical procedure the surgical team is performing. Fifth step5210, the staff members attach the EKG electrodes and other patient monitoring devices to the patient. The EKG electrodes and other patient monitoring devices are able to pair with the surgical hub106,206. As the surgical hub106,206begins receiving data from the patient monitoring devices, the surgical hub106,206thus confirms that the patient is in the operating theater. Sixth step5212, the medical personnel induce anesthesia in the patient. The surgical hub106,206can infer that the patient is under anesthesia based on data from the modular devices and/or patient monitoring devices, including EKG data, blood pressure data, ventilator data, or combinations thereof, for example. Upon completion of the sixth step5212, the pre-operative portion of the lung segmentectomy procedure is completed and the operative portion begins. Seventh step5214, the patient's lung that is being operated on is collapsed (while ventilation is switched to the contralateral lung). The surgical hub106,206can infer from the ventilator data that the patient's lung has been collapsed, for example. The surgical hub106,206can infer that the operative portion of the procedure has commenced as it can compare the detection of the patient's lung collapsing to the expected steps of the procedure (which can be accessed or retrieved previously) and thereby determine that collapsing the lung is the first operative step in this particular procedure. Eighth step5216, the medical imaging device (e.g., a scope) is inserted and video from the medical imaging device is initiated. The surgical hub106,206receives the medical imaging device data (i.e., video or image data) through its connection to the medical imaging device. Upon receipt of the medical imaging device data, the surgical hub106,206can determine that the laparoscopic portion of the surgical procedure has commenced. Further, the surgical hub106,206can determine that the particular procedure being performed is a segmentectomy, as opposed to a lobectomy (note that a wedge procedure has already been discounted by the surgical hub106,206based on data received at the second step5204of the procedure). The data from the medical imaging device124(FIG.2) can be utilized to determine contextual information regarding the type of procedure being performed in a number of different ways, including by determining the angle at which the medical imaging device is oriented with respect to the visualization of the patient's anatomy, monitoring the number or medical imaging devices being utilized (i.e., that are activated and paired with the surgical hub106,206), and monitoring the types of visualization devices utilized. For example, one technique for performing a VATS lobectomy places the camera in the lower anterior corner of the patient's chest cavity above the diaphragm, whereas one technique for performing a VATS segmentectomy places the camera in an anterior intercostal position relative to the segmental fissure. Using pattern recognition or machine learning techniques, for example, the situational awareness system can be trained to recognize the positioning of the medical imaging device according to the visualization of the patient's anatomy. As another example, one technique for performing a VATS lobectomy utilizes a single medical imaging device, whereas another technique for performing a VATS segmentectomy utilizes multiple cameras. As yet another example, one technique for performing a VATS segmentectomy utilizes an infrared light source (which can be communicably coupled to the surgical hub as part of the visualization system) to visualize the segmental fissure, which is not utilized in a VATS lobectomy. By tracking any or all of this data from the medical imaging device, the surgical hub106,206can thereby determine the specific type of surgical procedure being performed and/or the technique being used for a particular type of surgical procedure. Ninth step5218, the surgical team begins the dissection step of the procedure. The surgical hub106,206can infer that the surgeon is in the process of dissecting to mobilize the patient's lung because it receives data from the RF or ultrasonic generator indicating that an energy instrument is being fired. The surgical hub106,206can cross-reference the received data with the retrieved steps of the surgical procedure to determine that an energy instrument being fired at this point in the process (i.e., after the completion of the previously discussed steps of the procedure) corresponds to the dissection step. In certain instances, the energy instrument can be an energy tool mounted to a robotic arm of a robotic surgical system. Tenth step5220, the surgical team proceeds to the ligation step of the procedure. The surgical hub106,206can infer that the surgeon is ligating arteries and veins because it receives data from the surgical stapling and cutting instrument indicating that the instrument is being fired. Similarly to the prior step, the surgical hub106,206can derive this inference by cross-referencing the receipt of data from the surgical stapling and cutting instrument with the retrieved steps in the process. In certain instances, the surgical instrument can be a surgical tool mounted to a robotic arm of a robotic surgical system. Eleventh step5222, the segmentectomy portion of the procedure is performed. The surgical hub106,206can infer that the surgeon is transecting the parenchyma based on data from the surgical stapling and cutting instrument, including data from its cartridge. The cartridge data can correspond to the size or type of staple being fired by the instrument, for example. As different types of staples are utilized for different types of tissues, the cartridge data can thus indicate the type of tissue being stapled and/or transected. In this case, the type of staple being fired is utilized for parenchyma (or other similar tissue types), which allows the surgical hub106,206to infer that the segmentectomy portion of the procedure is being performed. Twelfth step5224, the node dissection step is then performed. The surgical hub106,206can infer that the surgical team is dissecting the node and performing a leak test based on data received from the generator indicating that an RF or ultrasonic instrument is being fired. For this particular procedure, an RF or ultrasonic instrument being utilized after parenchyma was transected corresponds to the node dissection step, which allows the surgical hub106,206to make this inference. It should be noted that surgeons regularly switch back and forth between surgical stapling/cutting instruments and surgical energy (i.e., RF or ultrasonic) instruments depending upon the particular step in the procedure because different instruments are better adapted for particular tasks. Therefore, the particular sequence in which the stapling/cutting instruments and surgical energy instruments are used can indicate what step of the procedure the surgeon is performing. Moreover, in certain instances, robotic tools can be utilized for one or more steps in a surgical procedure and/or handheld surgical instruments can be utilized for one or more steps in the surgical procedure. The surgeon(s) can alternate between robotic tools and handheld surgical instruments and/or can use the devices concurrently, for example. Upon completion of the twelfth step5224, the incisions are closed up and the post-operative portion of the procedure begins. Thirteenth step5226, the patient's anesthesia is reversed. The surgical hub106,206can infer that the patient is emerging from the anesthesia based on the ventilator data (i.e., the patient's breathing rate begins increasing), for example. Lastly, the fourteenth step5228is that the medical personnel remove the various patient monitoring devices from the patient. The surgical hub106,206can thus infer that the patient is being transferred to a recovery room when the hub loses EKG, BP, and other data from the patient monitoring devices. As can be seen from the description of this illustrative procedure, the surgical hub106,206can determine or infer when each step of a given surgical procedure is taking place according to data received from the various data sources that are communicably coupled to the surgical hub106,206. Situational awareness is further described in U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, which is herein incorporated by reference in its entirety. In certain instances, operation of a robotic surgical system, including the various robotic surgical systems disclosed herein, for example, can be controlled by the hub106,206based on its situational awareness and/or feedback from the components thereof and/or based on information from the cloud102. Various aspects of the subject matter described herein are set out in the following numbered examples. Example 1. A surgical hub, comprising: a processor; and a memory coupled to the processor, the memory storing instructions executable by the processor to: receive first image data from a first image sensor, wherein the first image data represents a first field of view; receive second image data from a second image sensor, wherein the second image data represents a second field of view; and display, on a display coupled to the processor, a first image rendered from the first image data corresponding to the first field of view and a second image rendered from the second image data corresponding to the second field of view. Example 2. The surgical hub of Example 1, wherein the first field of view is a narrow angle field of view. Example 3. The surgical hub of any one of Examples 1-2, wherein the first field of view is a wide angle field of view. Example 4. The surgical hub of any one of Examples 1-3, wherein the memory stores instructions executable by the processor to augment the first image with the second image on the display. Example 5. The surgical hub of any one of Examples 1-4, wherein the memory stores instructions executable by the processor to fuse the first image and the second image into a third image and display a fused image on the display. Example 6. The surgical hub of any one of Examples 1-5, wherein the fused image data comprises status information associated with a surgical device, an image data integration landmark to interlock a plurality of images, and at least one guidance parameter. Example 7. The surgical hub of any one of Examples 1-6, wherein the first image sensor is the same as the second image sensor and wherein the first image data is captured as a first time by the first image sensor and the second image data is captured at a second time by the first image sensor. Example 8. The surgical hub of any one of Examples 1-7, wherein the memory stores instructions executable by the processor to: receive third image data from a third image sensor, wherein the third image data represents a third field of view; generate composite image data comprising the second and third image data; display the first image in a first window of the display, wherein the first image corresponds to the first image data; and display a third image in a second window of the display, wherein the third image corresponds to the composite image data. Example 9. The surgical hub of any one of Examples 1-8, wherein the memory stores instructions executable by the processor to: receive third image data from a third image sensor, wherein the third image data represents a third field of view; fuse the second and third image data to generate fused image data; display the first image in a first window of the display, wherein the first image corresponds to the first image data; and display a third image in a second window of the display, wherein the third image corresponds to the fused image data. Example 10. A surgical hub, comprising: a processor; and a memory coupled to the processor, the memory storing instructions executable by the processor to: detect a surgical device connection to the surgical hub; transmit a control signal to the detected surgical device to transmit to the surgical hub surgical parameter data associated with the detected surgical device; receive the surgical parameter data from the detected surgical device; receive image data from an image sensor; and display, on a display coupled to the surgical hub, an image rendered based on the image data received from the image sensor in conjunction with the surgical parameter data received from the surgical device. Example 11. The surgical hub of Example 10, wherein the surgical device comprises a local display that is separate from the display coupled to the surgical hub. Example 12. The surgical hub of any one of Examples 10-11, wherein the surgical device connected to the surgical hub is configured to reconfigure the local display to present information that is different from information presented when the surgical device is not connected to the surgical hub. Example 13. The surgical hub of any one of Examples 10-12, wherein a portion of information displayed on the local display is displayed on the display coupled to the surgical hub. Example 14. The surgical hub of any one of Examples 10-13, wherein information displayed on the display coupled to the surgical hub is mirrored on the local display of the surgical device. Example 15. A surgical hub, comprising: a control circuit configured to: detect a surgical device connection to the surgical hub; transmit a control signal to the detected surgical device to transmit to the surgical hub surgical parameter data associated with the detected surgical device; receive the surgical parameter data from the detected surgical device; receive image data from an image sensor; and display, on a display coupled to the surgical hub, an image received from the image sensor in conjunction with the surgical parameter data received from the surgical device. Example 16. The surgical hub of Example 15, wherein the surgical device comprises a local display that is separate from the display coupled to the surgical hub. Example 17. The surgical hub of any one of Examples 15-16, wherein the surgical device connected to the surgical hub is configured to reconfigure the local display to present information that is different from information presented when the surgical device is not connected to the surgical hub. Example 18. The surgical hub of any one of Examples 15-17, wherein a portion of information displayed on the local display is displayed on the display coupled to the surgical hub. Example 19. The surgical hub of any one of Examples 15-18, wherein information displayed on the display coupled to the surgical hub is mirrored on the local display of the surgical device. Example 20. A non-transitory computer readable medium storing computer readable instructions which, when executed, causes a machine to: detect a surgical device connection to the surgical hub; transmit a control signal to the detected surgical device to transmit to the surgical hub surgical parameter data associated with the detected surgical device; receive the surgical parameter data from the detected surgical device; receive image data from an image sensor; and display, on a display coupled to the surgical hub, an image received from the image sensor in conjunction with the surgical parameter data received from the surgical device. Example 21. A non-transitory computer readable medium storing computer readable instructions which, when executed, causes a machine to: receive first image data from a first image sensor, wherein the first image data represents a first field of view; receive second image data from a second image sensor, wherein the second image data represents a second field of view; and display, on a display coupled to the surgical hub, a first image corresponding to the first field of view and a second image corresponding to the second field of view. While several forms have been illustrated and described, it is not the intention of the applicant to restrict or limit the scope of the appended claims to such detail. Numerous modifications, variations, changes, substitutions, combinations, and equivalents to those forms may be implemented and will occur to those skilled in the art without departing from the scope of the present disclosure. Moreover, the structure of each element associated with the described forms can be alternatively described as a means for providing the function performed by the element. Also, where materials are disclosed for certain components, other materials may be used. It is therefore to be understood that the foregoing description and the appended claims are intended to cover all such modifications, combinations, and variations as falling within the scope of the disclosed forms. The appended claims are intended to cover all such modifications, variations, changes, substitutions, modifications, and equivalents. The foregoing detailed description has set forth various forms of the devices and/or processes via the use of block diagrams, flowcharts, and/or examples. Insofar as such block diagrams, flowcharts, and/or examples contain one or more functions and/or operations, it will be understood by those within the art that each function and/or operation within such block diagrams, flowcharts, and/or examples can be implemented, individually and/or collectively, by a wide range of hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will recognize that some aspects of the forms disclosed herein, in whole or in part, can be equivalently implemented in integrated circuits, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or as virtually any combination thereof, and that designing the circuitry and/or writing the code for the software and or firmware would be well within the skill of one of skill in the art in light of this disclosure. In addition, those skilled in the art will appreciate that the mechanisms of the subject matter described herein are capable of being distributed as one or more program products in a variety of forms, and that an illustrative form of the subject matter described herein applies regardless of the particular type of signal bearing medium used to actually carry out the distribution. Instructions used to program logic to perform various disclosed aspects can be stored within a memory in the system, such as dynamic random access memory (DRAM), cache, flash memory, or other storage. Furthermore, the instructions can be distributed via a network or by way of other computer readable media. Thus a machine-readable medium may include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), but is not limited to, floppy diskettes, optical disks, compact disc, read-only memory (CD-ROMs), and magneto-optical disks, read-only memory (ROMs), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, flash memory, or a tangible, machine-readable storage used in the transmission of information over the Internet via electrical, optical, acoustical or other forms of propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.). Accordingly, the non-transitory computer-readable medium includes any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer). As used in any aspect herein, the term “control circuit” may refer to, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor comprising one or more individual instruction processing cores, processing unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic array (PLA), or field programmable gate array (FPGA)), state machine circuitry, firmware that stores instructions executed by programmable circuitry, and any combination thereof. The control circuit may, collectively or individually, be embodied as circuitry that forms part of a larger system, for example, an integrated circuit (IC), an application-specific integrated circuit (ASIC), a system on-chip (SoC), desktop computers, laptop computers, tablet computers, servers, smart phones, etc. Accordingly, as used herein “control circuit” includes, but is not limited to, electrical circuitry having at least one discrete electrical circuit, electrical circuitry having at least one integrated circuit, electrical circuitry having at least one application specific integrated circuit, electrical circuitry forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program which at least partially carries out processes and/or devices described herein, or a microprocessor configured by a computer program which at least partially carries out processes and/or devices described herein), electrical circuitry forming a memory device (e.g., forms of random access memory), and/or electrical circuitry forming a communications device (e.g., a modem, communications switch, or optical-electrical equipment). Those having skill in the art will recognize that the subject matter described herein may be implemented in an analog or digital fashion or some combination thereof. As used in any aspect herein, the term “logic” may refer to an app, software, firmware and/or circuitry configured to perform any of the aforementioned operations. Software may be embodied as a software package, code, instructions, instruction sets and/or data recorded on non-transitory computer readable storage medium. Firmware may be embodied as code, instructions or instruction sets and/or data that are hard-coded (e.g., nonvolatile) in memory devices. As used in any aspect herein, the terms “component,” “system,” “module” and the like can refer to a computer-related entity, either hardware, a combination of hardware and software, software, or software in execution. As used in any aspect herein, an “algorithm” refers to a self-consistent sequence of steps leading to a desired result, where a “step” refers to a manipulation of physical quantities and/or logic states which may, though need not necessarily, take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It is common usage to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. These and similar terms may be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities and/or states. A network may include a packet switched network. The communication devices may be capable of communicating with each other using a selected packet switched network communications protocol. One example communications protocol may include an Ethernet communications protocol which may be capable permitting communication using a Transmission Control Protocol/Internet Protocol (TCP/IP). The Ethernet protocol may comply or be compatible with the Ethernet standard published by the Institute of Electrical and Electronics Engineers (IEEE) titled “IEEE 802.3 Standard”, published in December, 2008 and/or later versions of this standard. Alternatively or additionally, the communication devices may be capable of communicating with each other using an X.25 communications protocol. The X.25 communications protocol may comply or be compatible with a standard promulgated by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, the communication devices may be capable of communicating with each other using a frame relay communications protocol. The frame relay communications protocol may comply or be compatible with a standard promulgated by Consultative Committee for International Telegraph and Telephone (CCITT) and/or the American National Standards Institute (ANSI). Alternatively or additionally, the transceivers may be capable of communicating with each other using an Asynchronous Transfer Mode (ATM) communications protocol. The ATM communications protocol may comply or be compatible with an ATM standard published by the ATM Forum titled “ATM-MPLS Network Interworking 2.0” published August 2001, and/or later versions of this standard. Of course, different and/or after-developed connection-oriented network communication protocols are equally contemplated herein. Unless specifically stated otherwise as apparent from the foregoing disclosure, it is appreciated that, throughout the foregoing disclosure, discussions using terms such as “processing,” “computing,” “calculating,” “determining,” “displaying,” or the like, refer to the action and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission or display devices. One or more components may be referred to herein as “configured to,” “configurable to,” “operable/operative to,” “adapted/adaptable,” “able to,” “conformable/conformed to,” etc. Those skilled in the art will recognize that “configured to” can generally encompass active-state components and/or inactive-state components and/or standby-state components, unless context requires otherwise. The terms “proximal” and “distal” are used herein with reference to a clinician manipulating the handle portion of the surgical instrument. The term “proximal” refers to the portion closest to the clinician and the term “distal” refers to the portion located away from the clinician. It will be further appreciated that, for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute. Those skilled in the art will recognize that, in general, terms used herein, and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to claims containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, etc.” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, and C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). In those instances where a convention analogous to “at least one of A, B, or C, etc.” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, or C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). It will be further understood by those within the art that typically a disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms unless context dictates otherwise. For example, the phrase “A or B” will be typically understood to include the possibilities of “A” or “B” or “A and B.” With respect to the appended claims, those skilled in the art will appreciate that recited operations therein may generally be performed in any order. Also, although various operational flow diagrams are presented in a sequence(s), it should be understood that the various operations may be performed in other orders than those which are illustrated, or may be performed concurrently. Examples of such alternate orderings may include overlapping, interleaved, interrupted, reordered, incremental, preparatory, supplemental, simultaneous, reverse, or other variant orderings, unless context dictates otherwise. Furthermore, terms like “responsive to,” “related to,” or other past-tense adjectives are generally not intended to exclude such variants, unless context dictates otherwise. It is worthy to note that any reference to “one aspect,” “an aspect,” “an exemplification,” “one exemplification,” and the like means that a particular feature, structure, or characteristic described in connection with the aspect is included in at least one aspect. Thus, appearances of the phrases “in one aspect,” “in an aspect,” “in an exemplification,” and “in one exemplification” in various places throughout the specification are not necessarily all referring to the same aspect. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner in one or more aspects. Any patent application, patent, non-patent publication, or other disclosure material referred to in this specification and/or listed in any Application Data Sheet is incorporated by reference herein, to the extent that the incorporated materials is not inconsistent herewith. 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. In summary, numerous benefits have been described which result from employing the concepts described herein. The foregoing description of the one or more forms has been presented for purposes of illustration and description. It is not intended to be exhaustive or limiting to the precise form disclosed. Modifications or variations are possible in light of the above teachings. The one or more forms were chosen and described in order to illustrate principles and practical application to thereby enable one of ordinary skill in the art to utilize the various forms and with various modifications as are suited to the particular use contemplated. It is intended that the claims submitted herewith define the overall scope.

11857153

DETAILED DESCRIPTION The ability to accurately discern three-dimensional position information (X, Y, Z) of target objects (e.g., biological tissue) is a necessary and critical requirement of an automated surgical robotic system. One approach is to use fiducial markers of a known size and shape directly attached to a surface of an object to determine positional information about the surface; however, spatial resolution of any method using fiducial markers is limited to the number of fiducials applied to the tissue. Fiducial markers must be large enough for computer vision systems to detect, but also small enough to maximize spatial resolution of the surface to which they are attached. Because of these conflicting requirements, there is an upper bound to the spatial resolution provided by fiducial markers, especially in surgical settings where automated surgical robot systems may be operating in small, confined spaces. Many surgical maneuvers (e.g., suturing) require highly dexterous and highly accurate motion of surgical tools to achieve a satisfactory surgical outcome. In fully automated robotic surgical procedures having no active human control, the accuracy of the surgical tools controlled by the robot is highly dependent on the spatial resolution of the computer vision system. Because surgical outcomes are heavily dependent on the positional accuracy of the computer vision systems guiding the robotic tools, spatial resolution of the surgical sites is even more important in fully automated robotic surgical procedures. Solely using fiducial markers to guide fully automate surgical robots does not provide adequate spatial resolution of surgical sites to ensure satisfactory outcomes. Accordingly, a need exists for a system and method to accurately and reliably sense positional information with a high resolution which enables accurate surgical planning and execution to improve enable robotic-assisted surgery. Embodiments of the present disclosure generally relate to multi-modal sensing of three-dimensional position information of a surface of an object. In particular, the present disclosure describes multiple visualization modalities used to collect distinctive positional information of the surface of the object that is then combined using weighting factors to compute a final three-dimensional position. While the present disclosure generally focuses on sensing three-dimensional position with respect to automated surgical robots, the systems, methods, and computer program products are suitable for use in other fields that employ computer vision techniques to identify three-dimensional position, such as virtual reality or augmented reality applications. A system for determining a three-dimensional coordinate on a surface of an object (e.g., a biological tissue) generally includes a first imaging system used to establish a baseline image of the object. The baseline image may be established using, e.g., a series of fiducial markers affixed to the surface of the object, to generate positional information for the surface of the object. For example, fiducial markers may be placed on the surface of a tissue via a spray applicator (e.g., spray catheter) In general, fiducial markers are special markers that may be recognized by a computer vision system to determine specific position information about the surface to which they are affixed. Non-limiting examples of fiducial markers may include symbols (e.g., alphanumeric), patterns (e.g., QR codes), liquid (e.g., infrared ink), or physical shapes (2D or 3D). This position information may be used to map the surface of the object and create a computer simulation of that surface in three-dimensions. The fiducial markers may be affixed to the object in a particular pattern (e.g., a grid pattern) or no particular pattern (e.g., randomized placement). In various embodiments, the fiducial marker is applied to target tissue in a liquid state through a syringe needle. Applying a liquid marker to target tissue has a number of advantages. First, the marker can be mixed onsite which improves the stability of the marker. Second, a liquid marker allows the precise control over location and application to target tissue. Third, the marker can be applied as any irregular shape. By applying a liquid marker with syringe, the irrigated surgical field causes an exothermic reaction to solidify the marker in a circular shape to target tissue. A circular marker may be beneficial for tracking single points of interest on target tissue during a surgical procedure. In various embodiments, a marking tip such as a syringe needle or felt nib may be used to dispense the fiducial marker in a linear pattern. By applying the fiducial marker as a continuous line, one can use the marker to define boundaries on target tissue. Defining boundaries may be useful to identify regions of diseased tissue or regions where a surgical procedure should not be performed. In yet another embodiment, the liquid marker may be sprayed onto the target tissue to create a speckled pattern when polymerized. A speckled pattern may be of interest to define large regions of tissue from each other. In one example, background tissue may be speckled to distinguish it from foreground tissue. Other components in robotic or semi-autonomous workflow may use background and foreground information to plan or control their motions or suggestions. In other embodiments, the liquid marker may be applied though a predefined mask to apply the marker in any arbitrary and predefined shape on target tissue. To acquire the position information of the surface of the object using fiducial markers, the first imaging system may include one or more cameras (e.g., one, two, three, four, or five). In various embodiments, the one or more cameras may include a stereoscopic camera. In various embodiments, the stereoscopic camera may be implemented by two separate cameras. In various embodiments, the two separate cameras may be disposed at a predetermined distance from one another. In various embodiments, the stereoscopic camera may be located at a distal-most end of a surgical instrument (e.g., laparoscope, endoscope, etc.). The camera(s) may cross-reference detected positions for each of the fiducial markers against a known reference (e.g., the known size and shape of the fiducial) to determine a positional information (e.g., depth) for each of the fiducial markers. Positional information, as used herein, may generally be defined as (X, Y, Z) in a three-dimensional coordinate system. The one or more cameras may be, for example, infrared cameras, that emit infrared radiation and detect the reflection of the emitted infrared radiation. In other embodiments, the one or more cameras may be digital cameras as are known in the art. In other embodiments, the one or more cameras may be plenoptic cameras. The one or more cameras may be connected to a computing node as described in more detail below. The present disclosure improves on the single mode approaches employing solely fiducial markers by also incorporating other visualization modalities in addition to fiducial marker tracking to improve the accuracy of the resulting positional information. A second imaging system may be used to generate position information for the surface of the object either individually or in combination with the other imaging systems described herein (e.g., after a baseline image is recorded using the first imaging system and positional information is acquired for each of the fiducial markers). The structured pattern projected from the structured light source may change shape, size, and/or spacing of pattern features when projected on a surface. The second imaging system may detect these changes and determine positional information based on the changes to the structured light pattern given a known pattern stored by the second imaging system. For example, the second imaging system may include a structured light source (e.g., a projector) that projects a specific structured pattern of lines (e.g., a matrix of dots or a series of stripes) onto the surface of the object. The pattern of lines produces a line of illumination that appears distorted from other perspectives than that of the source and these lines can be used for geometric reconstruction of the surface shape, thus providing positional information about the surface of the object. The second imaging system may include one or more cameras (e.g., one, two, three, four, or five) capable of detecting the projected pattern from the source of structured light. The one or more cameras may be digital camera(s) as are known in the art and may be the same or different camera(s) as used with the first imaging system. The one or more cameras may be connected to a computing node as described in more detail below. Using the images from the one or more cameras, the computing node may compute positional information (X, Y, Z) for any suitable number of points along the surface of the object to thereby generate a depth map of the surface. A third imaging system may be used to generate additional position information for the surface of the object. The third imaging system may include one or more cameras, such as a light-field camera (e.g., a plenoptic camera), and may be the same or different camera(s) as the camera(s) used for the first imaging system and the second imaging system. The plenoptic camera may be used to generate accurate positional information for the surface of the object by having appropriate zoom and focus depth settings. One type of light-field (e.g., plenoptic) camera that may be used according to the present disclosure uses an array of micro-lenses placed in front of an otherwise conventional image sensor to sense intensity, color, and directional information. Multi-camera arrays are another type of light-field camera. The “standard plenoptic camera” is a standardized mathematical model used by researchers to compare different types of plenoptic (or light-field) cameras. By definition the “standard plenoptic camera” has micro lenses placed one focal length away from the image plane of a sensor. Research has shown that its maximum baseline is confined to the main lens entrance pupil size which proves to be small compared to stereoscopic setups. This implies that the “standard plenoptic camera” may be intended for close range applications as it exhibits increased depth resolution at very close distances that can be metrically predicted based on the camera's parameters. Other types/orientations of plenoptic cameras may be used, such as focused plenoptic cameras, coded aperture cameras, and/or stereo with plenoptic cameras. Once positional information is generated using the first imaging system, the second imaging system and the third imaging system, a combined position may be calculated by computing a weighted average of the three imaging systems. As shown below in Equation 1, a combined pixel depth may be calculated by a weighted average of the depth generated from each of the three imaging systems. pixel⁢depth=CMCM+CSL+CP*DepthM+CSLCM+CSL+CP*DepthSL+CPCM+CSL+CP*DepthP(Eqn.1) In Equation 1, CMrepresents the weight assigned to the first imaging system (e.g., the marker-based system), CSLrepresents the weight assigned to the second imaging system (e.g., the structured light-based system), CPrepresents the weight assigned to the third imaging system (e.g., the structured light-based system), DepthMrepresents the depth of the pixel generated from the first imaging system, DepthSLrepresents the depth of the pixel generated from the second imaging system, and DepthPrepresents the depth of the pixel generated from the third imaging system. In various embodiments, each of the weights may be a value between zero (0) and one (1), and the sum of all weight values may add up to unity (1). In various embodiments, the weight CMassigned to the first imaging system may be equal to the weight CSLassigned to the second imaging system and the weight CPassigned to the third imaging system. In other embodiments, the weight CSLassigned to the second imaging system is greater than the weight CMassigned to the first imaging system and/or the weight CPassigned to the third imaging system. In yet another embodiment, the weight CPassigned to the third imaging system is greater than the weight CMassigned to the first imaging system and/or the weight CSLassigned to the second imaging system. In various embodiments, weight for each variable in Equation 1 may be determined based on one or more factors selected based on the type of imaging system(s) used. For example, if light field imaging is used, factors may include: (1) amount of contrast in the image, (2) number of saturated pixels (which may be used to measure light intensity), and (3) localized change in depth of a specific area of the image. A high weight value may correspond to an image having high contrast within a scene, little to no saturated pixels, and low local change in depth. In another example, if structured light imaging is used, factors may include: (1) amount of pattern recognized and (2) number of saturated pixels. A high weight value may correspond to an image having most or all of a pattern recognized and little to no saturated pixels. In yet another example, if fiducial markers are used, factors may include (1) number of saturated pixels, (2) ability to recognize the shape/size of fiducial marker(s), and (3) ability to discern the fiducial marker(s) from the surrounding environment. A high weight value may correspond to an image having little to no saturated pixels, ability to recognize most or all of the fiducial markers, and the ability to discern the fiducials from the surrounding environment. In various embodiments, any combination of two imaging modalities described herein may be used to compute first and second depths of a surface of an object. In this embodiment, each of the two imaging modalities may have a respective weighting factor that is applied to the depth determined by that particular modality. In various embodiments, the two weighting factors may add up to unity. In various embodiments, the pixel depth function is computed in a similar manner to that described above in Equation 1, but in contrast, the pixel depth for two modalities is dependent on only two weighted depth computations (instead of three). In various embodiments, the weights associated with each imaging system may be dependent on the overall quality of the particular imaging system. For example, one particular imaging system may provide more accurate data overall than another imaging system. In this example, the data received the imaging system with the higher accuracy would be given a higher weight than the data received from the imaging system with the lower accuracy. In various embodiments, the accuracy and/or precision of various imaging systems may be dependent on the distance away from the object to be imaged, the material being imaged, and/or the lighting of the operating environment. In various embodiments, the accuracy and/or precision of various imaging systems may be dependent on a location in the field of view of the imaging system—for example a first imaging system may have high accuracy at the center of the field of view with a rapid decline towards the edges, while another imaging system may have a consistent accuracy across the field of view. A discussion of how various sensors perform in different situations can be found in “An Empirical Evaluation of Ten Depth Cameras” by Halmetschlager-Funek et al., which is hereby incorporated by reference in its entirety.FIG.8shows a table of analyzed sensors in the Halmetschlager-Funek paper.FIGS.9A,9B,9C,10A,10B,10C,11,12A,12B,12C,12D,13A,13B,14A,14B, and14Cillustrate various graphs from the Halmetschlager-Funek paper regarding the bias, precision, lateral noise, effects of materials/lighting/distance, and effects of additional sensors. In particular, regarding bias (shown inFIGS.9A,9B, and9C), the paper describes that while the Kinectv2 offers low bias over the whole range, a significant increase of the bias for sensors using structured light was observed starting from d>3 m. While all three structured light sensors and the two active stereo cameras (ZR300 and D435) offer a lower bias than the Kinectv2 for distances d<1 m, three sensors (ZR300, Orbbec, and Structure IO) offer an even lower bias for depth values d<2.5 m. A quadratic increase of the bias was observed for all sensors [full range: d=0-8 m,FIG.9A; zoom in: d=0-3 m,FIG.9B]. The near-range sensors, F200 and SR300 [FIG.9C], show a slightly higher bias than their far-range counterparts, while the Ensenso N35 provides a low bias over the whole measurement range. As for precision (as shown inFIGS.10A,10B, and10C), a quadratic decrease of precision was found in all far-range sensors [full range: d=0-8 m,FIG.10A; zoom in: d=0-3, m,FIG.10B], but the structured light sensors differ in scale compared to the Kinectv2. Overall, the R200 and ZR300 sensors have the worst performance, while the Structure IO and Orbbec sensors perform very similarly. At distances d<2 m, all structured light sensors were observed to generate less noisy measurements than the Kinec-tv2. Moreover, the D435 was able to gather more precise results than the Kinectv2 at distances d<1 m. The precision results for the D435 were observed to be more scattered than for the other sensors. The near-range sensors [FIG.10C] experience noise levels up to 0.0007 m. In the ranges specified by the manufacturers, precision values under 0.004 m were able to be obtained. As for lateral noise (FIG.11), the analysis of lateral noise shows similar results for the three far-range structured light sensors and distances. For d<3 m, the noise level was independent of the distance, with three pixels for the structured light sensors and one for the Kinectv2 (FIG.11). Two active stereo sensors (D435 and ZR300) offer a low lateral noise level similar to that of the Kinectv2. The R200 achieves a lower lateral noise of two pixels for distances closer than 2 m. In the near-range sensor, the Ensenso N35 achieves the highest lateral noise value. As for materials/lighting/distance (FIGS.12A,12B,12C, and12D), a total of 384 data points were gathered to determine how the sensors' precision was influenced by the reflection and absorption properties of six different materials in combination with four different lighting conditions from 4.2 to 535.75 lux (FIGS.12A,12B,12C, and12D). The tests reveal that the Structure10sensor best handles the varying object reflectances and lighting conditions. Although it has a lower precision compared to the other sensors for distances of d>1.5 m, it was able to gather information for high-reflective surfaces, such as aluminum, and under bright lighting conditions. While the Structure10sensor gives a dense depth estimation, the Xtion was not able to determine a depth value. The Orbbec may fail to gather depth information for four of the six surfaces under bright lighting conditions. The Kinectv2 may fails to gather reliable depth data for aluminum at distances of d=1 m and d=1.5 m and under bright lighting conditions. The F200 and SR300 sensors may have a significantly lower precision for bright lighting conditions. During the setup of the experiments, the active stereo cameras (Ensenso and R200) were expected to be able to handle different lighting conditions better than the structured light sensors due to the nature of their technology. InFIGS.12A,12B,12C, and12D, a precision of zero indicates that the sensor is not able to gather any depth information. As for noise induced by additional sensors (FIGS.13A,13B,14A,14B, and14C), the results (FIGS.13A and13B) reveal that the far-range structured light sensors can handle noise induced by one and two additional sensors. An exception occurs when the distance to the target is d=1.5 m and two additional sensors are introduced to the scene. A similar effect was not observed for the Kinectv2. The sensor may give stable results for precision independent of one or two additional sensors. The near-range sensors F200 and SR300 may be less precise with an additional sensor, and the Ensenso N35 is only slightly affected by a third observing sensor. At this point, we note that the high nan ratio for the close-range devices can be partially derived from our setup. Half of the scene is out of the sensor's range (FIGS.14A,14B, and14C). To summarize, the first experiment with one sensor provides a baseline for the measurements with two and three sensors observing the scene. The first differences may be visible if only one sensor is added. In particular, the SR300 and F200 sensors may have a significant increase in the nan ratio if another Realsense device is added to the scene. For a closer analysis, the corresponding depth images are shown. InFIGS.14A,14B, and14C, it is clear that the depth extraction is heavily influenced by an additional sensor. The Ensenso and Kinectv2 sensors may be unaffected by the additional sensors. In various embodiments, as described above, depth data received from one or more cameras may be higher quality (e.g., more reliable) than depth data from other cameras in the imaging system. In various embodiments, the quality of the depth data may be dependent on supporting features that are external to the imaging system. For example, depth data may be higher quality and therefore given a higher weight when a camera (e.g., infrared camera) can clearly read a predetermined number of fiducial markers on a tissue. In various embodiments, if the camera cannot read the predetermined number of markers, the depth data may be of a lower quality and therefore depth data from the camera may be given a lower weight. In a similar example, when a camera can clearly read a structured light pattern from a structured light projector, the depth data resulting from the structured light may be a higher quality and therefore given a higher weight. In various embodiments, the weights associated with each imaging system may be dependent on the confidence of the depth and/or the quality of each pixel. In various embodiments, because some imaging systems have one or more “sweet-spot” in an image with higher quality image data and one or more “dead-zone” with lower quality image data, each of the weights associated with the imaging system(s) may be parameterized at the pixel-level of an image. In various embodiments, one or more (e.g., all) of the weights may be a function of 2-dimensional points (x, y) representing pixels in an image. In various embodiments, pixels in an image may be assigned coordinate points in any suitable way as is known in the art. For example, the bottom left corner of an image may be assigned a coordinate of (0, 0) and the top right corner of the image may be assigned the maximum number of pixels in each respective axis (max x pixels, max y pixels). In an example, one imaging system (e.g., stereoscopic camera) may have high-quality image data in the center of an image and low-quality image data on the periphery. In this particular example, a higher weight may be assigned to pixels in the center of the image and the weight may decrease as the pixels move radially away from the center of the image. In various embodiments, the parametric function may be a continuous function. In various embodiments, the parametric function may be a discontinuous function (e.g., piece-wise function). In various embodiments, the parametric function may include a linear function. In various embodiments, the parametric function may include an exponential function. In various embodiments, when an imaging system cannot compute a depth at a particular pixel, that particular pixel may be assigned a weight of zero for the particular imaging system (i.e., the particular imaging system will not contribute to the determination of depth at that particular pixel). In various embodiments, the imaging system may include stereoscopic depth sensing. In various embodiments, stereoscopic depth sensing may work best when there are one or more uniquely identifiable features in an image (or video frame). In various embodiments, stereoscopic depth sensing may be performed using two cameras (e.g., digital cameras). In various embodiments, the cameras may be calibrated with one another. For example, the imaging system may be calibrated based on latency, frame rate, three-dimensional distance between the two cameras, various distances away from the imaging system, various lighting levels, marker types/shapes/colors, etc. In various embodiments, software known in the art may be used to control the two cameras and implement stereoscopic depth sensing. In various embodiments, a first image (or frame of a video) is captured at a first camera and a second image (or frame of a video) is captured at a second camera that is located at a predetermined distance away from the first camera. In various embodiments, a pixel disparity is computed between the first image (or frame of a video) and the second image (or frame of a video). In various embodiments, a depth may be determined from the pixel disparity value. In various embodiments, closer objects have a higher pixel disparity value and further objects have a lower pixel disparity value. In various embodiments, three-dimensional coordinates (x, y, z) may be computed from the determined depth and the camera calibration parameters. In various embodiments, stereoscopic depth sensing may be used with fiducial markers to determine depth. In various embodiments, the imaging system may include active stereoscopic depth sensing. In various embodiments, a projector may project a pattern that is unique on a local scale. In various embodiments, any suitable pattern may be used and the pattern does not have to be known to the imaging system in advance. In various embodiments, the pattern may change over time. In various embodiments, active stereoscopic depth sensing with a projector may provide depth information for featureless images in unstructured environments. In various embodiments, a static mask may be projected onto a surface of an object (e.g., a tissue) in a scene. For example, a physical pattern (e.g., wire mesh) may be positioned in front of a source of light and lenses may be used to focus the light pattern onto the surface. In various embodiments, a digital micromirror (DMD) projector may be used to project a pattern on the surface of the object. In this embodiment, light shines onto an array of micromirrors (e.g., 1,000,000 mirrors arranged in a rectangle). The mirrors may be controlled to either allow or prevent the light from entering and illuminating the scene. Lenses may be used to focus the light pattern onto the scene. In various embodiments, the DMD projector may allow for programmable patterns (e.g., QR code, letter, circle, square, etc.). It will be appreciated that a similar effect may be obtained using optical metasurfaces in place of a DMD. In various embodiments, a scanned laser projector may be used to project a pattern on the surface of the object. In this embodiments, one or more laser sources are used to project a single pixel on the surface. A high definition image may be created by shining one pixel at a time at a high frequency. In various embodiments, focusing of a pattern may not be required with a scanned laser projector. In various embodiments, the scanned laser projector may allow for programmable patterns (e.g., QR code, letter, circle, square, etc.). In various embodiments, custom algorithms may be developed for the stereoscopic camera to detect the known programmable pattern and to determine depth data from a surface onto which the pattern is projected. In various embodiments, the depth data is computed by determining a disparity value between a first image (or video frame) from the first camera and a second image (or video frame) from the second camera. In various embodiments, a predetermined wavelength of light may be projected onto a surface of an object depending on the material of the surface. Different materials may have different absorption and/or reflectance properties across a continuum of wavelengths of light. In various embodiments, a wavelength is selected such that light reflects off of the outer-most surface of the object. In various embodiments, if a wavelength of light is selected that penetrates the surface of the object, the resulting image may have a washed out appearance resulting in inaccurate depth data (e.g., lower accuracy, high spatiotemporal noise). In various embodiments, the imaging system may include an interferometer. In various embodiments, a light source may illuminate a scene with an object and a sensor may measure the phase difference between the emitted and reflected light. In various embodiments, depth may be computed directly from the sensor measurement. In various embodiments, this approach may have low computational resource requirements, faster processing, work on featureless scenes, and/or work at various illumination levels. In various embodiments, the resulting depth map including the computed depths at each pixel may be post-processed. Depth map post-processing refers to processing of the depth map such that it is useable for a specific application. In various embodiments, depth map post-processing may include accuracy improvement. In various embodiments, depth map post-processing may be used to speed up performance and/or for aesthetic reasons. Many specialized post-processing techniques exist that are suitable for use with the systems and methods of the present disclosure. For example, if the imaging device/sensor is run at a higher resolution than is technically necessary for the application, sub-sampling of the depth map may decrease the size of the depth map, leading to throughput improvement and shorter processing times. In various embodiments, subsampling may be biased. For example, subsampling may be biased to remove the depth pixels that lack a depth value (e.g., not capable of being calculated and/or having a value of zero). In various embodiments, spatial filtering (e.g., smoothing) can be used to decrease the noise in a single depth frame, which may include simple spatial averaging as well as non-linear edge-preserving techniques. In various embodiments, temporal filtering may be performed to decrease temporal depth noise using data from multiple frames. In various embodiments, a simple or time-biased average may be employed. In various embodiments, holes in the depth map can be filled in, for example, when the pixel shows a depth value inconsistently. In various embodiments, temporal variations in the signal (e.g., motion in the scene) may lead to blur and may require processing to decrease and/or remove the blur. In various embodiments, some applications may require a depth value present at every pixel. For such situations, when accuracy is not highly valued, post processing techniques may be used to extrapolate the depth map to every pixel. In various embodiments, the extrapolation may be performed with any suitable form of extrapolation (e.g., linear, exponential, logarithmic, etc.). In various embodiments, the first imaging system, the second imaging system, and the third imaging system use the same one or more cameras (e.g., plenoptic cameras) connected to a computing node. The computing node may process a single recorded image to extract the fiducial markers, the structure light pattern, and the light-field data as separate components. Each of the separate components may be used to compute positional information (e.g., a depth map) of a surface of the object. Weighting factors may be applied to each of the computed positional information to compute a weighted average depth. In various embodiments, systems can use any combination of the above-mentioned imaging modalities/systems to determine positional information about the surface of a tissue. In various embodiments, the systems may determine that a weight value in Equation 1 is zero (0). In this case, a system uses multiple imaging modalities/systems to acquire positional data, but determines at least one of those imaging modalities/systems does not provide reliable positional data and thus disregards the particular imaging modality/system(s) that does not provide reliable data when applying Equation 1. In some embodiments, a stereoscopic camera may be used as an imaging system either by itself or in combination with any of the above-mentioned imaging systems. The object from which positional information is obtained may be any suitable biological tissue. For example, the object may be an internal bodily tissue, such as esophageal tissue, stomach tissue, small/large intestinal tissue, and/or muscular tissue. In other embodiments, the object may be external tissue, such as dermal tissue on the abdomen, back, arm, leg, or any other external body part. Moreover, the object may be a bone, internal organ, or other internal bodily structure. The systems and method of the present disclosure would similarly work for animals in veterinary applications. In various embodiments, the systems and methods described herein may be used in any suitable application, such as, for example, diagnostic applications and/or surgical applications. As an example of a diagnostic application, the systems and methods described herein may be used in colonoscopy to image a polyp in the gastrointestinal tract and determine dimensions of the polyp. Information such as the dimensions of the polyp may be used by healthcare professionals to determine a treatment plan for a patient (e.g., surgery, chemotherapy, further testing, etc.). In another example, the systems and methods described herein may be used to measure the size of an incision or hole when extracting a part of or whole internal organ. As an example of a surgical application, the systems and methods described herein may be used in handheld surgical applications, such as, for example, handheld laparoscopic surgery, handheld endoscopic procedures, and/or any other suitable surgical applications where imaging and depth sensing may be necessary. In various embodiments, the systems and methods described herein may be used to compute the depth of a surgical field, including tissue, organs, thread, and/or any instruments. In various embodiments, the systems and methods described herein may be capable of making measurements in absolute units (e.g., millimeters). Various embodiments may be adapted for use in gastrointestinal (GI) catheters, such as an endoscope. In particular, the endoscope may include an atomized sprayer, an IR source, a camera system and optics, a robotic arm, and an image processor. In various embodiments, a contrast agent may be applied to the surface of the object, such as the surface of a biological tissue, to provide contrast to the surface of which three-dimensional positional information is to be generated by a computer vision system. When using some visualization modalities where precision is directly proportional to contrast and texture (e.g., light-field imaging), the contrast agent may be utilized to provide contrast to the surface. In various embodiments, where soft tissue is being imaged, the surface may be substantially uniform in color and have very little texture. In this case, a contrast agent, such as an atomized dye that adheres to the tissue (e.g., the serous membrane), may be applied to the tissue. The dye may be fluoresced and provide an artificial contrast to greatly improve the level of precision in the light-field imaging system. When contrast is used on the surface of the tissue, a calibration may be obtained prior to the application of the contrast agent to determine depth information. FIG.1illustrates an exemplary image100of a surface102having fiducial markers104in which the image may be used as a baseline image. InFIG.1, fiducial markers104are provided on the surface102in the form of liquid markers. The fiducial markers104are painted in a matrix format such that a computer vision system running on a computing node can recognize the fiducial markers104and compute a three dimensional surface from the image. The computer vision system may include one or more cameras that record images of the object and provide the images to the computing node running computer vision software. In various embodiments, the computer vision system generates three-dimensional position information (X, Y, Z) for each of the fiducial markers104. The computer vision system may further interpolate positional information between the fiducial markers104or may extrapolate to generate a three-dimensional model of the surface102of the object. FIG.2illustrates an exemplary image200of a surface202having a matrix of structured light markers206overlaying the baseline image100ofFIG.1. The matrix of structured light markers206are in the form of a grid of dots. The structured light markers206are projected onto the surface202of the object from a source of structured light (e.g., a laser) such that a computer vision system running on a computing node can recognize the structured light markers206and compute a three dimensional surface from the image. The computer vision system may include one or more cameras that record images of the structured light markers206projected onto the object and provide the images to the computing node running computer vision software. The computer vision software may analyze the structured light markers206from images taken at different visual angles and perform geometric reconstruction to generate positional information of the surface202. As shown inFIG.2, the matrix of structured light markers206has more markers projected onto the surface202than the fiducial markers104shown inFIG.1. Thus, three-dimensional positional information will be more accurate using the structured light markers206as there are more data points from which the computer vision software can generate the three-dimensional model of the surface202. FIG.3Aillustrates an exemplary image of simulated biological tissue310whileFIG.3Billustrates an exemplary image of a depth map315of the same simulated biological tissue310. As shown inFIG.3A, the simulated biological tissue310(e.g., a serous membrane) is substantially uniform in color, is not textured, and has no artificial markers. The depth map315shown inFIG.3Brepresents a depth map produced by light-field imaging of the simulated tissue310. As shown inFIG.3B, the depth map315has very little to no depth data in areas of little contrast—namely, the areas of the tissue310away from the edges. Depth data exists at the edges because of the contrast between the simulated tissue310and the background. FIG.4Aillustrates an exemplary image of simulated biological tissue410having a contrast agent applied to the surface whileFIG.4Billustrates an exemplary image of a depth map415of the same simulated biological tissue410having the contrast agent. As shown inFIG.4A, a contrast agent (e.g., an atomized blue dye) is applied to the simulated biological tissue410(e.g., a serous membrane). The depth map415shown inFIG.4Brepresents a depth map produced by light-field imaging of the simulated tissue410having the contrast agent. As shown inFIG.4B, the depth map415has much more data than the depth map315shown inFIG.3Bbecause of the contrast agent applied to the surface of the tissue. Based on the depth map415, a computer vision system would recognize that the tissue410has a curved surface. FIG.5illustrates a 3D surface imaging system500imaging a tissue according to embodiments of the present disclosure. The imaging system500includes an endoscope520having cameras521a,521bthat, when used together, generate stereoscopic images of a tissue502(e.g., stomach). In various embodiments, the endoscope520may optionally, or additionally, include an infrared camera. The tissue502has fiducial markers504disposed thereon such that a camera (e.g., infrared camera) can detect the markers504against the background of the tissue502. In various embodiments, the imaging system500further includes a projector522. In various embodiments, the projector522may be configured to project structured light506(e.g., a dot pattern) onto the tissue502. In various embodiments, the projector is configured to project infrared light. The imaging system500further includes a light-field (e.g., plenoptic) camera524. In various embodiments, the tissue502may be sprayed with a contrast liquid as described above to allow the imaging system500to determine depth of the tissue502. FIG.6shows a diagram illustrating a 3D surface imaging system. The system combines three visualization modalities to improve the 3D imaging resolution. The system includes a camera system that can be moved by a robotic arm. For each of the visualization modalities, the camera system captures images of target tissue through a light guide in an endoscope and an optics mechanism. The images are processed by an image processor to determine a virtually constructed 3D surface. In one visualization modality, the camera system includes a light-field (e.g, plenoptic) camera for capturing a plenoptic image of the target tissue. The image processor uses standard techniques to determine 3D surface variation and shape from the plenoptic image. In a second visualization modality, the system uses an IR (infrared) source/projector for generating an IR spot pattern, which is projected on the target tissue via the optics mechanism and a light guide in the endoscope. The spot pattern can be predefined or random. The camera system includes an IR sensor that captures an image of the IR spots on the target tissue. The image is transmitted to the image processor, which detects distortions in the spot pattern projected on the target tissue to determine 3D surface variation and shape. In a third visualization modality, the system uses an atomizer/sprayer in the endoscope to apply an atomized liquid dye to selected areas of the target tissue to increase the number of fiducial spots. The atomized dye adheres to the target tissue in a random spot pattern with a higher spot concentration than the IR spot pattern. The dye can be fluoresced to provide an augmented contrast with the tissue to improve precision of the imaging system. The image processor determines which visualization modality data is most appropriate in a given situation, and combines the data where appropriate to further improve the 3D imaging resolution. The data can be combined using a weighting algorithm. The system thereby accurately and reliably senses depth with a high resolution, which is needed for accurate robotic surgical planning and execution. FIG.7shows a flowchart700of a method for determining a three-dimensional coordinate on an object. At702, the method includes recording an image, the image comprising an object, a first plurality of markers disposed on the object, a second plurality of markers disposed on the object, and a third plurality of markers disposed on the object. At704, the method includes computing a first depth using the image and the first plurality of markers. At706, the method includes computing a second depth using the image and the second plurality of markers. At708, the method includes computing a third depth using the image and the third plurality of markers. At710, the method includes assigning a first weight to the first depth, a second weight to the second depth, and a third weight to the third depth. At712, the method includes computing a weighted average depth based on the first depth, second depth, third depth, first weight, second weight, and third weight. Referring now toFIG.15, a schematic of an exemplary computing node is shown that may be used with the computer vision systems described herein. Computing node10is only one example of a suitable computing node and is not intended to suggest any limitation as to the scope of use or functionality of embodiments described herein. Regardless, computing node10is capable of being implemented and/or performing any of the functionality set forth hereinabove. In computing node10there is a computer system/server12, which is operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well-known computing systems, environments, and/or configurations that may be suitable for use with computer system/server12include, but are not limited to, personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputer systems, mainframe computer systems, and distributed cloud computing environments that include any of the above systems or devices, and the like. Computer system/server12may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, and so on that perform particular tasks or implement particular abstract data types. Computer system/server12may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices. As shown inFIG.15, computer system/server12in computing node10is shown in the form of a general-purpose computing device. The components of computer system/server12may include, but are not limited to, one or more processors or processing units16, a system memory28, and a bus18coupling various system components including system memory28to processor16. Bus18represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus. Computer system/server12typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer system/server12, and it includes both volatile and non-volatile media, removable and non-removable media. System memory28can include computer system readable media in the form of volatile memory, such as random access memory (RAM)30and/or cache memory32. Computer system/server12may further include other removable/non-removable, volatile/non-volatile computer system storage media. By way of example only, storage system34can be provided for reading from and writing to a non-removable, non-volatile magnetic media (not shown and typically called a “hard drive”). Although not shown, a magnetic disk drive for reading from and writing to a removable, non-volatile magnetic disk (e.g., a “floppy disk”), and an optical disk drive for reading from or writing to a removable, non-volatile optical disk such as a CD-ROM, DVD-ROM or other optical media can be provided. In such instances, each can be connected to bus18by one or more data media interfaces. As will be further depicted and described below, memory28may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the disclosure. Program/utility40, having a set (at least one) of program modules42, may be stored in memory28by way of example, and not limitation, as well as an operating system, one or more application programs, other program modules, and program data. Each of the operating system, one or more application programs, other program modules, and program data or some combination thereof, may include an implementation of a networking environment. Program modules42generally carry out the functions and/or methodologies of embodiments described herein. Computer system/server12may also communicate with one or more external devices14such as a keyboard, a pointing device, a display24, etc.; one or more devices that enable a user to interact with computer system/server12; and/or any devices (e.g., network card, modem, etc.) that enable computer system/server12to communicate with one or more other computing devices. Such communication can occur via Input/Output (I/O) interfaces22. Still yet, computer system/server12can communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and/or a public network (e.g., the Internet) via network adapter20. As depicted, network adapter20communicates with the other components of computer system/server12via bus18. It should be understood that although not shown, other hardware and/or software components could be used in conjunction with computer system/server12. Examples, include, but are not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc. In other embodiments, the computer system/server may be connected to one or more cameras (e.g., digital cameras, light-field cameras) or other imaging/sensing devices (e.g., infrared cameras or sensors). The present disclosure includes a system, a method, and/or a computer program product. The computer program product may include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present disclosure. The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire. Computer readable program instructions described herein can be downloaded to respective computing/processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and/or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing/processing device. Computer readable program instructions for carrying out operations of the present disclosure may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In various embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure. Aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions. These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function/act specified in the flowchart and/or block diagram block or blocks. The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks. The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In various alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions. The descriptions of the various embodiments of the present disclosure have been presented for purposes of illustration, but are not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement over technologies found in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

11857154

The figures are not intended to be exhaustive or to limit embodiments described herein to the precise form disclosed. It should be understood that any embodiments described herein may be practiced with modification and alteration, and that the disclosed technology be limited only by the claims and the equivalents thereof. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Systems and methods disclosed herein provide an imaging system such as an endoscopic imaging system for a variety of applications. Embodiments of the systems and methods disclosed herein may be configured to utilize a plurality of image sensors as an array of image sensors to capture multispectral image data for display or recording. The array of image sensors may be included within an endoscope in some embodiments. In various embodiments, algorithms or other processing techniques may be used to determine a proper wavelength setting for a multispectral light source to illuminate an area of interest (AOI). Visual acuity of the subject tissue or other AOI may be affected by the wavelength of light used to illuminate the work area. For example, boundaries between normal tissue and diseased tissue may not be visible (or may be difficult to discern) under ordinary light or under light of certain wavelengths. These difficulties may vary based on the tissue types being imaged or based on other properties of the AOI. This may lead to concerns for a medical professional or practitioner (e.g., a surgeon) performing a medical procedure, as it is typically beneficial to see certain or specific types of details during the procedure, including greater detail of tissues, cells, bleeding, etc. For example, it would be beneficial for the surgeon and/or medical team to better discern boundaries between healthy tissue and diseased tissue with greater clarity, or to otherwise have improved acuity during procedures. By way of more specific examples, some cancerous tissues may be visible under a wavelength range of 400 nm to 650 nm while oral cancer cells may be visible under a wavelength range 400 nm to 800 nm. In yet another example, breast tumors may be visible under a wavelength range of 580 nm to 745 nm. Illuminating the AOI at the proper wavelength setting for a particular procedure and/or AOI may enable a wider range of visibility of the AOI and reveal information and details about the AOI that would otherwise be undetectable to the human eye or image sensor in ordinary light. Accordingly, in various embodiments, multispectral imaging may use a portion of the electromagnetic spectrum to illuminate the AOI during surgery. In some embodiments, the multispectral light source may illuminate the AOI at predetermined wavelength settings, while in other embodiments, the multispectral light source may illuminate the AOI at varying wavelength settings or varying sequences of wavelength settings so that appropriate wavelength or wavelengths may be at determined for the given AOI. For example, in some embodiments, the system may be configured to step or otherwise transition the multispectral light source through various wavelengths so that the best wavelength may be determined for the given procedure or AOI. Determination of which wavelength, wavelength range, or combination of wavelengths is best for a given procedure or AOI may be made by the medical professional performing or involved with the procedure, or it may be made automatically based on image processing algorithms as further discussed below. In various embodiments, an array of image sensors may be used to capture multispectral image data from a surgical camera. The surgical camera may include a surgical camera mounted on an endoscope. The multispectral image data may be associated with a particular wavelength setting of the multispectral light source such that the AOI may be illuminated by the multispectral light source under the particular wavelength setting, or under a plurality of different wavelength settings. The multispectral image data may be processed to determine the visibility of one or more images of the multispectral image data. In some embodiments, determining the visibility of the images may include determining a number of detectable edges of an identified feature (e.g., a tumor, etc.) in the one or more images using an edge detection algorithm. This edge detection process may be repeated or looped until a particular wavelength setting is determined to be an ideal or proper wavelength setting for the particular procedure and/or AOI. For example, a first number of visible edges may be determined for a first image associated with a first wavelength setting, a second number of visible edges may be determined for a second image of the AOI associated with a second wavelength setting, a third number of visible edges may be determined for a third image of the AOI associated with a third wavelength setting, a fourth number of visible edges may be determined for a fourth image associated with a fourth wavelength setting, and so on. The number of edges for the different images associated with each of the wavelength settings may be compared to one another to determine the proper (e.g., ideal or correct) wavelength setting for the procedure and/or AOI. The image associated with the wavelength setting that may include the largest number of visible edges or otherwise based on a function of the number of visible edges, or criteria related to image analysis such as signal to noise ratio (denoting a better object identification and more clarity than the other images associated with the other wavelength settings) may be selected as the proper wavelength setting for the procedure and/or AOI. The multispectral light source may be adjusted to illuminate the AOI during the procedure with light produced at the proper wavelength setting. In some embodiments, specific modes for particular procedures or types of AOIs may be predefined. These modes may include defined wavelengths, wavelength ranges, combinations of wavelengths, and/or intensities that are known empirically to work well for their corresponding procedures and/or AOIs (e.g. such as through prior determination using the edge-detection process described above). The system may be configured such that these modes may be selected for the procedure or AOI either manually by the medical professional or automatically when the endoscope is set up for the particular operation. The particular procedure and/or AOI may be received by user input such that these predefined settings and/or modes associated with the particular procedure and/or AOI may be set for the multispectral light source. Wavelength selection may occur after the endoscope has been placed and/or inserted for the procedure and may occur in real-time. Wavelength selection may be made prior to initiation of the procedure, or it may be made or updated part way through the procedure. Once the proper wavelength setting has been selected and adjusted via the multispectral light source, the surgeon may initiate or continue the procedure while viewing the images and/or stream of images (e.g., multispectral image data) which have been optimized using the closed-loop image optimization for greater clarity of the AOI. In some configurations, the locking mechanism may be provided such that the system does not continuously loop through wavelength settings once a wavelength selection has been made. The locking mechanism may disable the algorithm and this may be done automatically upon selection of the proper wavelength, or via a manual actuation that may be operated by the medical professional. Medical professionals may override the wavelength setting at any time before, during, or after the procedure, and the system may provide the ability for the medical professional to restart the automated procedure or manually adjust the wavelength as desired. As with conventional endoscopic procedures, the multispectral image data may be stored for later retrieval to review in non-real time. Wavelength setting data (including, for example, the wavelength, wavelength range, combination of wavelengths, and intensity data) may also be saved (e.g., as metadata) along with the images so that this data may later be reviewed. Determining the visibility of one or more images of the multispectral image data may include determining visibility of the one or more images based upon a color algorithm and/or a color edge algorithm. In this manner, the wavelength selection algorithm may be configured to search for colors. Images may be produced with one or more colors and/or variations in the images may be highlighted in one or more colors. Before describing the image processing and image capture technology in detail, it may be useful to describe an example application with which embodiments of the image processing and capture technology disclosed herein may be implemented.FIG.2is a diagram illustrating an example medical software tool200. This example medical software tool200may include one or more medical image display systems202, a surgical camera system204, a medical image processing system206, and a light source system208. In operation, images of biological tissue, a body cavity, or other samples may be captured by surgical camera system204. Surgical camera system204may include, for example, an endoscope or other device configured to capture medical images of biological tissue, an organ, a body cavity, or other samples. The captured images, whether still or motion picture images, may be transferred by a wired or wireless communication link212to medical image processing system206for desired image processing. Medical image processing system206may perform any other image processing as desired, such as, determining a number of edges within the images, determining a proper wavelength setting for image optimization, and so on. The images may then be provided to one or more medical image display systems202by a communication or datalink210. Although medical image processing system206and surgical camera system204may be communicatively coupled to one another using a separate communication link212as shown, in other embodiments, they may communicate using the same communication link or bus210(not illustrated). Medical image display systems202may include one or more display devices configured to display images captured by medical software tool200. These displays may include, for example, a plasma display, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, or any display suitable for rendering images for viewing by the health care practitioners utilizing medical software tool200. Though multiple medical image display systems202are shown inFIG.2, any number of medical image display systems202may be provided. In some embodiments, a single medical image display system202may be provided. In some embodiments, the images displayed by medical image display systems202may include still or video images of the biological tissue, organ, body cavity, or other samples captured by the endoscope. In some embodiments, these may be referred to as medical images. These images may be captured using a camera (such as, for example, surgical camera system204) or other image capture device. The proper wavelength setting may be transmitted from medical image processing system206to light source system208. Light source system208may adjust the multispectral light source emitted during the surgery in real-time to the proper wavelength setting. One or more images may be captured of the AOI using the proper wavelength setting by surgical camera system204and transmitted to medical image processing system206. The images may be transmitted to medical image display system202. Medical image processing system206may repeat the process and perform image processing such as, for example, determining wavelength settings associated with the images, determining a number of edges within the images, determining a new proper wavelength setting for image optimization, and so on. The new proper wavelength setting may once again be determined and transmitted from medical image processing system206to light source system208. While medical image processing system206may be communicatively coupled to light source system208using a separate communication link214as shown, in other embodiments, they may communicate using the same communication link or bus210(not illustrated). Light source system208may adjust the multispectral light source emitted during the surgery in real-time to the proper wavelength setting. One or more images may be captured of the AOI using the proper wavelength setting by surgical camera system204. The images may be transmitted to medical image processing system206. This process may be repeated in a closed-loop fashion for image optimization. Having thus described an example implementation of the technology disclosed herein, a more detailed description of various aspects of this technology is now provided. FIG.3is a diagram illustrating an example closed-loop image optimization process including an endoscopic image capture device and a fiber optic cable in accordance with one embodiment of the technology disclosed herein. Particularly, the example illustrated inFIG.3depicts an example implementation of an insertion tube of an endoscopic camera and a fiber optic cable providing light to an AOI. In various embodiments, endoscopic image capture device302may be provided to implement surgical camera system204and fiber optic cable304may be provided to implement medical light source system208. Endoscopic image capture device302may include lens306and one or more image sensors310,312(e.g., an array of image sensors). One or more image sensors310,312may be configured to capture multispectral image data. One or more image sensors310,312may be located in different locations of endoscopic image capture device302. For example, image sensor310may be located at a distal (or internal) end of the endoscopic image capture device302, while image sensor312may be located at a proximal (or external) end of the endoscopic image capture device302. Alternatively, all of one or more image sensors310,312included within the array of image sensors may be located external to a human cavity or may be located within the human cavity. Multispectral image data may include one or more images captured by the array of image sensors (e.g., one or more of image sensors310,312). Fiber optic cable304may include a multispectral light source and/or illumination fibers (not shown). While fiber optic cable304is shown to be separate from endoscopic image capture device302, fiber optic cable304may be included within endoscopic image capture device302or coupled to endoscopic image capture device302. The multispectral light source may be included within the human cavity for illumination of the AOI. The multispectral light source may be configured to produce light at different and/or varying wavelength settings, varying sequences of wavelength settings, varying combinations of wavelengths (whether or not adjacent in the spectrum), and varying intensities of wavelengths. The multispectral light source and/or illumination fibers of fiber optic cable304may include optical fibers that provide illumination314to the AOI. Lens306may transmit images from the AOI to one or more image sensors310,312. In this case, the images are a result of light from illumination314being reflected off the AOI. Lens306may be configured to transmit or project the image to image sensors310,312. While only one lens is shown inFIG.3, this is for exemplary purposes only and is not meant to be a limitation of this disclosure, as endoscopic image capture device302may include more than one lens306. In yet other embodiments, other optical structures may be used to transmit the images from a distal end of endoscopic image capture device302to image sensors310,312. For example, embodiments may be implemented using optical fibers or a fiber bundle in place of or in addition to lens306. One or more of image sensors310,312may capture the images from the reflections of illumination314off the AOI and transform the optical signal into an electrical representation of the image. Once transformed into an electrical representation, this image information may be stored and processed as appropriate depending on the use or application. For example, this information may be transferred to a processing system such as medical image processing system206for processing and storage. Image sensors310,312may include, for example, Charge Coupled Device (CCD) sensors, CMOS image sensors, electron multiplication CCD or EMCCD image sensors, or other image sensors. In various embodiments, the image sensors may be configured as a focal plane array of image sensors. Accordingly, a plurality of image sensors may be combined adjacent one another to form a sensor array. As illustrated inFIG.3, image sensors310,312may comprise an array of image sensors. The array of image sensors may be configured to capture multispectral image data via reflections from the AOI. Multispectral image data may include image data captured at varying frequencies across the electromagnetic spectrum. Wavelengths may be separated by filters or by the use of instruments that are sensitive to particular wavelengths, including light from frequencies beyond the visible light range, such as infrared. Multispectral imaging may allow for extraction of additional information the human eye may fail to capture with its receptors for red, green and blue. For example, a specific wavelength may enable assessment of a wide range of tissue and blood chromophores such as oxy-hemoglobin, deoxy-hemoglobin, and bilirubin. Other wavelengths in the near infrared spectrum compared to those in the visible light spectrum may provide added depth discrimination in images. Referring again to the example environment ofFIG.2, medical image processing system206may include a first input configured to receive, from surgical camera system204, a first set of multispectral image data associated with a first wavelength setting of the multispectral light source208. The first wavelength setting may be automatically predefined via medical imaging processing system206, light source system208, and/or may be manually entered by a user of medical software tool200via a user interface, not shown. The user interface may include at least one of a keyboard, a touch-screen display, a pointing device or other suitable user interface device. It may be known that specific tissue types, body parts, and/or diseases may not be readily visible to the human eye under conventional ‘white’ light or other like broad-spectrum illumination, but may be visible when illuminated under a particular wavelength. For example, some cancerous tissues may be visible under a wavelength range of 400 nm to 650 nm while oral cancer cells may be visible under a wavelength range 400 nm to 800 nm. In yet another example, breast tumors may be visible under a wavelength range of 580 nm to 745 nm. In the instances where a wavelength range may be known for a particular procedure and or AOI (a particular type of procedure may be preconfigured via a user input prior to the procedure), medical image processing system206, light source system208, and/or user of medical imaging system100may set and/or define a wavelength setting to be within the wavelength parameters known for that particular procedure to begin the process. If a wavelength setting is not known for the particular procedure, or if the procedure is exploratory in nature, the first wavelength setting may be preset to a wavelength within ordinary lighting visible by the human eye. This might include, for example, broader spectrum of illumination. Fiber optic cable304may illuminate the AOI via illumination314with the first wavelength setting. As discussed above, one or more of image sensors310,312of the array of image sensors may capture the multispectral image data from the reflections of illumination314off the AOI (illumination314being a result of the first wavelength setting). Medical image processing system206may receive, from surgical camera system204, the first set of multispectral image data as a result from the reflections of illumination314based upon the first wavelength setting. The multispectral image data may be stored and/or processed by medical image processing system206. Medical image processing system206may include a second input configured to receive, from surgical camera system204, a second set of multispectral image data associated with a second wavelength setting of the multispectral light source (e.g., fiber optic cable304). The second wavelength setting may be different than the first wavelength setting. Light source system208may automatically adjust the first wavelength setting to the second wavelength setting once the first set of multispectral image data has been transmitted to surgical camera system204and/or medical image processing system206. A user of medical software tool200may manually adjust the first wavelength setting to the second wavelength setting via the user interface (not shown). Fiber optic cable304may illuminate the AOI via illumination314with the second wavelength setting. As discussed above, one or more of image sensors310,312of the array of image sensors may capture the multispectral image data from the reflections of illumination314off the AOI (illumination314being a result of the first wavelength setting). Medical image processing system206may receive, from surgical camera system204, the second set of multispectral image data as a result from the reflections of illumination314based upon the second wavelength setting. The multispectral image data may be stored and/or processed by medical image processing system206. Medical image processing system206may be configured to select a proper wavelength setting for the multispectral light source based upon the first set of multispectral image data and the second set of multispectral image data. Medical image processing system206may compare the first set of multispectral image data to the second set of multispectral image data to determine which of the first set of multispectral image data and/or the second set of multispectral image data may be the proper (or more appropriate) wavelength setting out of the given sets of multispectral image data. The proper wavelength setting may be selected based upon an edge detection algorithm. The edge detection algorithm may be used to determine a number of visible edges of the multispectral image data. Edge detection may include methods that may identify points or boundaries between features in an image at which the image brightness or color may change sharply or has discontinuities. Points at which image brightness or color changes sharply may be organized into a set of curved line segments called “edges”. Discontinuities in image brightness may correspond to discontinuities in depth, surface orientation, variations in physical properties, and/or variations in illuminations. Edge detection may provide a set of curves that indicate boundaries of objects, the boundaries of surface markings, and/or curves that correspond to discontinuities in surface orientation. Medical image processing system206may detect the edges and determine a first number of visible edges of the first set of multispectral image data via the edge detection algorithm. Due to illuminating the AOI with different wavelengths, different edges may be detected with different wavelengths, or edges may simply be more or less detectable at different wavelengths. As described above multispectral image data may include multiple images. Medical image processing system206may determine a first number of visible edges for each of the images included within the first set of multispectral image data or may determine a first number of visible edges for a portion of the one or more images included within the first set of multispectral image data. The first number of visible edges may be determined for a single image of the first set of multispectral image data. If a number of visible edges is determined for more than one image of the first set of multispectral image data, the number of visible edges may be added together and/or averaged to obtain a result for the first set of multispectral image data. Medical image processing system206may determine a second number of visible edges of the second set of multispectral image data via the edge detection algorithm. Medical image processing system206may determine a second number of visible edges for each of the one or more images included within the second set of multispectral image data or may determine a second number of visible edges for a portion of the one or more images included within the second set of multispectral image data. The second number of visible edges may be determined for a single image of the second set of multispectral image data, or for multiple images. If a number of visible edges is determined for more than one image of the second set of multispectral image data, the number of visible edges may be added together and/or averaged. Medical image processing system206may select the proper wavelength setting based upon the first set of multispectral image data and the second set of multispectral image data. As described above, the first set of multispectral image data may be retrieved when the multispectral light source is set to the first wavelength setting. The second set of multispectral image data may be retrieved when the multispectral light source is set to the second wavelength setting. The results of the edge detection process may be compared to determine which wavelength setting yields the better result. For example, the first wavelength setting may be selected as the proper wavelength setting if the first number of visible edges (e.g., the first number of visible edges for the first set of multispectral image data) is greater than the second number of visible edges (e.g., the second number of visible edges for the second set of multispectral image data). Alternatively, the second wavelength setting may be selected as the proper wavelength setting if the second number of visible edges is greater than the first number of visible edges. If the first number of visible edges and the second number of visible edges are equivalent (preferably based upon an equivalent number of images), either of first wavelength setting or second wavelength setting may be selected as the proper wavelength setting. Although the above process was described with two sets of multispectral image data, one of ordinary skill in the after art reading this description will understand that the process may be carried out using more than two sets of multispectral image data. In such embodiments, the comparison may be made after each set of image data is collected after the first set, to compare the results of a current setting with the previous setting to determine which wavelength setting yields the better result. In other embodiments, the data may be gathered for all of the settings used, and the comparison made after the information has been gathered for each setting. As these examples illustrate, there are number of approaches to gathering the edge detection results for multiple wavelength settings and comparing the results to choose the wavelength setting that provides the best results. The proper wavelength setting may also be selected based upon a color detection algorithm and/or a color edge detection algorithm. Color detection algorithms may search for one or more colors. For example, medical image processing system206may receive multispectral image data including one or more colors, subtle variations of content of the multispectral image data (e.g., tissues, cells, bleeding, etc.) may be highlighted in one or more colors, etc. Further, color edge detection algorithms may determine a number of visible edges using one or more colors. Accordingly, the detection algorithm may be configured to look for the numbers of different colors (colors may be defined by ranges) in an image, the sharpness of transition from one color to the next, the number of edges or definition of edges between the colors, and so on. Similar techniques may be used for intensities such as the number of different intensity ranges in an image, the sharpness of transition from one region of intensity to another region of a different intensity, the number of edges or the definition of edges between intensity regions, and so on. Medical image processing system206may include a first output configured to provide instructions to light source system208to adjust the multispectral light source to produce light at the identified preferred wavelength setting. Light source system208may include an input coupled to the output of medical image processing system206to receive the instructions from medical image processing system206. Light source system208may receive the instructions from medical image processing system206in real-time. Light source system206and/or the multispectral light source may be adjusted in real-time to produce light at the proper wavelength setting based upon the received instructions. For example, wavelength settings may adjust automatically prior to the surgeon beginning the rest of the procedure/surgery or during an ongoing procedure without user input therefore not disrupting any medical professionals from the ongoing procedure itself. This process may be repeated until image optimization has been automatically obtained and/or determined for the particular procedure based upon the number of visible edges within images obtained using a particular wavelength setting of the multispectral light source. For example, a third number of visible edges of a third set of multispectral image data may be determined via the edge detection algorithm. The third set of multispectral image data may be received by medical image processing system206and the third number of visible edges may be determined for the third set of multispectral image data in a similar manner as described above. The third number of visible edges may be compared to a number of visible edges for multispectral image data associated with the proper wavelength setting (in this example, either the first wavelength setting or the second wavelength setting). Medical image processing system206may select the third wavelength setting as a new proper wavelength setting if the third number of visible edges is greater than the number of visible edges of the multispectral image data associated with the proper wavelength. The new proper wavelength setting may include a second proper wavelength setting that is the same wavelength setting as the proper wavelength setting or a different wavelength setting from the proper wavelength setting. Medical image processing system206may provide instructions to light source system208to adjust the multispectral light source to produce light at the new proper wavelength setting. Light source system208may receive the instructions from medical image processing system206in real-time. Light source system206and/or the multispectral light source may be adjusted in real-time to produce light at the new proper wavelength setting based upon the received instructions. As noted above, in another embodiment, an initial comparison may be done after all of the multispectral data sets have been received, such that a proper wavelength setting is selected once and does not continuously update based upon a previously selected proper wavelength setting. For example, upon determining the first number of visible edges, the second number of visible edges, and the third number of visible edges, the multispectral image data associated with the wavelength setting with the largest number of visible edges out of the three multispectral image data sets may be selected as the proper wavelength setting. While the process may be automated, the system may also be configured to allow a user to select, via a user interface, the proper wavelength setting after reviewing the outputs of the various multispectral image data sets and/or the number of visible edges associated with the various multispectral image data sets. Upon the multispectral light source being adjusted to produce light at the proper wavelength setting (whether initial proper wavelength setting or a new proper wavelength setting), a locking mechanism may be provided such that the closed-loop imaging process does not continue to loop through different wavelengths in order to generate more multispectral image data. This locking mechanism may disable the algorithm and this may be done automatically upon selection of the proper wavelength so that the procedure may not be disrupted, or via a manual actuation that may be operated by the medical professional. As discussed below, the system user may manually override the proper wavelength setting or the new proper wavelength setting via the user interface. Medical image processing system206may include a second output to provide the multispectral image data captured by the array of image sensors. Medical software tool200may include a display monitor (e.g., a display monitor, not shown, included within medical image display system202ofFIG.1) having an input coupled to the second output of medical image processing system206to display the multispectral image data captured by the array of image sensors. The clarity of the multispectral image data captured by the array of image sensors may be based upon the multispectral light source. As discussed above, diseased tissue may not be visible under visible light but may be visible under particular wavelengths. It is important for medical professionals to view the most clear and precise image as possible during a procedure to ensure that all of the diseased tissue and/or cells have been removed, to determine if there is any bleeding, to determine if there are any other areas of concern, etc. A system user may manually override the proper wavelength setting or the new proper wavelength setting via the user interface (not shown). The manual override may be transmitted to the multispectral light source to be set to a particular setting which the user manually defined. This may occur at any point before, during, or after the procedure. The user may also retrieve previously stored images to compare to real-time multispectral image data during the procedure via the display monitor of medical image display system202. FIG.4is a diagram illustrating an example of a medical image processing system according to some embodiments. Medical image processing system206in this example includes one or more user interfaces402, processing module404, and communication interfaces406. User interface overlay module402may be configured to allow a user to control various aspects of the medical software tool200, such as, for example, medical image display system(s)202and/or surgical camera system204. User interface overlay module402may be configured to allow a user to perform operations such as, for example, (i) guide the distal end of medical imaging system302to a specified location such as a specific body cavity or a specific section of biological tissue; (ii) allow the user to control the camera system to capture images, select an AOI for viewing or capture, magnify an AOI, sample an AOI, sample different perspectives of the subject (different views, different magnifications, different angles, etc.), and so on; (iii) select for display one or more particular perspectives of biological tissue; and (iv) control the light source. In various embodiments, the user interface overlay module402may include a keypad, keyboard, mouse or pointing device, touchscreen interface, or other user interface that allows a user to control the medical software tool200or to otherwise provide input to the medical software tool200. The processing module404may be configured to control user interface402and communication interfaces406and to otherwise perform the processing and control for medical image processing system206. This processing may include, for example, processing images for edge detection, clarity and acuity, image enlargement or magnification, AOI selection and display, and other image processing and operational processing as further described herein. The processing module404may include one or more processors and associated non-transitory memory to perform these functions. Image stream processing module404may include hardware, software, and/or firmware configured to compress and/or decompress image sensor data for display. In some embodiments, image stream processing module404may use edge detection algorithms to determine a number of visible edges within the multispectral image data and display the multispectral image data via medical image display system(s)202. FIG.5is a flowchart illustrating an example process for closed-loop image optimization, according to some embodiments. At step502, medical image processing system206may receive a first set of multispectral image data associated with a first wavelength setting of a multispectral light source. At step504, medical image processing system206may receive a second set of multispectral image data associated with a second wavelength setting of the multispectral light source. As discussed above, the multispectral image data may be a result of reflections off of the AOI of illuminations of a particular wavelength setting on the AOI. At step506, medical image processing system206may determine a first number of visible edges of the first set of multispectral image data via an edge detection algorithm. At step508, medical image processing system206may determine a second number of visible edges of the second set of multispectral image data via the edge detection algorithm. At step510, the number of visible edges for the different multispectral image data may be compared such that the wavelength setting associated with the multispectral image data set which may provide the highest and/or largest number of visible edges may be selected as the proper wavelength setting. At step512, the multispectral light source may be adjusted to produce light at the proper wavelength setting. This process may include receiving more than two multispectral image data sets. For example, a third set of multispectral image data and a fourth set of multispectral image data may be received. A third number of visible edges for the third set of multispectral image data and a fourth number of visible edges for the fourth set of multispectral image data may be determined. The third number of visible edges and the fourth number of visible edges may be compared to one another, compared to the proper wavelength setting, and/or compared to the first number of visible edges and/or the second number of visible edges to determine the proper wavelength setting and/or determine a new proper wavelength setting (e.g., a second proper wavelength setting in the case where there may be more than two proper wavelength settings as this process continues looping through different wavelength settings). As noted above, in some embodiments the systems and methods described herein may be configured to magnify or enlarge desired AOIs of the overall captured image. Magnification of images may permit a medical professional and/or practitioner, such as a surgeon, to “zoom” in on portions of images provided by the surgical camera and view greater resolution of the AOI. For some embodiments, the image processing system may permit an operator to locate the display area and size of the AOI whether in a still image, a recorded video stream or a live video image stream. To facilitate identification of wavelength settings for future use, selected wavelength settings and/or wavelength ranges for particular procedures and/or AOIs for the procedure may be stored in memory. Accordingly, for a similar procedure in the future, the system user may select the procedure and/or AOI for the procedure. The first wavelength setting may be set to the stored wavelength setting based upon similarities of procedures and/or AOIs. Multiple display monitors may be provided and arranged as appropriate for the environment. For example, one or more display monitors may be placed at one or more operational stations in the operating theater to allow various healthcare professionals performing various tasks to view the procedure. As used herein, the term module might describe a given unit of functionality that may be performed in accordance with one or more embodiments of the technology disclosed herein. As used herein, a module might be implemented utilizing any form of hardware, software, or a combination thereof. For example, one or more processors, controllers, ASICs, PLAs, PALs, CPLDs, FPGAs, logical components, software routines or other mechanisms might be implemented to make up a module. In implementation, the various modules described herein might be implemented as discrete modules or the functions and features described may be shared in part or in total among one or more modules. In other words, as would be apparent to one of ordinary skill in the art after reading this description, the various features and functionality described herein may be implemented in any given application and may be implemented in one or more separate or shared modules in various combinations and permutations. Even though various features or elements of functionality may be individually described or claimed as separate modules, one of ordinary skill in the art will understand that these features and functionality may be shared among one or more common software and hardware elements, and such description shall not require or imply that separate hardware or software components are used to implement such features or functionality. Where components or modules of the technology are implemented in whole or in part using software, in one embodiment, these software elements may be implemented to operate with a computing or processing module capable of carrying out the functionality described with respect thereto. One such example medical device interface module is shown inFIG.6. Various embodiments are described in terms of this example medical device interface module600. After reading this description, it will become apparent to a person skilled in the relevant art how to implement the technology using other computing modules or architectures. In various embodiments, the Medical device interface module600represents, for example, computing or processing capabilities found within desktop, laptop and notebook computers; hand-held computing devices (PDA's, smart phones, cell phones, palmtops, etc.); mainframes, supercomputers, workstations or servers; or any other type of special-purpose or general-purpose computing devices as may be desirable or appropriate for a given application or environment. Medical device interface module600might also represent computing capabilities embedded within or otherwise available to a given device. For example, a computing module might be found in other electronic devices such as, for example, digital cameras, navigation systems, cellular telephones, portable computing devices, modems, routers, WAPs, terminals and other electronic devices that might include some form of processing capability. Medical device interface module600might include, for example, one or more processors, controllers, control modules, or other processing devices, such as a processor604. Processor604might be implemented using a general-purpose or special-purpose processing engine such as, for example, a microprocessor, controller, or other control logic. In the illustrated example, processor604is connected to a bus602, although any communication medium may be used to facilitate interaction with other components of medical device interface module600or to communicate externally. Medical device interface module600might also include one or more memory modules, simply referred to herein as main memory608. For example, preferably random access memory (RAM) or other dynamic memory might be used for storing information and instructions to be executed by processor604. Main memory608might also be used for storing temporary variables or other intermediate information during execution of instructions to be executed by processor604. medical device interface module600might likewise include a read only memory (“ROM”) or other static storage device coupled to bus602for storing static information and instructions for processor604. The medical device interface module600might also include one or more various forms of information storage mechanism610, which might include, for example, a media drive612and a storage unit interface620. The media drive612might include a drive or other mechanism to support fixed or removable storage media614. For example, a hard disk drive, a floppy disk drive, a magnetic tape drive, an optical disk drive, a CD or DVD drive (R or RW), or other removable or fixed media drive might be provided. Accordingly, storage media614might include, for example, a hard disk, a floppy disk, magnetic tape, cartridge, optical disk, a CD or DVD, or other fixed or removable medium that is read by, written to, or accessed by media drive612. As these examples illustrate, the storage media614can include a computer usable storage medium having stored therein computer software or data. In alternative embodiments, information storage mechanism610might include other similar instrumentalities for allowing computer programs or other instructions or data to be loaded into medical device interface module600. Such instrumentalities might include, for example, a fixed or removable storage unit622and an interface620. Examples of such storage units622and interfaces620can include a program cartridge and cartridge interface, a removable memory (for example, a flash memory or other removable memory module) and memory slot, a PCMCIA slot and card, and other fixed or removable storage units622and interfaces620that allow software and data to be transferred from the storage unit622to medical device interface module600. Medical device interface module600might also include a communications interface624. Communications interface624might be used to allow software and data to be transferred between medical device interface module600and external devices. Examples of communications interface624might include a modem or softmodem, a network interface (such as an Ethernet, network interface card, WiMedia, IEEE 802.XX or other interface), a communications port (such as for example, a USB port, IR port, RS232 port Bluetooth® interface, or other port), or other communications interface. Software and data transferred via communications interface624might typically be carried on signals, which may be electronic, electromagnetic (which includes optical) or other signals capable of being exchanged by a given communications interface624. These signals might be provided to communications interface624via a channel628. This channel628might carry signals and might be implemented using a wired or wireless communication medium. Some examples of a channel might include a phone line, a cellular link, an RF link, an optical link, a network interface, a local or wide area network, and other wired or wireless communications channels. In this document, the terms “computer program medium” and “computer usable medium” are used to generally refer to media such as, for example, memory608, storage unit622, media614, and channel628. These and other various forms of computer program media or computer usable media may be involved in carrying one or more sequences of one or more instructions to a processing device for execution. Such instructions embodied on the medium, are generally referred to as “computer program code” or a “computer program product” (which may be grouped in the form of computer programs or other groupings). When executed, such instructions might enable the medical device interface module600to perform features or functions of the disclosed technology as discussed herein. While various embodiments of the disclosed technology have been described above, it should be understood that they have been presented by way of example only, and not of limitation. Likewise, the various diagrams may depict an example architectural or other configuration for the disclosed technology, which is done to aid in understanding the features and functionality that may be included in the disclosed technology. The disclosed technology is not restricted to the illustrated example architectures or configurations, but the desired features may be implemented using a variety of alternative architectures and configurations. Indeed, it will be apparent to one of skill in the art how alternative functional, logical or physical partitioning and configurations may be implemented to implement the desired features of the technology disclosed herein. Also, a multitude of different constituent module names other than those depicted herein may be applied to the various partitions. Additionally, with regard to flow diagrams, operational descriptions and method claims, the order in which the steps are presented herein shall not mandate that various embodiments be implemented to perform the recited functionality in the same order unless the context dictates otherwise. Although the disclosed technology is described above in terms of various exemplary embodiments and implementations, it should be understood that the various features, aspects and functionality described in one or more of the individual embodiments are not limited in their applicability to the particular embodiment with which they are described, but instead may be applied, alone or in various combinations, to one or more of the other embodiments of the disclosed technology, whether or not such embodiments are described and whether or not such features are presented as being a part of a described embodiment. Thus, the breadth and scope of the technology disclosed herein should not be limited by any of the above-described exemplary embodiments. Terms and phrases used in this document, and variations thereof, unless otherwise expressly stated, should be construed as open ended as opposed to limiting. As examples of the foregoing: the term “including” should be read as meaning “including, without limitation” or the like; the term “example” is used to provide exemplary instances of the item in discussion, not an exhaustive or limiting list thereof; the terms “a” or “an” should be read as meaning “at least one,” “one or more” or the like; and adjectives such as “conventional,” “traditional,” “normal,” “standard,” “known” and terms of similar meaning should not be construed as limiting the item described to a given time period or to an item available as of a given time, but instead should be read to encompass conventional, traditional, normal, or standard technologies that may be available or known now or at any time in the future. Likewise, where this document refers to technologies that would be apparent or known to one of ordinary skill in the art, such technologies encompass those apparent or known to the skilled artisan now or at any time in the future. The presence of broadening words and phrases such as “one or more,” “at least,” “but not limited to” or other like phrases in some instances shall not be read to mean that the narrower case is intended or required in instances where such broadening phrases may be absent. The use of the term “module” does not imply that the components or functionality described or claimed as part of the module are all configured in a common package. Indeed, any or all of the various components of a module, whether control logic or other components, may be combined in a single package or separately maintained and can further be distributed in multiple groupings or packages or across multiple locations. Additionally, the various embodiments set forth herein are described in terms of exemplary block diagrams, flow charts and other illustrations. As will become apparent to one of ordinary skill in the art after reading this document, the illustrated embodiments and their various alternatives may be implemented without confinement to the illustrated examples. For example, block diagrams and their accompanying description should not be construed as mandating a particular architecture or configuration.

11857155

DETAILED DESCRIPTION OF THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. First Embodiment FIG.1shows a configuration of a wireless endoscope system10according to a first embodiment of the present invention. The wireless endoscope system10shown inFIG.1includes a transmission terminal100, a reception terminal200, and a monitor300(display). The transmission terminal100and the reception terminal200perform wireless communication. The reception terminal200is connected to the monitor300by a cable or the like. For example, the monitor300is constituted by a liquid crystal display device and a control circuit thereof. The reception terminal200and the monitor300may be integrated together. FIG.2shows a configuration of the transmission terminal100. The transmission terminal100is an imaging apparatus. The transmission terminal100shown inFIG.1includes a controller101, an imaging device102, a light source103, a battery104, a communicator105, a ROM106, and a RAM107. When the imaging device102is performing imaging in space of which at least part is surrounded by an object, the controller101determines whether or not the imaging device102has gone out of the space. When the controller101determines that the imaging device102has gone out of the space, the controller101executes power-saving control. In the power-saving control, the controller101makes power consumption of a control target less than power consumption of the control target before the power-saving control is executed. The control target is at least one of the imaging device102, the light source103, and the communicator105. The imaging device102is to be inserted into an observation target including space. For example, the observation target is the nasal cavity, the oral cavity, the ear, the throat, the stomach, the duodenum, the gallbladder, the pancreas, the small intestine, the large intestine, the appendix, the anus, a blood vessel, the brain, a joint, a bone, the urethra, the bladder, the liver, the kidney, a genital organ, or the diaphragm. The observation target may be a portion in a human or animal body other than the above-described examples. In a case in which a plurality of portions are connected to each other, the space is the inside of any one of the plurality of portions and the outside of the space is the outside of the plurality of portions. The observation target is not limited to the portion in the body. The observation target may be an engine, a tubular pipe, a water pipe, or the like. For example, the entrance of the space and the exit of the space are the same. The imaging device102is inserted into the space through the entrance of the space. The imaging device102goes out of the space through the exit of the space. For example, an object surrounding the space is a tubular wall surface. The imaging device102images the object. The control target may be any one of the imaging device102, the light source103, and the communicator105. The control target may be any two of the imaging device102, the light source103, and the communicator105. The control target may be all of the imaging device102, the light source103, and the communicator105. The controller101controls a power mode of the imaging device102, the light source103, and the communicator105on the basis of a result of the determination. The power mode is any one of a normal mode and the power-saving mode. In the normal mode, the transmission terminal100executes a normal function for observation. In the power-saving mode, the transmission terminal100does not execute the normal function and the electric power is reduced. In a case in which the controller101executes the power-saving control, the power mode becomes the power-saving mode. The imaging device102is an image sensor (imager). For example, the imaging device102is a CCD or CMOS sensor. The imaging device102transforms light incident in the imaging device102into an electronic signal, that is, an imaging signal. The analog imaging signal is converted into a digital signal, that is, image data by analog-to-digital converter (AD converter). In other words, the imaging device102images a subject and generates the image data. The imaging device102images the subject in every imaging cycle and generates image data of each frame. The imaging device102outputs the image data to the controller101. For example, the light source103is a light-emitting diode (LED). The light source103generates illumination light. The light source103emits the illumination light to the space into which the transmission terminal100is to be inserted. The light source103illuminates the range imaged by the imaging device102by emitting the illumination light. The battery104supplies power to the controller101, the imaging device102, the light source103, the communicator105, the ROM106, and the RAM107. The communicator105(transmitter) is a wireless communicator. The communicator105includes an antenna. Alternatively, the communicator105is connected to the antenna. The communicator105performs wireless communication with the reception terminal200. The communicator105transmits the image data to the reception terminal200by radio. The ROM106is a nonvolatile memory such as a flash ROM. Program data and various pieces of setting information are stored on the ROM106. The program data are used for controlling the transmission terminal100. The setting information includes a communication setting parameter. The RAM107is a volatile memory. The RAM107is used as a buffer, a work area, and a temporary area. The buffer is used for temporarily storing image data. The work area is used for operations or the like executed by the controller101. The temporary area is used for temporarily storing various pieces of setting information or the like. While the normal mode is set to the transmission terminal100, the controller101executes control for keeping constant the amount of light emitted to an object in the space. In a case in which the distance from the imaging device102to a subject is large, the controller101increases the amount of irradiation light of the light source103. In a case in which the imaging device102goes out of the space, the subject is dark even when the amount of the irradiation light is increased. The controller101determines whether the imaging device102has gone out of the space by using this feature. For example, in the power-saving control, the controller101may reduce the imaging rate of the imaging device102, thereby making it less than the imaging rate in the normal mode. In the power-saving control, the controller101may reduce the resolution of image data generated by the imaging device102, thereby making it less than the resolution in the normal mode. In the power-saving control, the controller101may reduce the amount of the irradiation light of the light source103, thereby making it less than the amount of the irradiation light in the normal mode. In the power-saving control, the controller101may reduce the transmission rate of the communicator105, thereby making it less than the transmission rate in the normal mode. In the power-saving control, the controller101may turn off the power source of the control target. In this case, the controller101causes the battery104to stop supply of electric power to the control target. In the power-saving control, the controller101may turn off the power source of the entire transmission terminal100. After the power source of the entire transmission terminal100is turned off, the transmission terminal100stops an operation until turning on the power source of the transmission terminal100is specified by a user. The controller101outputs the image data output from the imaging device102to the communicator105. The image data may be compressed. In the power-saving control, the controller101may reduce the compression rate of the image data, thereby making it less than the compression rate in the normal mode. The controller101is constituted by at least one of a processor and a logic circuit. For example, the processor is at least one of a central processing unit (CPU), a digital signal processor (DSP), and a graphics processing unit (GPU). For example, the logic circuit is at least one of an application-specific integrated circuit (ASIC) and a field-programmable gate array (FPGA). The controller101may include one or a plurality of processors. The controller101may include one or a plurality of logic circuits. The controller101operates in accordance with a program stored on the ROM106. In this way, the controller101controls the operations of the transmission terminal100. The controller101may read and execute a program. The program includes commands defining the operations of the controller101. In other words, the functions of the controller101can be realized as software. This program, for example, may be provided by using a “computer-readable storage medium” such as a flash memory. The program may be transmitted from a computer storing the program to the transmission terminal100through a transmission medium or by using carrier waves in a transmission medium. The “transmission medium” transmitting a program is a medium that has a function of transmitting information. The medium that has a function of transmitting information includes a network (communication network) including the Internet and the like or a communication circuit line (communication line) including a telephone circuit line and the like. The program described above may realize at least some of the functions described above. Furthermore, the program described above may be a differential file (differential program). The functions described above may be realized by a combination of a differential program and a program that has already been recorded in a computer. The controller101transmits the image data to the reception terminal200by using the communicator105. Specifically, the controller101controls the communicator105such that the image data are transmitted to the reception terminal200. In other words, the controller101causes the communicator105to transmit the image data for the reception terminal200. In this way, the communicator105transmits the image data to the reception terminal200. FIG.3shows a configuration of the reception terminal200. The reception terminal200shown inFIG.3includes a communicator201, an image processing circuit202, and an output interface203. The communicator201(receiver) is a wireless communicator. The communicator201includes an antenna. Alternatively, the communicator201is connected to the antenna. The communicator201performs wireless communication with the transmission terminal100. The communicator201receives the image data from the transmission terminal100by radio. The communicator201outputs the received image data to the image processing circuit202. The image processing circuit202performs image processing on the image data received by the communicator201. For example, the image processing circuit202converts the image data into display data in a format used for displaying an image. In a case in which the image data are compressed, the image processing circuit202may expand the image data. The image processing circuit202outputs the display data to the output interface203. The output interface203is connected to the monitor300. The output interface203outputs the display data output from the image processing circuit202to the monitor300. The monitor300displays an image on the basis of the display data. The transmission terminal100and the reception terminal200may be connected together by a cable. In this case, the communicator105and the communicator201are connected together by the cable. The communicator105and the communicator201perform communication via the cable. FIG.4shows a procedure of an operation of the transmission terminal100in the normal mode. The operation of the transmission terminal100will be described with reference toFIG.4. While the imaging device102is inserted into the space, the normal mode is set to the transmission terminal100. While the normal mode is set to the transmission terminal100, the imaging device102periodically images an object in the space. While the normal mode is set to the transmission terminal100, the light source103generates illumination light and emits the illumination light to the object in the space. While the normal mode is set to the transmission terminal100, the communicator105periodically transmits image data to the reception terminal200. The controller101determines whether or not the imaging device102has gone out of the space (Step S101). For example, the outside of the space is inside other space larger than the space into which the imaging device102is inserted. For example, the outside of the space is indoor space. When the controller101determines that the imaging device102has gone out of the space in Step S101, the controller101executes the power-saving control (Step S102). In this way, the processing shown inFIG.4is completed. When the controller101determines that the imaging device102has not gone out of the space in Step S101, the processing shown inFIG.4is completed. In Step S102, the controller101makes power consumption of a control target less than power consumption of the control target before the power-saving control is executed. The controller101changes the mode of the transmission terminal100from the normal mode to the power-saving mode in Step S102. Mode information that represents the power-saving mode is stored on the RAM107. An example of specific processing will be described. The imaging device102outputs image data. The controller101determines brightness on the basis of the image data. While the normal mode is set to the transmission terminal100, determination of the brightness is continuously executed. When the brightness increases in a state in which the brightness is greater than or equal to a predetermined amount, the controller101reduces the amount of the irradiation light of the light source103. For example, the controller101makes the brightness greater than or equal to the predetermined amount and also constant by controlling the amount of the irradiation light of the light source103on the basis of the image data. This control is executed independently of the processing shown inFIG.4. The controller101determines whether or not the brightness meets a brightness condition (first condition) in Step S101. The brightness condition represents that the brightness is continuously smaller than a brightness threshold value (first threshold value) in a determination period (first period). When the brightness meets the brightness condition, the controller101determines that the imaging device102has gone out of the space and executes the power-saving control in Step S102. When the brightness does not meet the brightness condition, the processing shown inFIG.4is completed. The brightness threshold value may be the same as the above-described predetermined amount. The brightness threshold value may be different from the above-described predetermined amount. The brightness threshold value may be different between observation targets. For example, the brightness threshold value is experimentally decided on. FIG.5andFIG.6show the change in the brightness of an image. The horizontal axis of the graph shown inFIG.5andFIG.6represents time and the vertical axis of the graph shown inFIG.5andFIG.6represents the brightness. The normal mode is set to the transmission terminal100and the controller101determines the brightness. For example, the brightness is an average value of all or some of the plurality of pixel values included in the image data. At all of the time points in a determination period T1 shown inFIG.5, the brightness is less than the brightness threshold value. For this reason, the controller101determines that the brightness meets the brightness condition. At the time point at which the determination period T1 is completed, the controller101changes the mode of the transmission terminal100from the normal mode to the power-saving mode. At all of the time points in a determination period T2 shown inFIG.6, the brightness is greater than the brightness threshold value. For this reason, the controller101determines that the brightness does not meet the brightness condition. At the time point at which the determination period T2 is completed, the controller101maintains the mode of the transmission terminal100in the normal mode. A method of operating an imaging apparatus according to each aspect of the present invention includes a first step (S101) and a second step (S102). A program according to each aspect of the present invention causes the controller101to execute the first step and the second step. The range to which an imaging apparatus according to each aspect of the present invention is applied is not limited to a wireless endoscope system. As long as the imaging apparatus is inserted into the space and images an object inside the space, the range in which the imaging apparatus is used is not limited. An imaging apparatus according to each aspect of the present invention does not need to include a communicator. Therefore, the transmission terminal100does not need to include the communicator105. In such a case, a control target for the power-saving control is at least one of the imaging device102and the light source103. In the first embodiment, when the controller101determines that the imaging device102has gone out of the space, the controller101executes the power-saving control. For this reason, the transmission terminal100can reduce power consumption. It is unnecessary to load a new sensor for detecting the position of the imaging device102onto the transmission terminal100. Modified Example of First Embodiment A modified example of the first embodiment of the present invention will be described. In the modified example of the first embodiment, the controller101determines whether or not the imaging device102has gone out of the space on the basis of the amount of the irradiation light of the light source103. The controller101determines the brightness on the basis of the image data. The controller101decides on the amount of the irradiation light of the light source103on the basis of the brightness. The controller101controls the light source103on the basis of the decided amount of the irradiation light. The controller101determines whether or not the brightness meets a brightness condition in Step S101shown inFIG.4. The brightness condition represents that the amount of the irradiation light is continuously greater than a light amount threshold value in a determination period. When the amount of the irradiation light meets the brightness condition, the brightness is continuously less than the brightness threshold value in the first period. When the brightness meets the brightness condition, the controller101determines that the imaging device102has gone out of the space and executes the power-saving control in Step S102. The brightness threshold value may be different between observation targets. For example, the brightness threshold value is experimentally decided on. FIG.7andFIG.8show the change in the amount of the irradiation light of the light source103. The horizontal axis of the graph shown inFIG.7andFIG.8represents time and the vertical axis of the graph shown inFIG.7andFIG.8represents the amount of the irradiation light. The normal mode is set to the transmission terminal100and the controller101determines the amount of the irradiation light. At all of the time points in a determination period T3 shown inFIG.7, the amount of the irradiation light is greater than the light amount threshold value. For this reason, the controller101determines that the brightness meets the brightness condition. At the time point at which the determination period T3 is completed, the controller101changes the mode of the transmission terminal100from the normal mode to the power-saving mode. At all of the time points in a determination period T4 shown inFIG.8, the amount of the irradiation light is less than the light amount threshold value. For this reason, the controller101determines that the brightness does not meet the brightness condition. At the time point at which the determination period T4 is completed, the controller101maintains the mode of the transmission terminal100in the normal mode. In a case in which the imaging device102has gone out of the space, a subject does not become bright even when the amount of the irradiation light increases. For this reason, the state in which the amount of the irradiation light is great continues. When the state in which the amount of the irradiation light is great continues, the controller101can determine that the imaging device102has gone out of the space. Second Embodiment FIG.9shows a configuration of a transmission terminal100aaccording to a second embodiment of the present invention. The same configuration as the configuration shown inFIG.2will not be described. The transmission terminal100aincludes a lens108in addition to the configuration shown inFIG.2. The lens108forms an optical image that is based on light reflected by a subject on the imaging device102. The focal position of the lens108is changeable. The controller101executes auto-focus control (AF control). The controller101adjusts depth of field by adjusting at least one of the focal position and the diaphragm. In this way, the controller101changes the imaging condition of the range to which light is emitted by the light source103to a condition suitable for imaging. The transmission terminal100aexecutes the processing shown inFIG.4in the normal mode. The same processing as the above-described processing will not be described. The controller101adjusts the focal position by executing the auto-focus control. The auto-focus control is executed independently of the processing shown inFIG.4. The controller101determines whether or not the focal position meets a focal condition (fourth condition) in Step S101. The focal condition represents that the focal position is continuously further than a predetermined position (first position) in a determination period (fourth period) and the accuracy of the focal position is continuously low in the determination period. In other words, the focal condition represents that the focal length is continuously longer than a predetermined length (first length) in the determination period and the accuracy of the focal position is continuously low in the determination period. When the predetermined position is between the lens108(or the imaging device102) and the focal position, the focal position is further than the predetermined position. When the focal position is between the lens108(or the imaging device102) and the predetermined position, the focal position is nearer than the predetermined position. When the focal position meets the focal condition, the controller101determines that the imaging device102has gone out of the space and executes the power-saving control in Step S102. When the focal position does not meet the focal condition, the processing shown inFIG.4is completed. The predetermined position may be different between observation targets. The determination criterion of the accuracy of the focal position may be different between observation targets. For example, the predetermined position and the determination criterion of the accuracy of the focal position are experimentally decided on. FIG.10shows the relationship between the focal position and an evaluation value. The horizontal axis of the graph shown inFIG.10represents the focal position and the vertical axis of the graph shown inFIG.10represents the evaluation value. The controller101calculates the evaluation value (AF evaluation value) on the basis of the image data in the auto-focus control. For example, the evaluation value is a contrast value. The controller101causes the focal position of the lens108to continuously change from a first position to a second position. The second position is located further than the first position. Alternatively, the second position is located nearer than the first position. The controller101calculates the evaluation value for each of a plurality of focal positions. The plurality of focal positions are located in the range from the first position to the second position. The controller101decides on a focal position at which the evaluation value is the greatest. The controller101sets the focal position of the lens108to the focal position that has been decided on. The controller101compares the focal position with a position threshold value. The focal position to be compared with the position threshold value is the focal position that has been decided on in the auto-focus control. When the focal position is greater than the position threshold value, the controller101determines that the focal position is further than the predetermined position. The controller101compares the evaluation value with an evaluation threshold value. The evaluation value to be compared with the evaluation threshold value is an evaluation value corresponding to the focal position that has been decided on in the auto-focus control. When the evaluation value is less than the evaluation threshold value, the controller101determines that the accuracy of the focal position is low. When the focal position is continuously greater than the position threshold value in the determination period and the evaluation value is continuously less than the evaluation threshold value in the determination period, the controller101determines that the focal position meets the focal condition. Otherwise, the controller101determines that the focal position does not meet the focal condition. In a case in which the imaging device102has gone out of the space, the focal position becomes distant and the focal position is not fixed. In a case in which such a state continues, the controller101can determine that the imaging device102has gone out of the space. The auto-focus is a function mounted on most imaging apparatuses. The controller101determines the position of the imaging device102on the basis of the focal position. For this reason, the increase of power consumption of the transmission terminal100ais restricted regarding the determination of the position of the imaging device102. Third Embodiment A third embodiment of the present invention will be described by using the transmission terminal100shown inFIG.2. In the third embodiment, the controller101determines whether or not the imaging device102has gone out of the space on the basis of the distance from the imaging device102to an object in the space. The transmission terminal100executes the processing shown inFIG.4in the normal mode. The same processing as the above-described processing will not be described. The object in the space is a tubular wall surface. The controller101estimates the distance from the imaging device102to the wall surface in Step S101. The controller101determines whether or not the distance meets a distance condition (sixth condition) in Step S101. The distance condition represents that the distance is continuously greater than a distance threshold value (fourth threshold value) in a determination period (sixth period). When the distance meets the distance condition, the controller101determines that the imaging device102has gone out of the space and executes the power-saving control in Step S102. When the distance does not meet the distance condition, the processing shown inFIG.4is completed. The distance threshold value may be different between observation targets. For example, the distance threshold value is experimentally decided on. FIG.11shows a method of estimating the distance from the imaging device102to a wall surface401. The transmission terminal100is positioned in a space402surrounded by the wall surface401. The controller101estimates the distance from the imaging device102to the wall surface401on the basis of the image data. The controller101uses the data of an edge part403of the image acquired by the imaging device102. The edge part403is positioned at the outer edge of an imaging range404of the imaging device102. For example, the controller101detects the brightness of the edge part403of the image and the hue of the edge part403of the image on the basis of the image data. When the imaging device102is positioned close to the wall surface401, light reflected by a subject is strong and the image is bright. When the imaging device102is positioned far from the wall surface401, the light reflected by the subject is weak and the image is dark. The hue of the image represents a pixel value of each color, the smoothness of change in color, or the like. For example, the controller101performs pattern matching related to the brightness and the hue. Specifically, the controller101collates the brightness of the edge part403of the image with the brightness of a reference image. The controller101collates the hue of the edge part403of the image with the hue of the reference image. The reference image is an image of a reference subject and is prepared for each distance to the reference subject. The controller101estimates the distance from the imaging device102to the wall surface401on the basis of the result of the pattern matching. Specifically, the controller101selects a reference image for which the matching degree with the edge part403of the image is high regarding the brightness and the hue. The distance associated with the selected reference image is an estimation result. In a case in which the transmission terminal100includes an optical system used for measurement, the controller101may estimate the distance from the imaging device102to the wall surface401on the basis of the image data by using the principle of stereo measurement or the like. In a case in which the imaging device102has gone out of the space, the distance from the imaging device102to the wall surface401becomes large. In a case in which such a state continues, the controller101can determine that the imaging device102has gone out of the space. The controller101estimates the distance from the imaging device102to the wall surface401on the basis of the image data. The controller101determines the position of the imaging device102on the basis of the estimated distance. For this reason, the increase of power consumption of the transmission terminal100is restricted regarding the determination of the position of the imaging device102. Fourth Embodiment A fourth embodiment of the present invention will be described by using the transmission terminal100shown inFIG.2. In the fourth embodiment, the controller101determines whether or not to return from the operation in the power-saving mode to the operation in the normal mode. FIG.12shows a procedure of an operation of the transmission terminal100. The operation of the transmission terminal100will be described with reference toFIG.12. The controller101acquires mode information from the RAM107(Step S201). The mode information represents the mode of the transmission terminal100. The mode of the transmission terminal100is set to any one of the normal mode and the power-saving mode. When the transmission terminal100is activated, either the normal mode or the transmission mode may be set to the transmission terminal100. After Step S201, the controller101determines the current mode of the transmission terminal100on the basis of the mode information (Step S202). When the controller101determines that the current mode of the transmission terminal100is the normal mode in Step S202, the processing in Step S203is executed. The processing in Step S203includes determination related to a shift to the power-saving mode. The transmission terminal100executes the processing shown inFIG.4in Step S203. In Step S203, the processing described in any one of the first to third embodiments is executed. When the controller101determines that the current mode of the transmission terminal100is the power-saving mode in Step S202, the processing in Step S204is executed. The processing in Step S204includes determination related to a shift to the normal mode. When the processing in Step S203or Step S204is executed, the processing shown inFIG.12is completed. The processing shown inFIG.12may be repeatedly executed. FIG.13shows the processing in Step S204. The operation of the transmission terminal100will be described with reference toFIG.13. While the controller101executes the power-saving control, the controller101determines whether or not the imaging device102has gone into the space (Step S301). When the controller101determines that the imaging device102has gone into the space in Step S301, the controller101stops the power-saving control (Step S302). When the controller101determines that the imaging device102has not gone into the space in Step S301, the processing shown inFIG.13is completed. In Step S302, the controller101makes power consumption of a control target greater than power consumption of the control target when the imaging device102is positioned outside the space. The controller101changes the mode of the transmission terminal100from the power-saving mode to the normal mode in Step S302. Mode information that represents the normal mode is stored on the RAM107. For example, the controller101may increase the imaging rate of the imaging device102in Step S302, thereby making it greater than the imaging rate in the power-saving mode. The controller101may increase the resolution of image data generated by the imaging device102in Step S302, thereby making it greater than the resolution in the power-saving mode. The controller101may increase the amount of the irradiation light of the light source103in Step S302, thereby making it greater than the amount of the irradiation light in the power-saving mode. The controller101may increase the transmission rate of the communicator105in Step S302, thereby making it greater than the transmission rate in the power-saving mode. When the communicator105is turned off in Step S102shown inFIG.4, the controller101may turn on the power source of the communicator105in Step S302. The controller101causes the battery104to start supply of electric power to the communicator105in order to turn on the power source of the communicator105. Returning the mode of the transmission terminal100to the normal mode immediately after the mode of the transmission terminal100is shifted from the normal mode to the power-saving mode may be avoided. For example, the processing in Step S301may be executed after a certain amount of time has elapsed from the time point of shifting the mode of the transmission terminal100from the normal mode to the power-saving mode. An example of specific processing will be described. The imaging device102outputs image data. The controller101determines brightness on the basis of the image data. While the power-saving mode is set to the transmission terminal100, determination of the brightness is continuously executed. The controller101controls the amount of the irradiation light of the light source103on the basis of the brightness. When the brightness increases in a state in which the brightness is greater than or equal to a predetermined amount, the controller101reduces the amount of the irradiation light of the light source103. For example, the controller101makes the brightness greater than or equal to the predetermined amount and also constant by controlling the amount of the irradiation light of the light source103on the basis of the image data. This control is executed independently of the processing shown inFIG.13. The controller101restricts the maximum amount of the irradiation light of the light source103to less than or equal to a predetermined light amount (first light amount) by executing the power-saving control in Step S102. After a predetermined period (second period) elapses from the time point of starting the power-saving control, the controller101temporarily sets the maximum amount of the irradiation light of the light source103to a predetermined light amount (second light amount) in Step S301. The second light amount is greater than the first light amount. While the maximum amount of the irradiation light of the light source103is temporarily set to the second light amount, the controller101determines whether or not the brightness meets a brightness condition (second condition) in Step S301. The brightness condition represents that the brightness is continuously greater than a brightness threshold value (second threshold value) in a determination period (third period). When the brightness meets the brightness condition, the controller101determines that the imaging device102has gone into the space and stops the power-saving control in Step S302. When the brightness does not meet the brightness condition, the processing shown inFIG.13is completed. In this case, the controller101continues the power-saving control. When the brightness does not meet the brightness condition, the controller101restricts the maximum amount of the irradiation light of the light source103to less than or equal to the predetermined light amount (first light amount) again. The maximum amount of the irradiation light is the maximum value of the amount of light that the light source103is allowed to emit. For example, the controller101calculates the amount of the irradiation light of the light source103on the basis of the image data in order to make the brightness greater than or equal to a predetermined amount and also constant. The controller101sets the calculated amount of the irradiation light to the light source103. When the calculated amount of the irradiation light exceeds the maximum amount of the irradiation light, the controller101sets the maximum amount of the irradiation light to the light source103. The brightness threshold value (second threshold value) in the fourth embodiment may be the same as the brightness threshold value (first threshold value) in the first embodiment. The brightness threshold value (second threshold value) in the fourth embodiment may be different from the brightness threshold value (first threshold value) in the first embodiment. The brightness threshold value may be the same as the above-described predetermined amount. The brightness threshold value may be different from the above-described predetermined amount. The length of the determination period (third period) in Step S301may be the same as the length of the determination period (first period) in Step S101. The length of the third period may be different from the length of the first period. FIG.14andFIG.15show the change in the brightness of an image and the change in the amount of the irradiation light of the light source103. The horizontal axis of the graph shown inFIG.14andFIG.15represents time and the vertical axis of the graph shown inFIG.14andFIG.15represents the brightness and the amount of the irradiation light. A line L1, a line L2, a line L3, a line L5, a line L6, a line L7, and a line L8 represent the amount of the irradiation light. A line L4 and a line L9 represent the brightness. An example shown inFIG.14will be described. After a period T5 elapses from the time point of starting the power-saving control, the controller101sets the maximum amount of the irradiation light of the light source103to the second light amount. In this way, the controller101releases the restriction to the maximum amount of the irradiation light of the light source103. Since the imaging device102is out of the space, the image is dark. While the amount of the irradiation light of the light source103represented by the line L1 increases, the brightness represented by the line L4 does not change very much. Since the change in the brightness is less than a predetermined amount, the controller101restricts the maximum amount of the irradiation light of the light source103again. The controller101periodically releases the restriction to the maximum amount of the irradiation light of the light source103. The imaging device102goes into the space. The controller101restricts the maximum amount of the irradiation light of the light source103again. When the amount of the irradiation light of the light source103represented by the line L3 increases, the brightness represented by the line L4 increases. Since the brightness continues to increase, the controller101decreases the amount of the irradiation light of the light source103represented by the line L3. The controller101determines the brightness. At all of the time points in a determination period T6, the brightness is greater than the brightness threshold value. For this reason, the controller101determines that the brightness meets the brightness condition. At the time point at which the determination period T6 is completed, the controller101changes the mode of the transmission terminal100from the power-saving mode to the normal mode. An example shown inFIG.15will be described. At all of the time points in a determination period T7, the brightness is less than the brightness threshold value. For this reason, the controller101determines that the brightness does not meet the brightness condition. At the time point at which the determination period T7 is completed, the controller101maintains the mode of the transmission terminal100in the power-saving mode. In the fourth embodiment, when the controller101determines that the imaging device102has gone into the space, the controller101stops the power-saving control. For this reason, the transmission terminal100can execute a normal operation. It is not necessary to mount a new sensor in the transmission terminal100in order to detect the position of the imaging device102. Modified Example of Fourth Embodiment A modified example of the fourth embodiment of the present invention will be described. In the modified example of the fourth embodiment, the controller101determines the amount of change in brightness. The imaging device102outputs image data. The controller101determines brightness on the basis of the image data. While the power-saving mode is set to the transmission terminal100, determination of the brightness is continuously executed. The controller101controls the amount of the irradiation light of the light source103on the basis of the brightness. When the brightness increases in a state in which the brightness is greater than or equal to a predetermined amount, the controller101reduces the amount of the irradiation light of the light source103. For example, the controller101makes the brightness greater than or equal to the predetermined amount and also constant by controlling the amount of the irradiation light of the light source103on the basis of the image data. The controller101restricts the maximum amount of the irradiation light of the light source103to less than or equal to a predetermined light amount (first light amount) by executing the power-saving control in Step S102. After a predetermined period (second period) elapses from the time point of starting the power-saving control, the controller101temporarily sets the maximum amount of the irradiation light of the light source103to a predetermined light amount (second light amount) and temporarily sets the amount of the irradiation light of the light source103to a predetermined light amount (third light amount) in Step S301. The second light amount is greater than the first light amount. The third light amount is greater than the first light amount and is less than or equal to the second light amount. The controller101compares first brightness with second brightness in Step S301. The first brightness is the brightness before the amount of the irradiation light of the light source103becomes the third light amount in Step S301. The second brightness is the brightness when the amount of the irradiation light of the light source103becomes the third light amount in Step S301. The controller101determines whether or not the brightness meets a brightness condition (third condition). The brightness condition represents that the second brightness is greater than the first brightness and the difference between the first brightness and the second brightness is greater than or equal to a brightness threshold value (third threshold value). When the brightness meets the brightness condition, the controller101determines that the imaging device102has gone into the space and stops the power-saving control in Step S302. When the brightness does not meet the brightness condition, the processing shown inFIG.13is completed. In this case, the controller101continues the power-saving control. When the brightness does not meet the brightness condition, the controller101restricts the maximum amount of the irradiation light of the light source103to less than or equal to the predetermined light amount (first light amount) again. The amount of the irradiation light of the light source103may be set to the maximum amount of the irradiation light in Step S301. Alternatively, the amount of the irradiation light of the light source103may be set to an amount that is based on the maximum amount of the irradiation light in Step S301. For example, the amount is in a predetermined ratio (90% or the like) to the maximum amount of the irradiation light. The brightness threshold value (third threshold value) in the modified example of the fourth embodiment may be the same as the brightness threshold value (first threshold value) in the first embodiment. The brightness threshold value (third threshold value) in the modified example of the fourth embodiment may be different from the brightness threshold value (first threshold value) in the first embodiment. The brightness threshold value may be the same as the above-described predetermined amount. The brightness threshold value may be different from the above-described predetermined amount. FIG.16andFIG.17show the change in the brightness of an image and the change in the amount of the irradiation light of the light source103. The horizontal axis of the graph shown inFIG.16andFIG.17represents time and the vertical axis of the graph shown inFIG.16andFIG.17represents the brightness and the amount of the irradiation light. A line L10 and a line L12 represent the amount of the irradiation light. A line L11 and a line L13 represent the brightness. An example shown inFIG.16will be described. After a period T8 elapses from the time point of starting the power-saving control, the controller101sets the maximum amount of the irradiation light of the light source103to the second light amount. In this way, the controller101releases the restriction to the maximum amount of the irradiation light of the light source103. In addition, the controller101sets the amount of the irradiation light of the light source103to the third light amount. Since the imaging device102is out of the space, the image is dark. While the amount of the irradiation light of the light source103represented by the line L10 increases, the brightness represented by the line L11 does not change very much. Since the change in the brightness is less than a predetermined amount, the controller101restricts the maximum amount of the irradiation light of the light source103again. The controller101periodically releases the restriction to the maximum amount of the irradiation light of the light source103and sets the amount of the irradiation light of the light source103to the third light amount. The imaging device102goes into the space. The controller101releases the restriction to the maximum amount of the irradiation light of the light source103again and sets the amount of the irradiation light of the light source103to the third light amount. When the amount of the irradiation light of the light source103represented by the line L10 increases, the brightness represented by the line L11 increases. Since the brightness continues to increase, the controller101decreases the amount of the irradiation light of the light source103represented by the line L10. The controller101compares the first brightness before the amount of the irradiation light of the light source103increases with the second brightness after the amount of the irradiation light of the light source103increases. The controller101calculates the difference between the first brightness and the second brightness. Since the difference is greater than the brightness threshold value, the controller101determines that the brightness meets the brightness condition. At this time, the controller101changes the mode of the transmission terminal100from the power-saving mode to the normal mode. An example shown inFIG.17will be described. The controller101periodically releases the restriction to the maximum amount of the irradiation light of the light source103and sets the amount of the irradiation light of the light source103to the third light amount. While the amount of the irradiation light of the light source103represented by the line L12 increases, the brightness represented by the line L13 does not change very much. For this reason, the controller101determines that the brightness does not meet the brightness condition. The controller101maintains the mode of the transmission terminal100in the power-saving mode. When the imaging device102goes into the space, a subject becomes bright in accordance with the increase in the amount of the irradiation light. For this reason, the change in the brightness becomes large. When the change in the brightness becomes large, the controller101can determine that the imaging device102has gone into the space. Fifth Embodiment A fifth embodiment of the present invention will be described by using the transmission terminal100ashown inFIG.9. In the fifth embodiment, the controller101determines whether or not to return from the operation in the power-saving mode to the operation in the normal mode on the basis of the focal position. The transmission terminal100aexecutes the processing shown inFIG.12. The transmission terminal100aexecutes the processing shown inFIG.4in Step S203. In Step S203, the processing described in any one of the first to third embodiments is executed. The transmission terminal100aexecutes the processing shown inFIG.13in Step S204. The same processing as the above-described processing will not be described. The controller101adjusts the focal position by executing the auto-focus control. The auto-focus control is executed independently of the processing shown inFIG.13. While the controller101executes the power-saving control, the controller101determines whether or not the focal position meets a focal condition (fifth condition) in Step S301. The focal condition represents that the focal position is continuously nearer than a predetermined position (second position) in a determination period (fifth period) or the accuracy of the focal position is continuously high in a focal period. In other words, the focal condition represents that the focal length is continuously shorter than a predetermined length (second length) in the determination period or the accuracy of the focal position is continuously high in the focal period. When the focal position is between the lens108(or the imaging device102) and the predetermined position, the focal position is nearer than the predetermined position. When the predetermined position is between the lens108(or the imaging device102) and the focal position, the focal position is further than the predetermined position. When the focal position meets the focal condition, the controller101determines that the imaging device102has gone into the space and stops the power-saving control in Step S302. When the focal position does not meet the focal condition, the processing shown inFIG.13is completed. In this case, the controller101continues the power-saving control. The focal condition includes two conditions. One of the two conditions is that the focal position is continuously nearer than the predetermined position (second position) in the determination period (fifth period). The other of the two conditions is that the accuracy of the focal position is continuously high in the focal period. When the focal position meets only any one of the two conditions or the focal position meets the two conditions, the controller101stops the power-saving control. The predetermined position may be different between observation targets. The determination criterion of the accuracy of the focal position may be different between observation targets. For example, the predetermined position and the determination criterion of the accuracy of the focal position are experimentally decided on. The predetermined position (second position) to be compared with the focal position in Step S301may be the same as the predetermined position (first position) to be compared with the focal position in Step S101. The second position may be different from the first position. The length of the determination period (fifth period) in Step S301may be the same as the length of the determination period (fourth period) in Step S101. The length of the fifth period may be different from the length of the fourth period. The controller101calculates an evaluation value (AF evaluation value) on the basis of the image data in the auto-focus control. The controller101compares the focal position with a position threshold value (seeFIG.10). The focal position to be compared with the position threshold value is the focal position that has been decided on in the auto-focus control. When the focal position is less than the position threshold value, the controller101determines that the focal position is nearer than the predetermined position. The controller101compares the evaluation value with an evaluation threshold value (seeFIG.10). The evaluation value to be compared with the evaluation threshold value is an evaluation value corresponding to the focal position that has been decided on in the auto-focus control. When the evaluation value is greater than the evaluation threshold value, the controller101determines that the accuracy of the focal position is high. When the focal position is continuously less than the position threshold value in the determination period or the evaluation value is continuously greater than the evaluation threshold value in the determination period, the controller101determines that the focal position meets the focal condition. Otherwise, the controller101determines that the focal position does not meet the focal condition. In a case in which the imaging device102has gone into the space, the focal position becomes near or the focal position is fixed. In a case in which such a state continues, the controller101can determine that the imaging device102has gone into the space. The auto-focus is a function mounted on most imaging apparatuses. The controller101determines the position of the imaging device102on the basis of the focal position. For this reason, the increase of power consumption of the transmission terminal100ais restricted regarding the determination of the position of the imaging device102. Sixth Embodiment A sixth embodiment of the present invention will be described by using the transmission terminal100shown inFIG.2. In the sixth embodiment, the controller101determines whether or not to return from the operation in the power-saving mode to the operation in the normal mode on the basis of the distance from the imaging device102to a tubular wall surface. The transmission terminal100executes the processing shown inFIG.12. The transmission terminal100executes the processing shown inFIG.4in Step S203. In Step S203, the processing described in any one of the first to third embodiments is executed. The transmission terminal100executes the processing shown inFIG.13in Step S204. The same processing as the above-described processing will not be described. The controller101estimates the distance from the imaging device102to the wall surface in Step S301. The method of estimating the distance is the same as the method described in the third embodiment. While the controller101executes the power-saving control, the controller101determines whether or not the distance meets a distance condition (seventh condition). The distance condition represents that the distance is continuously less than a distance threshold value (fifth threshold value) in a determination period (seventh period). When the distance meets the distance condition, the controller101determines that the imaging device102has gone into the space and stops the power-saving control in Step S302. When the distance does not meet the distance condition, the processing shown inFIG.13is completed. In this case, the controller101continues the power-saving control. The distance threshold value may be different between observation targets. For example, the distance threshold value is experimentally decided on. The distance threshold value (fifth threshold value) to be referred to in Step S301may be the same as the distance threshold value (fourth threshold value) to be referred to in Step S101. The fifth threshold value may be different from the fourth threshold value. The length of the determination period (seventh period) in Step S301may be the same as the length of the determination period (fourth period) in Step S101. The length of the seventh period may be different from the length of the fourth period. In a case in which the imaging device102has gone into the space, the distance from the imaging device102to the wall surface becomes near. In a case in which such a state continues, the controller101can determine that the imaging device102has gone into the space. The controller101estimates the distance from the imaging device102to the wall surface on the basis of the image data. The controller101determines the position of the imaging device102on the basis of the estimated distance. For this reason, the increase of power consumption of the transmission terminal100is restricted regarding the determination of the position of the imaging device102. While preferred embodiments of the invention have been described and shown above, it should be understood that these are examples of the invention and are not to be considered as limiting. Additions, omissions, substitutions, and other modifications can be made without departing from the spirit or scope of the present invention. Accordingly, the invention is not to be considered as being limited by the foregoing description, and is only limited by the scope of the appended claims.

11857156

DETAILED DESCRIPTION Referring toFIG.2A, a conventional manually-steerable catheter (1) is depicted. Pullwires (2) may be selectively tensioned through manipulation of a handle (3) on the proximal portion of the catheter structure to make a more flexible distal portion (5) of the catheter bend or steer controllably. The handle (3) may be coupled, rotatably or slidably, for example, to a proximal catheter structure (34) which may be configured to be held in the hand, and may be coupled to the elongate portion (35) of the catheter (1). A more proximal, and conventionally less steerable, portion (4) of the catheter may be configured to be compliant to loads from surrounding tissues (for example, to facilitate passing the catheter, including portions of the proximal portion, through tortuous pathways such as those formed by the blood vessels), yet less steerable as compared with the distal portion (5). Referring toFIG.2B, a robotically-driven steerable catheter (6), has some similarities with the manually-steerable catheter (1) ofFIG.1in that it has pullwires or similar control elements (10) associated distally with a more flexible section (8) configured to steer or bend when the control elements (10) are tensioned in various configurations, as compared with a less steerable proximal portion (7) configured to be stiffer and more resistant to bending or steering. The control elements can be flexible tendons, or other mechanical structures that allow for steering or deflection of the catheter (6). The depicted embodiment of the robotically-driven steerable catheter (6) comprises proximal axles or spindles (9) configured to primarily interface not with fingers or the hand, but with an electromechanical instrument driver configured to coordinate and drive, with the help of a computer, each of the spindles (9) to produce precise steering or bending movement of the catheter (6). The spindles (9) may be rotatably coupled to a proximal catheter structure (32) which may be configured to mount to an electromechanical instrument driver apparatus, such as that described in the aforementioned U.S. patent application Ser. No. 11/176,598, published as U.S. Pub. No. 2006/0100610 on May 11, 2006, now abandoned, and may be coupled to the elongate portion (33) of the catheter (6). Each of the embodiments depicted inFIGS.2A and2Bmay have a working lumen (not shown) located, for example, down the central axis of the catheter body, or may be without such a working lumen. If a working lumen is formed by the catheter structure, it may extend directly out the distal end of the catheter, or may be capped or blocked by the distal tip of the catheter. It is highly useful in many procedures to have precise information regarding the position of the distal tip of such catheters or other elongate instruments, such as those available from suppliers such as the Ethicon Endosurgery division of Johnson & Johnson, or Intuitive Surgical Corporation. The examples and illustrations that follow are made in reference to a robotically-steerable catheter such as that depicted inFIG.2B, but as would be apparent to one skilled in the art, the same principles may be applied to other elongate instruments, such as the manually-steerable catheter depicted inFIG.1, or other elongate instruments, highly flexible or not, from suppliers such as the Ethicon Endosurgery division of Johnson & Johnson, Inc., or Intuitive Surgical, Inc. Referring toFIGS.3A-3C, a robotically-steerable catheter (6) is depicted having an optical fiber (12) positioned along one aspect of the wall of the catheter (6). The fiber is not positioned coaxially with the neutral axis of bending (11) in the bending scenarios depicted inFIGS.3B and3C. Indeed, with the fiber (12) attached to, or longitudinally constrained by, at least two different points along the length of the catheter (6) body (33) and unloaded from a tensile perspective relative to the catheter body in a neutral position of the catheter body (33) such as that depicted inFIG.3A, the longitudinally constrained portion of the fiber (12) would be placed in tension in the scenario depicted inFIG.3B, while the longitudinally constrained portion of the fiber (12) would be placed in compression in the scenario depicted inFIG.3C. Such relationships are elementary to solid mechanics, but may be applied as described herein with the use of an optical fiber grating to assist in the determination of deflection of an elongate instrument. As noted above, the optical fiber grating can comprise a Bragg grating Referring toFIGS.4A-5D, several different embodiments are depicted. Referring toFIG.4A, a robotic catheter (6) is depicted having a fiber (12) deployed through a lumen (31) which extends from the distal tip of the distal portion (8) of the catheter body (33) to the proximal end of the proximal catheter structure (32). In one embodiment a broadband reference reflector (not shown) is positioned near the proximal end of the fiber in an operable relationship with the optical grating wherein an optical path length is established for each reflector/grating relationship comprising the subject fiber grating sensor configuration; additionally, such configuration also comprises a reflectometer (not shown), such as a frequency domain reflectometer, to conduct spectral analysis of detected reflected portions of light waves. Constraints (30) may be provided to prohibit axial or longitudinal motion of the fiber (12) at the location of each constraint (30). Alternatively, the constraints (30) may only constrain the position of the fiber (12) relative to the lumen (31) in the location of the constraints (30). For example, in one variation of the embodiment depicted inFIG.4A, the most distal constraint (30) may be configured to disallow longitudinal or axial movement of the fiber (12) relative to the catheter body (33) at the location of such constraint (30), while the more proximal constraint (30) may merely act as a guide to lift the fiber (12) away from the walls of the lumen (31) at the location of such proximal constraint (30). In another variation of the embodiment depicted inFIG.4A, both the more proximal and more distal constraints (30) may be configured to disallow longitudinal or axial movement of the fiber (12) at the locations of such constraints, and so on. As shown in the embodiment depicted inFIG.4A, the lumen (31) in the region of the proximal catheter structure (32) is without constraints to allow for free longitudinal or axial motion of the fiber relative to the proximal catheter structure (32). Constraints configured to prohibit relative motion between the constraint and fiber at a given location may comprise small adhesive or polymeric welds, interference fits formed with small geometric members comprising materials such as polymers or metals, locations wherein braiding structures are configured with extra tightness to prohibit motion of the fiber, or the like. Constraints configured to guide the fiber (12) but to also allow relative longitudinal or axial motion of the fiber (12) relative to such constraint may comprise small blocks, spheres, hemispheres, etc. defining small holes, generally through the geometric middle of such structures, for passage of the subject fiber (12). The embodiment ofFIG.4Bis similar to that ofFIG.4A, with the exception that there are two additional constraints (30) provided to guide and/or prohibit longitudinal or axial movement of the fiber (12) relative to such constraints at these locations. In one variation, each of the constraints is a total relative motion constraint, to isolate the longitudinal strain within each of three “cells” provided by isolating the length of the fiber (12) along the catheter body (33) into three segments utilizing the constraints (30). In another variation of the embodiment depicted inFIG.4B, the proximal and distal constraints (30) may be total relative motion constraints, while the two intermediary constraints (30) may be guide constraints configured to allow longitudinal or axial relative motion between the fiber (12) and such constraints at these intermediary locations, but to keep the fiber aligned near the center of the lumen (31) at these locations. Referring toFIG.4C, an embodiment similar to those ofFIGS.4A and4Bis depicted, with the exception that entire length of the fiber that runs through the catheter body (33) is constrained by virtue of being substantially encapsulated by the materials which comprise the catheter body (33). In other words, while the embodiment ofFIG.4Cdoes have a lumen (31) to allow free motion of the fiber (12) longitudinally or axially relative to the proximal catheter structure (32), there is no such lumen defined to allow such motion along the catheter body (33), with the exception of the space naturally occupied by the fiber as it extends longitudinally through the catheter body (33) materials which encapsulate it. FIG.4Ddepicts a configuration similar to that ofFIG.4Cwith the exception that the lumen (31) extends not only through the proximal catheter structure (32), but also through the proximal portion (7) of the catheter body (33); the distal portion of the fiber (12) which runs through the distal portion of the catheter body (33) is substantially encapsulated and constrained by the materials which comprise the catheter body (33). FIGS.5A-5Ddepict embodiments analogous to those depicted inFIGS.4A-D, with the exception that the fiber (12) is positioned substantially along the neutral axis of bending (11) of the catheter body (33), and in the embodiment ofFIG.5B, there are seven constraints (30) as opposed to the three of the embodiment inFIG.4B. Referring toFIG.6, a cross section of a portion of the catheter body (33) of the configuration depicted inFIG.4Cis depicted, to clearly illustrate that the fiber (12) is not placed concentrically with the neutral axis (11) of bending for the sample cross section.FIG.7depicts a similar embodiment, wherein a multi-fiber bundle (13), such as those available from Luna Technologies, Inc., is positioned within the wall of the catheter rather than a single fiber as depicted inFIG.6, the fiber bundle (13) comprising multiple, in this embodiment three, individual (e.g., smaller) fibers or fiber cores (14). When a structure such as that depicted inFIG.7is placed in bending in a configuration such as that depicted inFIG.3B or3C, the most radially outward (from the neutral axis of bending (11)) of the individual fibers (14) experiences more compression or tension than the more radially inward fibers. Alternatively, in an embodiment such as that depicted inFIG.8, which shows a cross section of the catheter body (33) portion a configuration such as that depicted inFIG.5C, a multi-fiber bundle (13) is positioned coaxially with the neutral axis of bending (11) for the catheter (6), and each of three individual fibers (14) within the bundle (13) will experience different degrees of tension and/or compression in accordance with the bending or steering configuration of the subject catheter, as would be apparent to one skilled in the art. For example, referring toFIGS.9A and9B(a cross section), at a neutral position, all three individual fibers (14) comprising the depicted bundle (13) may be in an unloaded configuration. With downward bending, as depicted inFIGS.10A and10B(a cross section), the lowermost two fibers comprising the bundle (13) may be configured to experience compression, while the uppermost fiber experiences tension. The opposite would happen with an upward bending scenario such as that depicted inFIGS.11A and11B(cross section). Indeed, various configurations may be employed, depending upon the particular application, such as those depicted inFIGS.12A-12H. For simplicity, each of the cross sectional embodiments ofFIGS.12A-12His depicted without reference to lumens adjacent the fibers, or constraints (i.e., each of the embodiments ofFIGS.12A-12Hare depicted in reference to catheter body configurations analogous to those depicted, for example, inFIGS.4C and5C, wherein the fibers are substantially encapsulated by the materials comprising the catheter body (33); additional variations comprising combinations and permutations of constraints and constraining structures, such as those depicted inFIGS.4A-5D, are within the scope of this invention.FIG.12Adepicts an embodiment having one fiber (12).FIG.12Bdepicts a variation having two fibers (12) in a configuration capable of detecting tensions sufficient to calculate three-dimensional spatial deflection of the catheter portion.FIG.12Cdepicts a two-fiber variation with what may be considered redundancy for detecting bending about a bending axis such as that depicted inFIG.12C.FIGS.12D and12Edepict three-fiber configurations configured for detecting three-dimensional spatial deflection of the subject catheter portion.FIG.12Fdepicts a variation having four fibers configured to accurately detect three-dimensional spatial deflection of the subject catheter portion.FIGS.12G and12Hdepict embodiments similar to12B and12E, respectively, with the exception that multiple bundles of fibers are integrated, as opposed to having a single fiber in each location. Each of the embodiments depicted inFIGS.12A-12H, each of which depicts a cross section of an elongate instrument comprising at least one optical fiber, may be utilized to facilitate the determination of bending deflection, torsion, compression or tension, and/or temperature of an elongate instrument. Such relationships may be clarified in reference toFIGS.13,14A, and14B. In essence, the 3-dimensional position of an elongate member may be determined by determining the incremental curvature experienced along various longitudinal sections of such elongate member. In other words, if you know how much an elongate member has curved in space at several points longitudinally down the length of the elongate member, you can determine the position of the distal portion and more proximal portions in three-dimensional space by virtue of the knowing that the sections are connected, and where they are longitudinally relative to each other. Towards this end, variations of embodiments such as those depicted inFIGS.12A-12Hmay be utilized to determine the position of a catheter or other elongate instrument in 3-dimensional space. To determine local curvatures at various longitudinal locations along an elongate instrument, fiber optic grating analysis may be utilized. Referring toFIG.13, a single optical fiber (12) is depicted having four sets of diffraction gratings, each of which may be utilized as a local deflection sensor. Such a fiber (12) may be interfaced with portions of an elongate instrument, as depicted, for example, inFIGS.12A-12H. A single detector (15) may be utilized to detect and analyze signals from more than one fiber. With a multi-fiber configuration, such as those depicted inFIGS.12B-12H, a proximal manifold structure may be utilized to interface the various fibers with one or more detectors. Interfacing techniques for transmitting signals between detectors and fibers are well known in the art of optical data transmission. The detector is operatively coupled with a controller configured to determine a geometric configuration of the optical fiber and, therefore, at least a portion of the associated elongate instrument (e.g., catheter) body based on a spectral analysis of the detected reflected light signals. Further details are provided in Published US Patent Application 2006/0013523, now abandoned, the contents of which are fully incorporated herein by reference. In the single fiber embodiment depicted inFIG.13, each of the diffraction gratings has a different spacing (d1, d2, d3, d4), and thus a proximal light source for the depicted single fiber and detector may detect variations in wavelength for each of the “sensor” lengths (L10. L20, L30, L40). Thus, given determined length changes at each of the “sensor” lengths (L10, L20, L30, L40), the longitudinal positions of the “sensor” lengths (L10, L20, L30, L40), and a known configuration such as those depicted in cross section inFIGS.12A-I2H, the deflection and/or position of the associated elongate instrument in space may be determined. One of the challenges with a configuration such as that depicted inFIG.13is that a fairly broad band emitter and broad band tunable detector must be utilized proximally to capture length differentiation data from each of the sensor lengths, potentially compromising the number of sensor lengths that may be monitored, etc. Regardless, several fiber (12) and detector (15) configurations such as that depicted in FIG-13may comprise embodiments such as those depicted inFIGS.12A-12Hto facilitate determination of three-dimensional positioning of an elongate medical instrument. In another embodiment of a single sensing fiber, depicted inFIG.14A, various sensor lengths (L50, L60, L70, L80) may be configured to each have the same grating spacing, and a more narrow band source may be utilized with some sophisticated analysis, as described, for example, in “Sensing Shape—Fiber-Bragg-grating sensor arrays monitor shape at high resolution,” SPIE's OE Magazine, September, 2005, pages 18-21, incorporated by reference herein in its entirety, to monitor elongation at each of the sensor lengths given the fact that such sensor lengths are positioned at different positions longitudinally (L1, L2, L3, L4) away from the proximal detector (15). In another (related) embodiment, depicted inFIG.14B, a portion of a given fiber, such as the distal portion, may have constant gratings created to facilitate high-resolution detection of distal lengthening or shortening of the fiber. Such a constant grating configuration would also be possible with the configurations described in the aforementioned scientific journal article. Referring toFIGS.15A and15B, temperature may be sensed utilizing Fiber-Bragg grating sensing in embodiments similar to those depicted inFIGS.13and14A-B. Referring toFIG.15A, a single fiber protrudes beyond the distal tip of the depicted catheter (6) and is unconstrained, or at least less constrained, relative to other surrounding structures so that the portion of the depicted fiber is free to change in length with changes in temperature. With knowledge of the thermal expansion and contraction qualities of the small protruding fiber portion, and one or more Bragg diffraction gratings in such protruding portion, the changes in length may be used to extrapolate changes in temperature and thus be utilized for temperature sensing. Referring toFIG.15B, a small cavity (21) or lumen may be formed in the distal portion of the catheter body (33) to facilitate free movement of the distal portion (22) of the fiber (12) within such cavity (21) to facilitate temperature sensing distally without the protruding fiber depicted inFIG.15A. As will be apparent to those skilled in the art, the fibers in the embodiments depicted herein will provide accurate measurements of localized length changes in portions of the associated catheter or elongate instrument only if such fiber portions are indeed coupled in some manner to the nearby portions of the catheter or elongate instrument. In one embodiment, it is desirable to have the fiber or fibers intimately coupled with or constrained by the surrounding instrument body along the entire length of the instrument, with the exception that one or more fibers may also be utilized to sense temperature distally, and may have an unconstrained portion, as in the two scenarios described in reference toFIGS.15A and15B. In one embodiment, for example, each of several deflection-sensing fibers may terminate in a temperature sensing portion, to facilitate position determination and highly localized temperature sensing and comparison at different aspects of the distal tip of an elongate instrument. In another embodiment, the proximal portions of the fiber(s) in the less bendable catheter sections are freely floating within the catheter body, and the more distal/bendable fiber portions intimately coupled, to facilitate high-precision monitoring of the bending within the distal, more flexible portion of the catheter or elongate instrument. Referring toFIGS.16A,16B, and16D, a catheter-like robotic guide instrument integration embodiment is depicted with three optical fibers (12) and a detector (15) for detecting catheter bending and distal tip position.FIG.16Cdepicts and embodiment having four optical fibers (12) for detecting catheter position.FIG.16Ddepicts an integration to build such embodiments. As shown inFIG.16D, in step “E+”, mandrels for optical fibers are woven into a braid layer, subsequent to which (step “F”) Bragg-grated optical fibers are positioned in the cross sectional space previously occupied by such mandrels (after such mandrels are removed). The geometry of the mandrels relative to the fibers selected to occupy the positions previously occupied by the mandrels after the mandrels are removed preferably is selected based upon the level of constraint desired between the fibers (12) and surrounding catheter body (33) materials. For example, if a highly-constrained relationship, comprising substantial encapsulation, is desired, the mandrels will closely approximate the size of the fibers. If a more loosely-constrained geometric relationship is desired, the mandrels may be sized up to allow for relative motion between the fibers (12) and the catheter body (33) at selected locations, or a tubular member, such as a polyimide or PTFE sleeve, may be inserted subsequent to removal of the mandrel, to provide a “tunnel” with clearance for relative motion of the fiber, and/or simply a layer of protection between the fiber and the materials surrounding it which comprise the catheter or instrument body (33). Similar principles may be applied in embodiments such as those described in reference toFIGS.17A-17G. Referring toFIGS.17A-F, two sheath instrument integrations are depicted, each comprising a single optical fiber (12).FIG.17Gdepicts an integration to build such embodiments. As shown inFIG.16D, in step “B”, a mandrel for the optical fiber is placed, subsequent to which (step “K”) a Bragg-grated optical fiber is positioned in the cross sectional space previously occupied by the mandrel (after such mandrel is removed). Referring toFIG.18, in another embodiment, a bundle (13) of fibers (14) may be placed down the working lumen of an off-the-shelf robotic catheter (guide or sheath instrument type) such as that depicted inFIG.18, and coupled to the catheter in one or more locations, with a selected level of geometric constraint, as described above, to provide 3-D spatial detection. Tension and compression loads on an elongate instrument may be detected with common mode deflection in radially-outwardly positioned fibers, or with a single fiber along the neutral bending axis. Torque may be detected by sensing common mode additional tension (in addition, for example, to tension and/or compression sensed by, for example, a single fiber coaxial with the neutral bending axis) in outwardly-positioned fibers in configurations such as those depicted inFIGS.12A-H. In another embodiment, the tension elements utilized to actuate bending, steering, and/or compression of an elongate instrument, such as a steerable catheter, may comprise optical fibers with gratings, as compared with more conventional metal wires or other structures, and these fiber optic tension elements may be monitored for deflection as they are loaded to induce bending/steering to the instrument. Such monitoring may be used to prevent overstraining of the tension elements, and may also be utilized to detect the position of the instrument as a whole, as per the description above. Referring toFIG.19, one embodiment of a robotic catheter system32, includes an operator control station2located remotely from an operating table22, to which a instrument driver16and instrument18are coupled by a instrument driver mounting brace20. A communication link14transfers signals between the operator control station2and instrument driver16. The instrument driver mounting brace20of the depicted embodiment is a relatively simple, arcuate-shaped structural member configured to position the instrument driver16above a patient (not shown) lying on the table22. FIGS.20and21depict isometric views of respective embodiments of instruments configured for use with an embodiment of the instrument driver (16), such as that depicted inFIG.19.FIG.20depicts an instrument (18) embodiment without an associated coaxial sheath coupled at its midsection.FIG.21depicts a set of two instruments (28), combining an embodiment like that ofFIG.20with a coaxially coupled and independently controllable sheath instrument (30). To distinguish the non-sheath instrument (18) from the sheath instrument (30) in the context of this disclosure, the “non-sheath” instrument may also be termed the “guide” instrument (18). Referring toFIG.22, a set of instruments (28), such as those inFIG.21, is depicted adjacent an instrument driver (16) to illustrate an exemplary mounting scheme. The sheath instrument (30) may be coupled to the depicted instrument driver (16) at a sheath instrument interface surface (38) having two mounting pins (42) and one interface socket (44) by sliding the sheath instrument base (46) over the pins (42). Similarly, and preferably simultaneously, the guide instrument (18) base (48) may be positioned upon the guide instrument interface surface (40) by aligning the two mounting pins (42) with alignment holes in the guide instrument base (48). As will be appreciated, further steps may be required to lock the instruments (18,30) into place upon the instrument driver (16). InFIG.23, an instrument driver (16) is depicted as interfaced with a steerable guide instrument (18) and a steerable sheath instrument (30).FIG.24depicts an embodiment of the instrument driver (16), in which the sheath instrument interface surface (38) remains stationary, and requires only a simple motor actuation in order for a sheath to be steered using an interfaced control element via a control element interface assembly (132). This may be accomplished with a simple cable loop about a sheath socket drive pulley (272) and a capstan pulley (not shown), which is fastened to a motor, similar to the two upper motors (242) (visible inFIG.24). The drive motor for the sheath socket drive schema is hidden under the linear bearing interface assembly. The drive schema for the four guide instrument interface sockets (270) is more complicated, due in part to the fact that they are coupled to a carriage (240) configured to move linearly along a linear bearing interface (250) to provide for motor-driven insertion of a guide instrument toward the patient relative to the instrument driver, hospital table, and sheath instrument. Various conventional cable termination and routing techniques are utilized to accomplish a preferably high-density instrument driver structure with the carriage (240) mounted forward of the motors for a lower profile patient-side interface. Still referring toFIG.24, the instrument driver (16) is rotatably mounted to an instrument driver base (274), which is configured to interface with an instrument driver mounting brace (not shown), such as that depicted inFIG.19, or a movable setup joint construct (not shown). Rotation between the instrument driver base (274) and an instrument driver base plate (276) to which it is coupled is facilitated by a heavy-duty flanged bearing structure (278). The flanged bearing structure (278) is configured to allow rotation of the body of the instrument driver (16) about an axis approximately coincident with the longitudinal axis of a guide instrument (not shown) when the guide instrument is mounted upon the instrument driver (16) in a neutral position. This rotation preferably is automated or powered by a roll motor (280) and a simple roll cable loop (286), which extends around portions of the instrument driver base plate and terminates as depicted (282,284). Alternatively, roll rotation may be manually actuated and locked into place with a conventional clamping mechanism. The roll motor (280) position is more easily visible inFIG.25. FIG.26illustrates another embodiment of an instrument driver, including a group of four motors (290). Each motor (290) has an associated high-precision encoder for controls purposes and being configured to drive one of the four guide instrument interface sockets (270), at one end of the instrument driver. Another group of two motors (one hidden, one visible—288) with encoders (292) are configured to drive insertion of the carriage (240) and the sheath instrument interface socket (268). Referring toFIG.27, an operator control station is depicted showing a control button console (8), a computer (6), a computer control interface (10), such as a mouse, a visual display system (4) and a master input device (12). In addition to “buttons” on the button console (8) footswitches and other known user control interfaces may be utilized to provide an operator interface with the system controls. Referring toFIG.28A, in one embodiment, the master input device (12) is a multi-degree-of-freedom device having multiple joints and associated encoders (306). An operator interface (217) is configured for comfortable interfacing with the human fingers. The depicted embodiment of the operator interface (217) is substantially spherical. Further, the master input device may have integrated haptics capability for providing tactile feedback to the user. Another embodiment of a master input device (12) is depicted inFIG.28Bhaving a similarly-shaped operator interface (217). Suitable master input devices are available from manufacturers such as Sensible Devices Corporation under the trade name “Phanto™”, or Force Dimension under the trade name “Omega™”. In one embodiment featuring an Omega-type master input device, the motors of the master input device are utilized for gravity compensation. In other words, when the operator lets go of the master input device with his hands, the master input device is configured to stay in position, or hover around the point at which is was left, or another predetermined point, without gravity taking the handle of the master input device to the portion of the master input device's range of motion closest to the center of the earth. In another embodiment, haptic feedback is utilized to provide feedback to the operator that he has reached the limits of the pertinent instrument workspace. In another embodiment, haptic feedback is utilized to provide feedback to the operator that he has reached the limits of the subject tissue workspace when such workspace has been registered to the workspace of the instrument (i.e., should the operator be navigating a tool such as an ablation tip with a guide instrument through a 3-D model of a heart imported, for example, from CT data of an actual heart, the master input device is configured to provide haptic feedback to the operator that he has reached a wall or other structure of the heart as per the data of the 3-D model, and therefore help prevent the operator from driving the tool through such wall or structure without at least feeling the wall or structure through the master input device). In another embodiment, contact sensing technologies configured to detect contact between an instrument and tissue may be utilized in conjunction with the haptic capability of the master input device to signal the operator that the instrument is indeed in contact with tissue. Referring toFIGS.29-32, the basic kinematics of a catheter with four control elements is reviewed. Referring toFIGS.29A-B, as tension is placed only upon the bottom control element (312), the catheter bends downward, as shown inFIG.29A. Similarly, pulling the left control element (314) inFIGS.30A-Bbends the catheter left, pulling the right control element (310) inFIGS.31A-Bbends the catheter right, and pulling the top control element (308) inFIGS.32A-Bbends the catheter up. As will be apparent to those skilled in the art, well-known combinations of applied tension about the various control elements results in a variety of bending configurations at the tip of the catheter member (90). One of the challenges in accurately controlling a catheter or similar elongate member with tension control elements is the retention of tension in control elements, which may not be the subject of the majority of the tension loading applied in a particular desired bending configuration. If a system or instrument is controlled with various levels of tension, then losing tension, or having a control element in a slack configuration, can result in an unfavorable control scenario. Referring toFIGS.33A-E, a simple scenario is useful in demonstrating this notion. As shown inFIG.33A, a simple catheter (316) steered with two control elements (314,310) is depicted in a neutral position. If the left control element (314) is placed into tension greater than the tension, if any, which the right control element (310) experiences, the catheter (316) bends to the left, as shown inFIG.33B. If a change of direction is desired, this paradigm needs to reverse, and the tension in the right control element (310) needs to overcome that in the left control element (314). At the point of a reversal of direction like this, where the tension balance changes from left to right, without slack or tension control, the right most control element (314) may gather slack which needs to be taken up before precise control can be reestablished. Subsequent to a “reeling in” of slack which may be present, the catheter (316) may be may be pulled in the opposite direction, as depicted inFIGS.33C-E, without another slack issue from a controls perspective until a subsequent change in direction. The above-described instrument embodiments present various techniques for managing tension control in various guide instrument systems having between two and four control elements. For example, in one set of embodiments, tension may be controlled with active independent tensioning of each control element in the pertinent guide catheter via independent control element interface assemblies (132) associated with independently-controlled guide instrument interface sockets (270) on the instrument driver (16). Thus, tension may be managed by independently actuating each of the control element interface assemblies (132) in a four-control-element embodiment, a three-control-element embodiment, or a two-control-element embodiment. In another set of embodiments, tension may be controlled with active independent tensioning with a split carriage design. For example, a split carriage with two independent linearly movable portions, may be utilized to actively and independently tension each of the two control element interface assemblies (132), each of which is associated with two dimensions of a given degree of freedom. For example, one interface assembly can include +and −pitch, with +and −yaw on the other interface assembly, where slack or tension control provided for pitch by one of the linearly movable portions (302) of the split carriage (296), and slack or tension control provided for yaw by the other linearly movable portion (302) of the split carriage (296). Similarly, slack or tension control for a single degree of freedom, such as yaw or pitch, may be provided by a single-sided split carriage design, with the exception that only one linearly movable portion would be required to actively tension the single control element interface assembly of an instrument. In another set of embodiments, tensioning may be controlled with spring-loaded idlers configured to keep the associated control elements out of slack. The control elements preferably are pre-tensioned in each embodiment to prevent slack and provide predictable performance. Indeed, in yet another set of embodiments, pre-tensioning may form the main source of tension management. In the case of embodiments only having pre-tensioning or spring-loaded idler tensioning, the control system may need to be configured to reel in bits of slack at certain transition points in catheter bending, such as described above in relation toFIGS.33A and33B. To accurately coordinate and control actuations of various motors within an instrument driver from a remote operator control station such as that depicted inFIG.19, an advanced computerized control and visualization system is preferred. While the control system embodiments that follow are described in reference to a particular control systems interface, namely the SimuLink™. and XPC™. control interfaces available from The Mathworks Inc., and PC-based computerized hardware configurations, many other configurations may be utilized, including various pieces of specialized hardware, in place of more flexible software controls running on PC-based systems. Referring toFIG.34, an overview of an embodiment of a controls system flow is depicted. A master computer (400) running master input device software, visualization software, instrument localization software, and software to interface with operator control station buttons and/or switches is depicted: In one embodiment, the master input device software is a proprietary module packaged with an off-the-shelf master input device system, such as the Phantom™. from Sensible Devices Corporation, which is configured to communicate with the Phantom™. hardware at a relatively high frequency as prescribed by the manufacturer. Other suitable master input devices, such as that (12) depicted inFIG.28Bare available from suppliers such as Force Dimension of Lausanne, Switzerland. The master input device (12) may also have haptics capability to facilitate feedback to the operator, and the software modules pertinent to such functionality may also be operated on the master computer (400). Preferred embodiments of haptics feedback to the operator are discussed in further detail below. The term “localization” is used in the art in reference to systems for determining and/or monitoring the position of objects, such as medical instruments, in a reference coordinate system. In one embodiment, the instrument localization software is a proprietary module packaged with an off-the-shelf or custom instrument position tracking system, such as those available from Ascension Technology Corporation, Biosense Webster, Inc., Endocardial Solutions, Inc., Boston Scientific (EP Technologies), Medtronic, Inc., and others. Such systems may be capable of providing not only real-time or near real-time positional information, such as X-Y-Z coordinates in a Cartesian coordinate system, but also orientation information relative to a given coordinate axis or system. For example, such systems can employ an electromagnetic based system (e.g., using electromagnetic coils inside a device or catheter body). Information regarding one electromagnetic based system can be found on: http://www.biosensewebster.com/products/navigation/carto3.aspx. The relevant portions of which are incorporated by reference. Some of the commercially-available localization systems use electromagnetic relationships to determine position and/or orientation, while others, such as some of those available from Endocardial Solutions, Inc.—St Jude Medical, utilize potential difference or voltage, as measured between a conductive sensor located on the pertinent instrument and conductive portions of sets of patches placed against the skin, to determine position and/or orientation. Referring toFIGS.35A and35B, various localization sensing systems may be utilized with the various embodiments of the robotic catheter system disclosed herein. In other embodiments not comprising a localization system to determine the position of various components, kinematic and/or geometric relationships between various components of the system may be utilized to predict the position of one component relative to the position of another. Some embodiments may utilize both localization data and kinematic and/or geometric relationships to determine the positions of various components. Information regarding impedance based systems can be found on: http://www.sjmprofessional.com/Products/US/Mapping-and-Visualization/EnSite-Velocity.aspx. The relevant portions of which are incorporated by reference. As shown inFIG.35A, one preferred localization system comprises an electromagnetic field transmitter (406) and an electromagnetic field receiver (402) positioned within the central lumen of a guide catheter (90). The transmitter (406) and receiver (402) are interfaced with a computer operating software configured to detect the position of the detector relative to the coordinate system of the transmitter (406) in real or near-real time with high degrees of accuracy. Referring toFIG.35B, a similar embodiment is depicted with a receiver (404) embedded within the guide catheter (90) construction. Preferred receiver structures may comprise three or more sets of very small coils spatially configured to sense orthogonal aspects of magnetic fields emitted by a transmitter. Such coils may be embedded in a custom configuration within or around the walls of a preferred catheter construct. For example, in one embodiment, two orthogonal coils are embedded within a thin polymeric layer at two slightly flattened surfaces of a catheter (90) body approximately ninety degrees orthogonal to each other about the longitudinal axis of the catheter (90) body, and a third coil is embedded in a slight polymer-encapsulated protrusion from the outside of the catheter (90) body, perpendicular to the other two coils. Due to the very small size of the pertinent coils, the protrusion of the third coil may be minimized. Electronic leads for such coils may also be embedded in the catheter wall, down the length of the catheter body to a position, preferably adjacent an instrument driver, where they may be routed away from the instrument to a computer running localization software and interfaced with a pertinent transmitter. In another similar embodiment (not shown), one or more conductive rings may be electronically connected to a potential-difference-based localization/orientation system, along with multiple sets, preferably three sets, of conductive skin patches, to provide localization and/or orientation data utilizing a system such as those available from Endocardial Solutions—St. Jude Medical. The one or more conductive rings may be integrated into the walls of the instrument at various longitudinal locations along the instrument, or set of instruments. For example, a guide instrument may have several conductive rings longitudinally displaced from each other toward the distal end of the guide instrument, while a coaxially-coupled sheath instrument may similarly have one or more conductive rings longitudinally displaced from each other toward the distal end of the sheath instrument—to provide precise data regarding the location and/or orientation of the distal ends of each of such instruments. Referring back toFIG.34, in one embodiment, visualization software runs on the master computer (400) to facilitate real-time driving and navigation of one or more steerable instruments. In one embodiment, visualization software provides an operator at an operator control station, such as that depicted inFIG.19(2), with a digitized “dashboard” or “windshield” display to enhance instinctive drivability of the pertinent instrumentation within the pertinent tissue structures. Referring toFIG.36, a simple illustration is useful to explain one embodiment of a preferred relationship between visualization and navigation with a master input device (12). In the depicted embodiment, two display views (410,412) are shown. One preferably represents a primary (410) navigation view, and one may represent a secondary (412) navigation view. To facilitate instinctive operation of the system, it is preferable to have the master input device coordinate system at least approximately synchronized with the coordinate system of at least one of the two views. Further, it is preferable to provide the operator with one or more secondary views which may be helpful in navigating through challenging tissue structure pathways and geometries. Using the operation of an automobile as an example, if the master input device is a steering wheel and the operator desires to drive a car in a forward direction using one or more views, his first priority is likely to have a view straight out the windshield, as opposed to a view out the back window, out one of the side windows, or from a car in front of the car that he is operating. The operator might prefer to have the forward windshield view as his primary display view, such that a right turn on the steering wheel takes him right as he observes his primary display, a left turn on the steering wheel takes him left, and so forth. If the operator of the automobile is trying to park the car adjacent another car parked directly in front of him, it might be preferable to also have a view from a camera positioned, for example, upon the sidewalk aimed perpendicularly through the space between the two cars (one driven by the operator and one parked in front of the driven car), so the operator can see the gap closing between his car and the car in front of him as he parks. While the driver might not prefer to have to completely operate his vehicle with the sidewalk perpendicular camera view as his sole visualization for navigation purposes, this view is helpful as a secondary view. Referring still toFIG.36, if an operator is attempting to navigate a steerable catheter in order to, for example, contact a particular tissue location with the catheter's distal tip, a useful primary navigation view (410) may comprise a three dimensional digital model of the pertinent tissue structures (414) through which the operator is navigating the catheter with the master input device (12), along with a representation of the catheter distal tip location (416) as viewed along the longitudinal axis of the catheter near the distal tip. This embodiment illustrates a representation of a targeted tissue structure location (418), which may be desired in addition to the tissue digital model (414) information. A useful secondary view (412), displayed upon a different monitor, in a different window upon the same monitor, or within the same user interface window, for example, comprises an orthogonal view depicting the catheter tip representation (416), and also perhaps a catheter body representation (420), to facilitate the operator's driving of the catheter tip toward the desired targeted tissue location (418). In one embodiment, subsequent to development and display of a digital model of pertinent tissue structures, an operator may select one primary and at least one secondary view to facilitate navigation of the instrumentation. By selecting which view is a primary view, the user can automatically toggle a master input device (12) coordinate system to synchronize with the selected primary view. In an embodiment with the leftmost depicted view (410) selected as the primary view, to navigate toward the targeted tissue site (418), the operator should manipulate the master input device (12) forward, to the right, and down. The right view will provide valued navigation information, but will not be as instinctive from a “driving” perspective. To illustrate: if the operator wishes to insert the catheter tip toward the targeted tissue site (418) watching only the rightmost view (412) without the master input device (12) coordinate system synchronized with such view, the operator would have to remember that pushing straight ahead on the master input device will make the distal tip representation (416) move to the right on the rightmost display (412). Should the operator decide to toggle the system to use the rightmost view (412) as the primary navigation view, the coordinate system of the master input device (12) is then synchronized with that of the rightmost view (412), enabling the operator to move the catheter tip (416) closer to the desired targeted tissue location (418) by manipulating the master input device (12) down and to the right. The synchronization of coordinate systems described herein may be conducted using fairly conventional mathematic relationships. For example, in one embodiment, the orientation of the distal tip of the catheter may be measured using a 6-axis position sensor system such as those available from Ascension Technology Corporation, Biosense Webster, Inc., Endocardial Solutions, Inc., Boston Scientific (EP Technologies), and others. A 3-axis coordinate frame, C, for locating the distal tip of the catheter, is constructed from this orientation information. The orientation information is used to construct the homogeneous transformation matrix, TGrefG0which transforms a vector in the Catheter coordinate frame “C” to the fixed Global coordinate frame “G” in which the sensor measurements are done (the subscript Grefand superscript Crefare used to represent the O′th, or initial, step). As a registration step, the computer graphics view of the catheter is rotated until the master input and the computer graphics view of the catheter distal tip motion are coordinated and aligned with the camera view of the graphics scene. The 3-axis coordinate frame transformation matrix TGrefG0for the camera position of this initial view is stored (subscripts Grefand superscript Crefstand for the global and camera “reference” views). The corresponding catheter “reference view” matrix for the catheter coordinates is obtained as: TGrefC0=TG0C0TGrefG0TCrefGref=(TC0G0)−1TGrefG0TC1G1 Also note that the catheter's coordinate frame is fixed in the global reference frame G, thus the transformation matrix between the global frame and the catheter frame is the same in all views, i.e., Tc0G0=TCrefGref=TCiGifor any arbitrary view i. The coordination between primary view and master input device coordinate systems is achieved by transforming the master input as follows: Given any arbitrary computer graphics view of the representation, e.g. the i′th view, the 3-axis coordinate frame transformation matrix TGiG0of the camera view of the computer graphics scene is obtained from the computer graphics software. The corresponding catheter transformation matrix is computed in a similar manner as above: TCiC0=TG0C0TGiG0TCiGi=(TC0G0)−1TGiG0TCiGi The transformation that needs to be applied to the master input which achieves the view coordination is the one that transforms from the reference view that was registered above, to the current ith view, i.e., TCrefCi. Using the previously computed quantities above, this transform is computed as: TCrefCi=TC0CiTCrefC0 The master input is transformed into the commanded catheter input by application of the transformation TCrefCi. Given a command input rmaster=[xmasterymasterymaster],⁠one⁢may⁢calculate⁠:rcatheter=[xcatheterycatheterycatheter]=TCrefCi[xmasterymasterymaster] Under such relationships, coordinate systems of the primary view and master input device may be aligned for instinctive operation. Referring back to embodiment ofFIG.34, the master computer (400) also comprises software and hardware interfaces to operator control station buttons, switches, and other input devices which may be utilized, for example, to “freeze” the system by functionally disengaging the master input device as a controls input, or provide toggling between various scaling ratios desired by the operator for manipulated inputs at the master input device (12). The master computer (400) has two separate functional connections with the control and instrument driver computer (422): one (426) for passing controls and visualization related commands, such as desired XYZ (in the catheter coordinate system) commands, and one (428) for passing safety signal commands. Similarly, the control and instrument driver computer (422) has two separate functional connections with the instrument and instrument driver hardware (424): one (430) for passing control and visualization related commands such as required-torque-related voltages to the amplifiers to drive the motors and encoders, and one (432) for passing safety signal commands. In one embodiment, the safety signal commands represent a simple signal repeated at very short intervals, such as every 10 milliseconds, such signal chain being logically read as “system is ok, amplifiers stay active”. If there is any interruption in the safety signal chain, the amplifiers are logically toggled to inactive status and the instrument cannot be moved by the control system until the safety signal chain is restored. Also shown in the signal flow overview ofFIG.34is a pathway (434) between the physical instrument and instrument driver hardware back to the master computer to depict a closed loop system embodiment wherein instrument localization technology, such as that described in reference toFIGS.35A-B, is utilized to determine the actual position of the instrument to minimize navigation and control error, as described in further detail below. FIGS.37-47depict various aspects of one embodiment of a SimuLink™. software control schema for an embodiment of the physical system, with particular attention to an embodiment of a “master following mode.” In this embodiment, an instrument is driven by following instructions from a master input device, and a motor servo loop embodiment, which comprises key operational functionality for executing upon commands delivered from the master following mode to actuate the instrument. FIG.37depicts a high-level view of an embodiment wherein any one of three modes may be toggled to operate the primary servo loop (436). In idle mode (438), the default mode when the system is started up, all of the motors are commanded via the motor servo loop (436) to servo about their current positions, their positions being monitored with digital encoders associated with the motors. In other words, idle mode (438) deactivates the motors, while the remaining system stays active. Thus, when the operator leaves idle mode, the system knows the position of the relative components. In auto home mode (440), cable loops within an associated instrument driver, such as that depicted inFIG.23, are centered within their cable loop range to ensure substantially equivalent range of motion of an associated instrument in both directions for a various degree of freedom, such as + and −directions of pitch or yaw, when loaded upon the instrument driver. This is a setup mode for preparing an instrument driver before an instrument is engaged. In master following mode (442), the control system receives signals from the master input device, and in a closed loop embodiment from both a master input device and a localization system, and forwards drive signals to the primary servo loop (436) to actuate the instrument in accordance with the forwarded commands. Aspects of this embodiment of the master following mode (442) are depicted in further detail inFIGS.42-124. Aspects of the primary servo loop and motor servo block (444) are depicted in further detail inFIGS.38-41. Referring toFIG.42, a more detailed functional diagram of an embodiment of master following mode (442) is depicted. As shown inFIG.42, the inputs to functional block (446) are XYZ position of the master input device in the coordinate system of the master input device which, per a setting in the software of the master input device may be aligned to have the same coordinate system as the catheter, and localization XYZ position of the distal tip of the instrument as measured by the localization system in the same coordinate system as the master input device and catheter. Referring toFIG.43for a more detailed view of functional block (446) ofFIG.42, a switch (460) is provided at block to allow switching between master inputs for desired catheter position, to an input interface (462) through which an operator may command that the instrument go to a particular XYZ location in space. Various controls features may also utilize this interface to provide an operator with, for example, a menu of destinations to which the system should automatically drive an instrument, etc. Also depicted inFIG.43is a master scaling functional block (451) which is utilized to scale the inputs coming from the master input device with a ratio selectable by the operator. The command switch (460) functionality includes a low pass filter to weight commands switching between the master input device and the input interface (462), to ensure a smooth transition between these modes. Referring back toFIG.42, desired position data in XYZ terms is passed to the inverse kinematics block (450) for conversion to pitch, yaw, and extension (or “insertion”) terms in accordance with the predicted mechanics of materials relationships inherent in the mechanical design of the instrument. The kinematic relationships for many catheter instrument embodiments may be modeled by applying conventional mechanics relationships. In summary, a control-element-steered catheter instrument is controlled through a set of actuated inputs. In a four-control-element catheter instrument, for example, there are two degrees of motion actuation, pitch and yaw, which both have + and −directions. Other motorized tension relationships may drive other instruments, active tensioning, or insertion or roll of the catheter instrument. The relationship between actuated inputs and the catheter's end point position as a function of the actuated inputs is referred to as the “kinematics” of the catheter. Referring toFIG.48, the “forward kinematics” expresses the catheter's end-point position as a function of the actuated inputs while the “inverse kinematics” expresses the actuated inputs as a function of the desired end-point position. Accurate mathematical models of the forward and inverse kinematics are essential for the control of a robotically controlled catheter system. For clarity, the kinematics equations are further refined to separate out common elements, as shown inFIG.48. The basic kinematics describes the relationship between the task coordinates and the joint coordinates. In such case, the task coordinates refer to the position of the catheter end-point while the joint coordinates refer to the bending (pitch and yaw, for example) and length of the active catheter. The actuator kinematics describes the relationship between the actuation coordinates and the joint coordinates. The task, joint, and bending actuation coordinates for the robotic catheter are illustrated inFIG.49. By describing the kinematics in this way we can separate out the kinematics associated with the catheter structure, namely the basic kinematics, from those associated with the actuation methodology. An inverse kinematic model translates intended device motion into the commands that will adjust the actuator and/or control element to position the shapeable instrument as desired. Referring back toFIG.1B, the shapeable instrument kinematics are the mathematical relationships between the task space description of the instrument (e.g., tip position) and the configuration space description of the instrument (e.g., shape). Specifically, the inverse kinematics (task to configuration space) are used as part of the chain that translates desired tip positions into actuator commands (leading to displacements of the control elements) that move tip position of the actual device for reaching a desired tip position. These inverse kinematic algorithms are derived based upon certain assumptions about how the shapeable instrument moves. Examples of these assumptions include but are not limited to: 1) Each catheter segment bends in a constant curvature arc; 2) Each catheter segment bends within a single plane; 3) Some catheter segments have fixed (constant) lengths; 4) Some catheter segments have variable (controllable) lengths. The development of the catheter's kinematics model is derived using a few essential assumptions. Included are assumptions that the catheter structure is approximated as a simple beam in bending from a mechanics perspective, and that control elements, such as thin tension wires, remain at a fixed distance from the neutral axis and thus impart a uniform moment along the length of the catheter. In addition to the above assumptions, the geometry and variables shown inFIG.50are used in the derivation of the forward and inverse kinematics. The basic forward kinematics, relating the catheter task coordinates (X, Ye, Ze) to the joint coordinates (□pitch, □pitch, L), is given as follows: XC=w⁢cos⁡(θ)⁢Yc=R⁢sin⁡(α)⁢Zc=w⁢sin⁡(θ)⁢Where⁢w=R⁡(1-cos⁡(α))⁢α=[(ϕpitch)2+(ϕyaw)2]12⁢(total⁢bending)⁢R=Lα⁢(bend⁢radius)⁢θ=atan⁢2⁢(ϕpitch,ϕyaw)⁢(roll⁢angle) The actuator forward kinematics, relating the joint coordinates (□pitch, □pitch, L) to the actuator coordinates (□Lx, □Lz, L) is given as follows: ϕyaw=2⁢Δ⁢LxDc As illustrated inFIG.48, the catheter's end-point position can be predicted given the joint or actuation coordinates by using the forward kinematics equations described above. Calculation of the catheter's actuated inputs as a function of end-point position, referred to as the inverse kinematics, can be performed numerically, using a nonlinear equation solver such as Newton-Raphson. A more desirable approach, and the one used in this illustrative embodiment, is to develop a closed-form solution which can be used to calculate the required actuated inputs directly from the desired end-point positions. As with the forward kinematics, we separate the inverse kinematics into the basic inverse kinematics, which relates joint coordinates to the task coordinates, and the actuation inverse kinematics, which relates the actuation coordinates to the joint coordinates. The basic inverse kinematics, relating the joint coordinates (□pitch, □pitch, L), to the catheter task coordinates (Xc, Yc, Zc) is given as follows: ϕpitch=α⁢sin⁡(θ)⁢ϕyaw=α⁢cos⁡(θ)⁢L=R⁢α⁢θ=atan⁢2⁢(Zc,Xc)β=atan⁢2⁢(Yc,Wc)→where→→R=l⁢sin⁢βsin⁢2⁢β→Wc=(Xc2+Zc2)1/2α=π-2⁢βl=(Wc2+Yc2)1/2 The actuator inverse kinematics, relating the actuator coordinates (□Lx, □Lz, L) to the joint coordinates (□pitch, □pitch, L) is given as follows: Δ⁢Lx=Dc⁢ϕyaw2⁢Δ⁢Lt=Dc⁢ϕpitch2 Referring back toFIG.42, pitch, yaw, and extension commands are passed from the inverse kinematics (450) to a position control block (448) along with measured localization data.FIG.47provides a more detailed view of the position control block (448). After measured XYZ position data comes in from the localization system, it goes through a inverse kinematics block (464) to calculate the pitch, yaw, and extension the instrument needs to have in order to travel to where it needs to be. Comparing (466) these values with filtered desired pitch, yaw, and extension data from the master input device, integral compensation is then conducted with limits on pitch and yaw to integrate away the error. In this embodiment, the extension variable does not have the same limits (468), as do pitch and yaw (470). As will be apparent to those skilled in the art, having an integrator in a negative feedback loop forces the error to zero. Desired pitch, yaw, and extension commands are next passed through a catheter workspace limitation (452), which may be a function of the experimentally determined physical limits of the instrument beyond which componentry may fail, deform undesirably, or perform unpredictably or undesirably. This workspace limitation essentially defines a volume similar to a cardioid-shaped volume about the distal end of the instrument. Desired pitch, yaw, and extension commands, limited by the workspace limitation block, are then passed to a catheter roll correction block (454). This functional block is depicted in further detail inFIG.44, and essentially comprises a rotation matrix for transforming the pitch, yaw, and extension commands about the longitudinal, or “roll”, axis of the instrument—to calibrate the control system for rotational deflection at the distal tip of the catheter that may change the control element steering dynamics. For example, if a catheter has no rotational deflection, pulling on a control element located directly up at twelve o'clock should urge the distal tip of the instrument upward. If, however, the distal tip of the catheter has been rotationally deflected by, say, ninety degrees clockwise, to get an upward response from the catheter, it may be necessary to tension the control element that was originally positioned at a nine o'clock position. The catheter roll correction schema depicted inFIG.44provides a means for using a rotation matrix to make such a transformation, subject to a roll correction angle, such as the ninety degrees in the above example, which is input, passed through a low pass filter, turned to radians, and put through rotation matrix calculations. In one embodiment, the roll correction angle is determined through experimental experience with a particular instrument and path of navigation. In another embodiment, the roll correction angle may be determined experimentally in-situ using the accurate orientation data available from the preferred localization systems. In other words, with such an embodiment, a command to, for example, bend straight up can be executed, and a localization system can be utilized to determine at which angle the defection actually went—to simply determine the in-situ roll correction angle. Referring briefly back toFIG.42, roll corrected pitch and yaw commands, as well as unaffected extension commands, are output from the roll correction block (454) and may optionally be passed to a conventional velocity limitation block (456). Referring toFIG.45, pitch and yaw commands are converted from radians to degrees, and automatically controlled roll may enter the controls picture to complete the current desired position (472) from the last servo cycle. Velocity is calculated by comparing the desired position from the previous servo cycle, as calculated with a conventional memory block (476) calculation, with that of the incoming commanded cycle. A conventional saturation block (474) keeps the calculated velocity within specified values, and the velocity-limited command (478) is converted back to radians and passed to a tension control block (458). Tension within control elements may be managed depending upon the particular instrument embodiment, as described above in reference to the various instrument embodiments and tension control mechanisms. As an example,FIG.46depicts a pre-tensioning block (480) with which a given control element tension is ramped to a present value. An adjustment is then added to the original pre-tensioning based upon a preferably experimentally-tuned matrix pertinent to variables, such as the failure limits of the instrument construct and the incoming velocity-limited pitch, yaw, extension, and roll commands. This adjusted value is then added (482) to the original signal for output, via gear ratio adjustment, to calculate desired motor rotation commands for the various motors involved with the instrument movement. In this embodiment, extension, roll, and sheath instrument actuation (484) have no pre-tensioning algorithms associated with their control. The output is then complete from the master following mode functionality, and this output is passed to the primary servo loop (436). Referring back toFIG.37, incoming desired motor rotation commands from either the master following mode (442), auto home mode (440), or idle mode (438) in the depicted embodiment are fed into a motor servo block (444), which is depicted in greater detail inFIGS.38-41. Referring toFIG.38, incoming measured motor rotation data from digital encoders and incoming desired motor rotation commands are filtered using conventional quantization noise filtration at frequencies selected for each of the incoming data streams to reduce noise while not adding undue delays which may affect the stability of the control system. As shown inFIGS.40and41, conventional quantization filtration is utilized on the measured motor rotation signals at about 200 hertz in this embodiment, and on the desired motor rotation command at about 15 hertz. The difference (488) between the quantization filtered values forms the position error which may be passed through a lead filter, the functional equivalent of a proportional derivative (“PD”)+low pass filter. In another embodiment, conventional PID, lead/lag, or state space representation filter may be utilized. The lead filter of the depicted embodiment is shown in further detail inFIG.39. In particular, the lead filter embodiment inFIG.39comprises a variety of constants selected to tune the system to achieve desired performance. The depicted filter addresses the needs of one embodiment of a 4-control element guide catheter instrument with independent control of each of four control element interface assemblies for .+−.pitch and .+−.yaw, and separate roll and extension control. As demonstrated in the depicted embodiment, insertion and roll have different inertia and dynamics as opposed to pitch and yaw controls, and the constants selected to tune them is different. The filter constants may be theoretically calculated using conventional techniques and tuned by experimental techniques, or wholly determined by experimental techniques, such as setting the constants to give a sixty degree or more phase margin for stability and speed of response, a conventional phase margin value for medical control systems. In an embodiment where a tuned master following mode is paired with a tuned primary servo loop, an instrument and instrument driver, such as those described above, may be “driven” accurately in three-dimensions with a remotely located master input device. Other preferred embodiments incorporate related functionalities, such as haptic feedback to the operator, active tensioning with a split carriage instrument driver, navigation utilizing direct visualization and/or tissue models acquired in-situ and tissue contact sensing, and enhanced navigation logic. Referring toFIG.51, in one embodiment, the master input device may be a haptic master input device, such as those available from Sensible Devices, Inc., under the trade name Phantom.™, and the hardware and software required for operating such a device may at least partially reside on the master computer. The master XYZ positions measured from the master joint rotations and forward kinematics are generally passed to the master computer via a parallel port or similar link and may subsequently be passed to a control and instrument driver computer. With such an embodiment, an internal servo loop for the Phantom™. generally runs at a much higher frequency in the range of 1,000 Hz, or greater, to accurately create forces and torques at the joints of the master. Referring toFIG.52, a sample flowchart of a series of operations leading from a position vector applied at the master input device to a haptic signal applied back at the operator is depicted. A vector (344) associated with a master input device move by an operator may be transformed into an instrument coordinate system, and in particular to a catheter instrument tip coordinate system, using a simple matrix transformation (345). The transformed vector (346) may then be scaled (347) per the preferences of the operator, to produce a scaled-transformed vector (348). The scaled-transformed vector (348) may be sent to both the control and instrument driver computer (422) preferably via a serial wired connection, and to the master computer for a catheter workspace check (349) and any associated vector modification (350). this is followed by a feedback constant multiplication (351) chosen to produce preferred levels of feedback, such as force, in order to produce a desired force vector (352), and an inverse transform (353) back to the master input device coordinate system for associated haptic signaling to the operator in that coordinate system (354). A conventional Jacobian may be utilized to convert a desired force vector (352) to torques desirably applied at the various motors comprising the master input device, to give the operator a desired signal pattern at the master input device. Given this embodiment of a suitable signal and execution pathway, feedback to the operator in the form of haptics, or touch sensations, may be utilized in various ways to provide added safety and instinctiveness to the navigation features of the system, as discussed in further detail below. FIG.53is a system block diagram including haptics capability. As shown in summary form inFIG.53, encoder positions on the master input device, changing in response to motion at the master input device, are measured (355), sent through forward kinematics calculations (356) pertinent to the master input device to get XYZ spatial positions of the device in the master input device coordinate system (357), then transformed (358) to switch into the catheter coordinate system and (perhaps) transform for visualization orientation and preferred controls orientation, to facilitate “instinctive driving.” The transformed desired instrument position (359) may then be sent down one or more controls pathways to, for example, provide haptic feedback (360) regarding workspace boundaries or navigation issues, and provide a catheter instrument position control loop (361) with requisite catheter desired position values, as transformed utilizing inverse kinematics relationships for the particular instrument (362) into yaw, pitch, and extension, or “insertion”, terms (363) pertinent to operating the particular catheter instrument with open or closed loop control. As discussed above, a system that controls a shapeable instrument can be improved using a shape measurement. The shape measurement relies upon a localization system as described above. In most cases the localization system generates a plurality of data defining real-time or near real-time positional information, such as X-Y-Z coordinates in a Cartesian coordinate system, orientation information relative to a given coordinate axis or system. Typically, the reference of the coordinate system can be taken from one or more points along the shapeable instrument. In additional variations, the reference of the coordinate system can be taken from one or more points on the anatomy, on the robotic control system, and/or on any other point as required by the particular application. As noted herein, the methods, systems, and device described herein are useful for device shape sensing that uses the shape data to improved catheter control, estimation, visualization, and diagnosis. FIG.54shows a diagram of where shape information can be integrated into one example of a robotic control topology. As shown, applications for shape sensing can be categorized into three general groups based upon where the shape information is fed into the control algorithm. In a first example, the shape information is fed back into the catheter control algorithms in order to achieve improved catheter control. However, as shown, the shape information can also be fed to a virtual environment or to estimate a position of the catheter. FIG.55Ashows an example of a catheter control topology similar to that shown inFIG.1Bhowever, in this example, the control topology is augmented by shape information at several possible locations. As noted above, the shape information (528) can be used for tip position estimation (530), adaptive kinematic modeling (532), and/or catheter parameter estimation (534). There are numerous ways in which this additional data can be used to close feedback loops that do not rely upon the human operator. It should be noted that there are multiple discrete points along the control algorithm in which shape information can be used to improve the robotic system. Shape sensing is one observation into the state of a flexible device.FIG.55Bshows a basic control topology. Without measured shape information, important positions along the flexible device must be estimated and controlled using other information. In its most general form, shape sensing is an observer as shown inFIG.55B. In this context, observer refers to a control element that collects and uses sensor data from the plant to provide contextualized information to the controller and/or the user. The following disclosure includes combining different pieces of information (e.g. position) with shape to estimate other unknowns (e.g. tissue contact). Shape is a very important piece of information for a flexible robot. Also, shape value increases when combined with other information channels. For example, shape combined with a solid mechanics model of the flexible section can be used to calculate possible forces acting on the device. More simply, with the position of the base and the shape, the position of the tip is known. This is described further below. FIG.55Cprovides an example of information needed (in columns) to estimate other elements of the set (in the rows). Tip position refers to a position registered to an external reference frame. An internal reference frame in which a device is actuated is assumed. For simple flexible devices, shape can be estimated, albeit correctly only in near ideal scenarios, with tip position and orientation, base position and orientation and a model of the device. To effectively estimate shape, position and orientation information is needed at multiple points in the device. Corresponding to the complexity of estimating shape, it is useful for estimating other things. If the device should follow a perfect arc (a simple model), knowing the tip and base orientations and the path length (a subset of full position information) is sufficient information to estimate shape from simple geometric principles. Tissue contact is useful for constructing geometric models of the environment or safely traversing constrained volumes. Contact can be inferred from shape deflection from the intended shape. However, analog forces may also be inferred from this difference in shape. We would like to simplify the estimate requirements to the most straightforward or smallest subset. Thus, we can say tip contact can be estimated from distal forces (which might be measured with local strain gauges or also inferred from IntelliSense measurements). If a three-dimensional model already exists, measured position registered to the model should indicate whether the device is in contact near the measurement. If shape base position and base orientation are known, tip position and orientation are straightforward to calculate. Considering that tip position and orientation may be measured directly with off-the-shelf products (NavX, Carto), it may be more useful to consider the case with shape and tip position and orientation measurements. Base position and orientation can be calculated with shape and tip information. Further, position and orientation at any point along the path of the device are also known. With a geometric model of the environment, knowledge of the entire device position can be used to prevent or reduce contact or plan paths. Since a device model (along with known actuator inputs) should allow estimation of ideal device shape, real shape could be used to adapt the model to achieve closer agreement between expected and measured shape. Device contact with the environment is important because it will cause its own shape deflection and thus the model adaptation could ignore data when in contact or include contact forces in the estimation (as discussed further below). Distal forces can be estimated from shape, a solid mechanics device model and knowledge of contact. If the device is inserted straight but the measured shape indicates a bend, the amount and point of application of force must be estimated. The device will bend differently if force is applied at the middle of the bisected length than if force is applied at the tip. The shape of the bends along with their degree and the solid mechanics model will indicate external forces applied to the device. More detailed descriptions of the estimation of force and the use of force data will be described below. Knowledge of contact can be used to create a model of the environment in the internal reference frame. Position information registered to an external reference frame allows such a model to also be registered. Shape is not indicated in the table for estimating a geometric environment model, but shape is important for estimating contact. Finally, positioning element tension (and other internal device forces) can be estimated using shape and the solid-mechanics model of the device (assuming no contact). Positioning element tension may also be used in estimating or improving estimates of other items of this set, but shape is more important or useful. Task Space Feedback: A task space application involves those situations where a robotic system attempts to position a working end of a shapeable device at a target region or goal. Applying shape feedback information to a task spaced application can assist in producing the desired task space positions and motions. The shape of a catheter, when given some reference, can be integrated to yield position or orientation, such as tip position estimation (530) represented inFIG.55A. There are multiple other methods for measuring positions and orientations for points along the length of a catheter. Points of particular interest can be the termination of positioning elements on a control ring, termination of pressure vessels or any other actuator, or transitions in catheter stiffness.FIG.56Arepresents a shapeable instrument (70) when navigated through an environment. In such a case, some points of interest might include intermediate points (72) along a lengthy section where inflections in curvature are likely to occur and the resulting effects on the tip portion or points (74) adjacent to the tip. The location of these points can be determined experimentally by observing shapeable instrument or a similar model in the relevant anatomy that can indicate appropriate sampling frequency to capture the observed bending state. Alternatively, modeling of the shapeable instruments mechanics can be used to determine those points that should be measured. The task space can be specified in terms of the distal tip motion; however a given task may be concerned with intermediate proximal points as well to traverse a path. Therefore, task space control can include the explicit control of one or more positions and orientations along the length of the flexible device. In the simplest case, the model assumes free motion of all sections (such as in an open heart chamber) where the system controls the distal tip position to apply some therapy such as ablation. In this case, the system feeds an estimated tip position and orientation and compares against an input reference position as seen inFIG.56B. This error signal can then go through some compensator (550) such as a time derivative and gain to yield a command such as a tip velocity. The forward kinematics can then be inverted differentially (552), (e.g., via Jacobian pseudo-inverse or other non-linear constrained optimization techniques) that translates the velocity command into an actuator command (such as displacement or tensioning of a positioning element). These actuator commands in turn put a force on the instrument and as it interacts with the environment (captured together as plant (554)), the sensor will read the new position/orientation for further feedback. If the sensor were not available, the feedback could simply be the model forward kinematics (556) that would at least prevent integration error in this scheme. One example of task space feedback control using the scheme shown inFIG.56Bis to control an automated ablation inside the heart. In such an example, a 3-D geometrical model of the heart can be used in combination with the known location of the instrument (in this case a catheter) in the model to carry out a circular ablation around the pulmonary veins. A user could define points around the pulmonary vein. The system would then calculate a spline in between these defined points to further define the path of the catheter. The real catheter position would then be measured, and the difference between this position and the initial ablation point would be the error signal sent into the compensator (550). The inverse kinematics (552) then transforms the distal tip position error into commands that drive actuators to adjust positioning elements in the instrument to produce desired displacements. In some cases, the system can optimize for low force in the positioning elements. The catheter tip would then move towards the initial ablation position and the real position would be measured once again. Once the catheter is detected to be within some threshold of this initial ablation position (i.e., the error signal is sufficiently low), the commanded position would then begin to move along the ablation path. The user could adjust the speed of motion, as well as the position error threshold by which the catheter should stop moving if it exceeds. The preceding example only uses the measured tip position as a means of generating an error signal. However, the sensor feedback can be used for other purposes. For example, the Jacobian (or inverse kinematics) can be adaptive based on shape or angle, or other feedback as described previously. This can be important because the inverse kinematics themselves assume a known configuration of the catheter and updated information would be beneficial. The adaptive component could be as simple as updating configuration parameters such as angle and curvature, or could be as complex as a learning algorithm that adapts over time to learn the mapping from commanded to achieved velocity. An even simpler form of distal tip feedback control is simply to run the normal inverse kinematics as inFIG.55Abut with the tip position estimation used to feed in an error signal. In this case, the original position command into the inverse kinematics will now be an error signal with a gain term (and potentially integration, differentiation, or other operations), which should move the catheter in the desired direction. This method of operation could also benefit from adaptive kinematics to aid with directionalities. It could also benefit from lower level configuration feedback control as described previously so the assumed shape is more likely to be correct. These methods for controlling the distal tip position and orientation could also be applied to more intermediate points of interest provided sufficient degrees of freedom. In some variations, it may be necessary to specify weightings or some other criteria on specific task goals if the dimension of the task space is greater than the dimension of the actuator space. In variations where the system controls multiple points simultaneously, the system might select directions that align axially with the local point so as to move along the present path. Alternatively, the system can place emphasis to distal degrees of freedom since proximal motions have large effects on distal points due to the moment arm from proximal constraints. These trade-offs motivate lower level control of the device in configuration space. Configuration Space Feedback: Shape can describe the configuration of a device better than feedback of a single position or orientation. Having the capability to obtain shape information allows for the current shape of a device (including angle, curvature, profile, torsion, etc.) to be fed back into a controller. The controller can then process a command to actuate the device into a desired shape.FIG.57Aillustrates one example of a modification to apply shape feedback information into an existing closed loop system to alter a position control signal. As shown, shape sensing provides a measured configuration (via localization data) of a real shape of the shapeable device. This measured configuration is then compared to a desired configuration. Where the desired configuration is either modeled data or a known ideal configuration such that a differential between the real and desired shape can be quantified. Here, the feedback system uses the difference between the measured and desired catheter configuration to produce a configuration error, error signal, or signal that is then applied to a feed-back controller (500) to modify the configuration command sent to a feed forward control element that effects a response in the shapeable instrument or catheter (502). The difference between the measured and desired configuration can be applied through a gain element (504) as shown. The gain element can include a multitude of control elements such as proportional, derivative, or integral terms. This illustrated configuration uses shape data to alter a feed forward command that drives the shapeable instrument to a desired target. FIG.57Billustrates an alterative closed loop control configuration for a pure feedback control form that uses an error between the measured or real shape data and the desired shape. This error is then fed as an input to the feed back controller (506) to generate a feed back signal to control the shapeable instrument (502). This configuration does not depend upon a model-based feed—forward control element (sometimes referred to as model-based control). However, a pure feedback controller as shown here may require integrator terms internally in order to achieve steady-state error requirements. Because both pure feed forward and pure feedback topologies have clearly identifiable advantages and disadvantages, the topologies can be combined as shown inFIG.57Cto realize the benefits of both feed forward and pure feedback configurations. As shown, the feed forward control element (500) uses its detailed model knowledge to improve transient tracking and to reduce dependence upon large integrator terms. The feedback control element (506) can help reject environmental disturbances or modeling errors by modifying the actuator commands coming from the (hopefully dominant) feed forward control element (506). FIG.57Dshows another variation of a control system using an integrated feed back and feed forward controller. This allows the feed back controller to exercise control authority at one or more points within the feed forward controller. FIG.57Eshows one example of an integrated feedback and feed forward controller. As shown, in the integrated controller (508), feedback terms are inserted into the existing (model based) feed forward control algorithms. In this example, configuration error, once mapped through appropriate gain elements (509), (510), (511), can be injected as feedback terms into the existing model-control pathway at several discrete locations. In the illustrated example, the configuration error, is used to modify the moments and forces coming from the beam mechanics model, the individual tendon tension commands, or the final tendon displacement commands. However, any of these methods can also apply to alternative actuation methods such as remote micro actuators (voltage command), fluid channels (pressure command), thrusters (ejection speed), magnets (orientation or shield duty cycle), etc. Tracking with Shape Information: In an additional variation, systems, methods and devices using shape information can be used to track advancement of a shapeable instrument through an anatomic path. The anatomic path can include a path through a vessel, organ, or between organs. For example, the anatomic path can include a path through one or more vessels to access the heart. Alternatively, the path can include navigation through bronchial passages or the digestive tract. The robotic system then monitors the shape of the instrument for any changes in shape that would indicate the need for a corrective action. FIG.58Aillustrates an example of endovascular tracking of a shapeable instrument. In this example, the shapeable instrument (50) is advanced through an iliac artery (100) using a robotic system (52) that monitors shape information to adjust advancement of the instrument (50).FIG.58Aillustrates a desired shape (54) of the instrument (50) when advanced into the iliac artery (100) and across the aorta (102). As shown, if the shapeable instrument (50) advances as desired it will naturally assume the shape of the anatomy. During insertion, it is desired that the distal tip of the catheter advance in the direction it is facing. However, as shown inFIG.58B, if the instrument (50) fails to advance in the desired path, the instrument (50) assumes a shape (54) that varies from the desired shape (52). In this example, the instrument (50) assumes a sharp bend as it backs into the aorta due to the lack of any constraining anatomy. In this situation, the distal tip of the instrument (50) either ceases advancing, or even backs further into the aorta. This motion in the opposite direction of intended could be a major problem for a robotic system (52) that is supposed to be intuitive. To protect against this situation, the robotic system (52) monitors the shape of one or more portions of the instrument (50) to detect for the expected shape or to monitor for unexpected shapes such as the sharp bend (56) shown inFIG.58B. In some variations, the robotic system saves a present or natural shape of the instrument (50) as a reference indicative of the shape of that anatomy. The robotic system (52) could even save a shape of the anatomy as a reference. During insertion, the progressing instrument (50) should approximately follow the reference if tracking is occurring successfully. If a sufficiently large deviation is detected in the present instrument (50) shape (56) with the reference or a desired shape (54), the robotic system (52) ceases instrument (50) insertion to prevent backup into the aorta. In an additional variation, using knowledge of the location of the deviation, the instrument (50) can be actuated near that location to attempt to break friction with the wall and descend in the direction of intended tracking. Alternatively, the instrument (50) can be withdrawn and advanced in a different manner to prevent the backup. This procedure, or similar actuation scheme, may be repeated along with continued insertion to resume tracking. Alternatively, if the shape detects tracking failure, a guide (58) could be inserted out of the distal tip of the instrument (50) as far as possible to obtain purchase (or stability). This guide (58) could then be left in the anatomy to provide a track for continued tracking of the catheter. Although tracking of shape is beneficial when advanced using a robotic system, tracking of shape can also benefit procedures in which the instrument is manually advanced or advancement is assisted via a robotic system. In such cases, the instrument will be coupled to a system that can provide information to the operator regarding the shape of the instrument as described above. Reduced Model Control: One of the primary benefits of feedback control is avoiding reliance on models and their associated errors. The less data that is available, the more important a model becomes. With full state feedback of some combination of shape, position, orientation, or deformation over a sufficient history, the relationships between actuator and position or shape can be learned. For example, during a procedure the robotic system can use shape data to correlate a map between force on one or more positioning elements and multi-section bending of the instrument. This map can be inferred from many measurements. For a particular region, this map may depend on the anatomical constraints and may need to be refreshed (or continuously updated) if conditions are significantly altered. To supplement the data, a model could be used for the anatomy to estimate its presence and characteristics as it interacts with the catheter. This mapping could at one extreme serve as a black box within the controller (508) inFIG.57Dwhere the user input is first related to some description of the state of the shapeable element and the mapping is used to find the actuator commands. In this example, there is very little modeling, mostly on the high-level user interface relating the user's intentions to instrument state. Otherwise, the sensor data can be used in place of a model and continuously updated. A simple use of reduced model control could be to monitor the mapping between proximal instrument insertion and distal tip motion. A distal tip of the instrument can move in almost any direction under proximal insertion depending on distal contact with anatomy. Therefore, knowing this mapping between proximal insert and distal motion is of critical importance in maintaining intuitive robotic control. In the simplest form, the user could request a calibration where the proximal insertion would be dithered, and the distal tip motion measured. Subsequent movements of the master input device in the measured direction would then map to distal insertion and preserve intuitive driving. To further reduce the model, it might be possible to instrument a non-robotic catheter with shape sensing for a given procedure or sub-routine of a procedure. The specific goals of each part of the procedure could be stated and associated with the measured catheter state. This association could provide the basis for a mapping between user intent and catheter result that could be applied to a robotic system. The user could then simply operate the robotic system in supervisory fashion where the user provides a command such as cannulate the carotid and this command is then translated to catheter shape, then actuator commands: This process could be largely based on data history and not be overly reliant on complex models. Different device and control architectures, shape sensing accuracies, and device configurations requires different modeling trade-offs. A less accurate shape sensor may require more device modeling to achieve accurate control. Thus, models are useful in many scenarios. Kinematic models of robotic devices are very useful. The strong geometric basis of kinematic models is well informed by shape. As discussed below, systems and methods use shape information to adjust or inform kinematic models. Applying Shape Information to Kinematic Models: Due in large part to the open-loop nature of the existing instrument control, the instrument mechanics algorithms can be dependent upon an accurate kinematic model that represents the mechanical and physical characteristics and parameters of the instrument. Some of the parameters in this model are “tuned” at development/design time while others are characterized on an individual device basis or lot-by-lot basis as part of the manufacturing process. A partial list of these model parameters includes: segment length, overall lengths, diameter, bending stiffness, axial stiffnesses, and control positioning element stiffness, etc. In one variation, systems and methods disclosed herein can use an instruments measured shape data in combination with commanded shape, commanded tendon displacements, measured tendon displacements, and any other available sensor data (e.g. measured tendon tensions) to estimate improved parameters for the instrument model used by the instrument mechanics algorithms. This combination can modify an instrument's configuration control algorithms as discussed below. Alternatively or in combination, the combination can allow for new parameter values that make the control model more accurately match the specific instrument being manipulated. The estimation of these improved parameters can be accomplished with existing model-fitting, machine learning, or adaptive control techniques.FIG.59Arepresents an example control relationship where shape sensing occurs after the real instrument is positioned. The resulting shape sensing data is fed to an estimation of the catheter parameter along with virtual catheter configuration as well as virtual and actual tendon displacement. The resulting error or difference can be used to update the catheter mechanics in the catheter model for improving future commands generated by the robot control system. Another application of applying shape sensing data involves improving a performance of the instrument driving when a mismatch occurs between an assumed and a real kinematic relationship. For example, as shown inFIG.59B, when measuring a real or actual shape of an instrument, the control system can adapt the inverse kinematic algorithms, if necessary, to more closely match how the real catheter actually moves based on the error between the desired instrument configuration and the obtained shape data. Thus, the inverse kinematic model becomes updated or improved based on real correlation of the movement of the instrument. This allows for the robotic control system to generate commands an improved inverse kinematic model that contains a more realistic set of inverse kinematic relationships. As a result, an actual tip position of the instrument should more closely track a desired tip position. In a general implementation, the adaptive kinematics module will likely combine measured shape information with knowledge about the commanded shape, actuator commands, and any other sensory information that may be available (e.g. measured pullwire or positioning element tensions). Several more specific algorithmic implementations are listed below. One variation of an adaptation scheme includes a “trial and error” type approach. This approach requires an initial guess as to instrument position with a subsequent collection of the shape data to determine the actual result. The control system then compares the initial guessed position or shape with the actual measured resulting shape and uses the measured error signal to improve correlation to learn from the error. In this sense, the control system uses an original or idealized inverse kinematic model to compute the initial robot control commands whenever the user starts driving in a new portion of the anatomy or driving in a previously unexplored direction. Because of this, the instruments response to the user's first motion commands should contain the greatest error. As the user makes repeated efforts to access a target, the response of the control system to manipulate the instrument should increase in accuracy. In another variation, an adaption scheme could include the use of building a lookup table of commanded catheter configurations vs. actually achieved catheter shapes and their corresponding tip positions relative to the base coordinate frame. In one example, adapting a kinematic model can benefit on a temporary basis. For example, if the shapeable instrument encounters an anatomic constraint during navigation the behavior of the instrument will be affected as long as it encounters the constraint. For instance, a common occurrence is where a shapeable instrument comprises a catheter where a proximal portion of the catheter is largely constrained by a blood vessel and only' a distal portion of the catheter is free to articulate. In this case, adapting the kinematic model can be as simple as estimating a new effective articulation length based upon sorting the length of the catheter into a section that, upon measuring shape, is observed to move freely and a section that generally is not changing shape (or encounters significant resistive force when changing shape). In another example of adapting a kinematic model, a measured shape of an instrument can be used to compute curvature as a function of arc length along the instrument. By analyzing the shape data for sharp transitions or discontinuities the assumed articulating length of the catheter can be broken up into several subsections that may be behaving differently from each other, but within each subsection the behavior more accurately matches the assumed constant curvature arcs. Based upon this auto-segmentation, the inverse kinematics can be computed as a chain of several smaller subsections that each can be accurately computed with the traditional kinematic models. In another variation, shape data can be overlayed, as shown inFIG.60. As illustrated, the shapeable instrument (1) is articulated or repositioned (either automatically by the robotic control system or manually by an operator). In doing so, the instrument (1) could use a threshold resistance value so that when encountering the resistance, the instrument moves to another position. Once a period of time passes, the system assess all of the shapes collected during the window, typically during intervals. The system can then look for voids or regions where the instrument was forced to avoid. These void spaces will likely represent some sort of environment constraint (obstruction) that can be included in the computation of the inverse kinematics. Once the system identifies these environmental obstacles, the system can apply a wide range of existing path planning algorithms to help solve for desired instrument shapes that achieve a desired tip position while avoiding the identified obstacles. Furthermore, the information shown in MG.60can be provided in a graphical form for observation by the operator. Improved Kinematic Models An initial or existing inverse kinematic model is typically based upon a parametric model that describes the number and nature (length, degrees of freedom, coupling, etc.) of bending segments of the shapeable instrument. One variation of improving the kinematic model is to adapt the model via a model fitting exercise. The system or an operator can engage the robotic system to perform a training routine in which the shapeable instrument moves through a series of locations and shapes. Once sufficient training data is collected on the observed correlation between instrument configuration (shape) and tip position, one or more model fitting techniques can find the parameter set for the kinematic model that produces predictions that best match observations or that produces the predictions desired for the particular application. This best fit model is then used to compute the inverse kinematics for future iterations. In yet another variation of adapting the model, an implementation of an adaptive kinematics module could use some intelligent combination of several of the concepts described herein. Keep in mind, that while all of these approaches deal with the translation of commands from task space to configuration space, they do not necessarily all employ the exact same description of the catheter in joint space. Adaptive Jacobian Another approach to adapting kinematics is to solve the inverse kinematics based on velocity rather than position. Typically, at each time step the system solves for an instrument configuration that achieves a desired tip position. Instead, the system can solve for the change in shape of the instrument, relative to its current configuration or shape, where the change produces a desired incremental movement or velocity of the instrument's tip change in catheter configuration mathematically, the general relationship between velocities is a derivative of the kinematic relationships between positions this relationship is referred to as the Jacobian. One significant benefit of an adaptive Jacobian model is that exact kinematic relationships between positions are not needed. The model could simply infer, estimate, or learn the Jacobian from the sensed shape information. However, when combined with other methods, determining the relationships would be required. One example of a very simple adaptive Jacobian approach is in a modified control architecture where a configuration space command is a measure of how hard the system is trying to bend or direct the shapeable instrument in a particular direction. Using a measurement of the shape of the instrument and its associated tip orientation, the adaptive Jacobian approach translates a tip velocity command into a configuration commands as follows: 1) To move the tip laterally (relative to the tip orientation) in the direction of the catheter bend, apply more bending effort to the catheter segment. 2) To move the tip laterally (relative to the tip orientation) in the direction opposite the catheter bend, apply less bending effort to the catheter segment. 3) To move the tip in the direction it is pointed, insert the catheter segment. 4) To move the tip in the opposite direction than it is pointed, retract the catheter segment. As noted above, one advantage to this control model is to reduced dependence upon accurately modeling all aspects of the catheter and the environment with which it interacts. The model simply relies on moving the shapeable instrument and its tip from its current position to a desired position. Real Shape Display Estimation of an instrument's mechanical parameter can be performed post manufacturing to be set statically for the procedure. Alternatively or in combination, mechanical and other parameters can be updated intraoperatively to improve control. When the properties of a flexible section are used to determine control inputs, system feedback can be used to estimate those properties. As a basic example, the stiffness of a section of the instrument can be used to decide how much to displace positioning elements (e.g., pull tension wires) to produce a desired configuration. If the bulk bending stiffness of a section is different than the existing stiffness parameters, then the section will not bend or bend too much and not produce the desired configuration. Using shape data to assess the shape of the instrument, a new bending stiffness can be continuously updated based on the degree to which the positioning elements are displaced and the resulting actual bending. A recursive-least-squares technique can be used to quickly recalculate a new bending stiffness as new data is measured. However, any number of other methods of adapting parameters can also be used.FIG.61Aillustrates a general system block diagram where the goal of adaptation is to choose the characteristics of the model that minimize the difference between ymeasuredand ypredicted. However, in adapting the actual instrument parameters, it will be useful to determine if the instrument is in contact with the environment. When the instrument is operated in free space, the parameters can be adapted to reduce the difference between the desired configurations versus the predicted configuration. However, if the instrument (1) is not bending as far as expected due to contact with an external object (49), as shown inFIG.61B, then updating the bending stiffness parameters should not be updated unless the instrument (1) is to be operated while engaging the object (49). Accordingly, this model will benefit from measuring external forces on the instrument (1) prior to altering mechanical parameters. One instrument state that is difficult to observe in practice is a compression or extension along a longitudinal axis of the shapeable instrument. Knowledge of the compression or extension of the instrument is important in the control of the instrument because the actuators often act in series with this axial mode. For example, positioning elements or tendon actuation can be used to control an instrument by routing the positioning elements through a conduit along a length of the instrument. The control elements can be terminated at the distal end and actuated proximally to alter a shape of the instrument. In this case, compression of the instrument also affects the positioning elements and could even lead to slack. Therefore, the axial compression ore extension should be known or estimated to maintain improved control authority. In addition, the axial deformation can be important if some other member is routed co-axially with the shapeable instrument. For example, an ablation catheter can be routed down a central through lumen. If the instrument compresses, the ablation catheter becomes further exposed. Clinically, this exposure, or protrusion, can cause difficulty in performing articulations in small spaces since the uncontrolled ablation catheter will be sticking out further and occupying significant volume. Ideally, an observer or a localization system could provide complete deformation information for the entire length of the device (similar to Finite Element Method results), including the axial deformation. In reality, measurements only of select states are practical, each potentially requiring its own unique sensor. In the case of axial deformation, there are a number of potential methods to sense the desired information. For example inFIG.62A, an optical fiber (12) can be incorporated into a shapeable instrument (1) as described above. However, in this variation, one or more the optical fibers (12) are configured in a helix within the instrument (1). The helices of the optical fiber or fibers (12) provide mechanical flexibility and can provide for estimating compression of the instrument (1). Alternatively, as shown inFIG.62Ba longitudinal multi-core fiber (12) could be allowed to float either along the centroid of the shapeable instrument (1), or at some other distance from the centroid. At the proximal end (17) the fiber (12), compression or extension of the instrument (1) causes the fiber to move relative to the instrument since it is free-floating. Axial deformation or expansion can be measured by measuring the movement of the fiber (17). This linear motion of the fiber (17) can be measured by a linear encoder or similar method. Since the bending can be calculated using the Bragg Gratings or another localization system, the manipulator's axial compression can be found from this proximal linear motion of the fiber. Additional variations of this configuration allow for any other flexible element to be used instead of the freely floating fiber. Such flexible elements include, but are not limited to: a wire, coil tube, or actuation element so long as its own axial deformation is observable or reasonably assumed to be negligible. If such axial deformation is predicted to be significant, the force on the elongate element could be measured to estimate its own axial deformation. Similarly, the force of all actuation elements could be measured or modeled to estimate the total axial deformation of the flexible manipulator itself. Given information of axial deformation, there are various steps that can be taken to make use of this information. For example, as shown inFIG.62B, an ablation catheter could be controlled to axially adjust so that the amount exposed at the distal end of the shapeable instrument (1) is controlled. Similar to that shown inFIG.62B, in an architecture with multiple concentric manipulators (such as the Artisan inner and outer guides manufactured by Hansen Medical), inner and outer guide insert positions can be adjusted to account for axial deformation as well. In fact, the axial deformation could be used for manipulation of the devices to achieve a desired axial motion. This axial motion could be useful for extending reach, dithering out tendon friction, ablation catheter friction, or otherwise. Another use of active axial deformation control would be to pre-load the manipulator by a quantity sufficient to hold constant compression over the range of articulations. Then the ablation catheter would appear to stay fixed with respect to the guide catheter. As previously mentioned, the axial deformation can be important simply for maintaining control authority as it affects the actuators. For example, if the axial deformation were accurately known, that quantity could be adjusted via the actuators that drive the positioning elements in addition to the amount due to bending and deformation of the positioning elements themselves. Furthermore, with accurate knowledge of the axial deformation combined with some knowledge of bending, the absolute angle of a point on the catheter may be identifiable with respect to the robot. For example, if the total force on the catheter is measured or modeled, we can infer the axial deformation based on stiffness. An alternative way to measure the axial deformation would be to obtain localization data (from sensor, image processing, etc.) of the ablation catheter differenced from the inner guide catheter. Cumulative bending and axial deformation can also be obtained by the amount which a coil tube (60) (which is axially rigid and allowed to float in the catheter) displaces out of the proximal end of the instrument (I). The coil tube (60) displacement less the axial deformation estimate yields pure bend information that indicates the angle of deflection A of the distal coil tube termination with respect to the robot as shown inFIG.62C. This angle information could be considered part of the shape sensing feedback where it can feedback to the user, high level control, or low level control. For instrument control as inFIG.62C, the angular information gleaned from axial deformation could be used for tip pose feedback, in an adaptive model by updating directionalities, or in catheter parameter estimation for updating stiffness and more. Pre-Tensioning When a shapeable instrument is coupled to a robotic control mechanism there is typically an unknown amount of slack in positioning element. If the catheter is to be effectively controlled by position (rather than tension) controlling each of the positioning elements, this unknown positioning element slack must be removed by finding appropriate position offsets for each positioning element. Pre-tensioning is the process of finding out how much slack is in each tendon and removing it. Several sources of initial slack in the tendons are illustrated inFIGS.63A to63C. As shown inFIG.63A, the lengths of positioning elements (62) can inconsistent due to manufacturing tolerances. Additionally, as shown inFIGS.63B and63C, any bends in the proximal (non-articulating) or distal (articulating) portions of the shapeable instrument (1) will also contribute to an offset in the position of the positioning elements (62) due to different path lengths along the inside and outside of the bends. One way in which we deal with is to slowly drive the articulation axes until the operator “feels” (by monitoring motor currents or sensed wire tensions) the positioning elements (62) pull taught. Without shape sensing, this procedure is dependent upon two critical assumptions: 1) The articulating portion of the catheter is straight when pre-tensioning occurs; and 2) The non-articulating portion of the catheter does not change shape after pre-tensioning occurs. The first assumption is important because by pre-tensioning is intended to find the “zero-point” for the control element displacements. It is from this “zero point” that control element commands are added to displace the control element to control the shapeable device. If the articulating portion of the catheter is in fact bent during pre-tensioning, this will introduce an un-modeled disturbance to the catheter control algorithms and result in degraded tracking of user commands. In theory, this assumption could be relaxed to require that the articulating portion of the catheter is in any known configuration during pre-tensioning. However, without shape sensing, a straight catheter (held there by the catheter's internal bending stiffness) is the most practical configuration to assume. The second assumption comes from the fact that any motion in the non-articulating portion of the instrument (1) introduces additional offsets to the positions of the positioning elements (62). Because the configuration of the non-articulating portion of the instrument (1) is neither modeled nor (without shape sensing) sensed, the instrument (1) control algorithms are unaware of these changes in the positioning element (62) displacements, therefore resulting in degraded tracking of user commands. Conventionally, pre-tensioning the instrument (1) occurs after it has been inserted into the patient and taken the shape of the patient's anatomy. If subsequent significant changes to the shape of the non-articulating portion of the instrument (1) occur, the operator must straighten out the articulating portion and re-execute pre-tensioning to account for these changes. Shape sensing provides an opportunity to relax both of these assumptions. The articulating portion of the instrument (1) could be pre-tensioned in any configuration by using the shape sensing system to measure the configuration of the catheter at the completion of pre-tensioning. The measured pretension offsets are then corrected by computing the deviation in position of the positioning element (62) due to the measured configuration. This computation itself if very similar to portions of the existing instrument (1) control algorithms. The non-articulating portion of the instrument (1) can also be allowed to move after pre-tensioning by continually or periodically measuring the shape of the non-articulating portion. The pretension offsets can then be corrected by computing the deviation in tendon position due to the measured change in the shape of the non-articulating portion of the instrument (1). Reaction Force While contact deflection can disturb catheter parameter adaptation, use of shape data allows contact deflection to be used to estimate the contact force. If the bending stiffness of a section is known or has been adapted before coming in contact with an obstruction (49), the deviation between a predicted shape and an actual shape as measured can reveal where the instrument (1) makes contact and the degree of force with the environment or obstruction (49). If the estimate of bending stiffness, calculated simply from tendon positions and shape, were to rapidly change in conjunction with commanded movement, the device could be assumed to have come into contact with its environment. The new bending stiffness should be ignored in lieu of that calculated prior to the rapid change. Next, since the shape is dependent on the control inputs, device properties and the force from the environment. The force from the environment can be determined or estimated since the control inputs and device properties are known. For example, as shown inFIG.61B, when the shapeable instrument (1) encounters an obstruction (49), the change in shape is measured and the control inputs as well as the device properties are know. Therefore, the system can calculate the force required to deflect the instrument (1) into its real position. Estimating Force Applied to Anatomy with Shape Information With no interaction with the environment, a flexible device will have a default shape for a sequence of actuator inputs. If the flexible device contacts with the environment, the device (or a portion) will deflect in shape along portions of the device again as shown inFIG.61B. A correct estimation of contact forces applied against the shapeable instrument in a solid-mechanics model can minimize the difference between the estimated shape and measured shape that results from contact. However, there can be multiple combinations forces that will achieve the solution. The reaction force can be presumed to occur at specific locations based on the expected shape of the device. The device will often contact the environment at the tip with a reaction force perpendicular to the tip. The device may also contact along the body. To solve for body contact, a force can be applied to a beam model of the device at various locations along the length of the device model. The resulting deflected model that best matches the measured shape can be selected as best describing the reaction force. Also, if there are multiple possible shapes for a set input configurations (i.e. path dependence), the previous configuration may also need to be considered in solving the forces. If shape is not tracking the command, it could be in contact with tissue. Constantly observing the error between commanded shape and actual shape allows rapid detection of contact. An obvious metric for this error is the norm of the distance between measured and commanded positions along the path of the catheter (any number of norms could be used). However, this metric would amplify disturbances in curvature at one point (since such a disturbance is integrated to position). Another metric includes the mean square error between commanded and measured curvature at each point. This weights the points more evenly and attributes error properly at the afflicted location rather than the effect of the error on other points, as distance does. Once contact is made, there are several possible actions depending on the severity of tissue contact. If no tissue contact is tolerable, the controller generates a signal or stops the instrument from moving and an alarm notice may be posted for the operator. In another variation, the control system may issue commands to automatically retrace motion to move away from the contact by a set distance. If contact should merely be limited, there are more possibilities. For example, haptic feedback such as a vibration or force can be applied to the input device to indicate contact. Vibration is useful if the location or direction of contact is unknown. However, a reasonable guess of direction is the vector of motion when contact occurred. Force could be added to resist motion in that direction on the input device. Also, slave movement could be de-scaled when in contact. If force is estimated as previously described, a haptic force could be applied to the input device proportional to the estimated force. The direction of the master haptic force should be that which will reduce the reaction force in the slave. Use of Force Data for Path Planning If the environment geometry is known, the forces can be estimated for all actual instrument configurations. Two sub-cases are described where the goal is either known or unknown. If a goal position in the environment is known, the path to that point can be planned given knowledge of the environment geometry. The best path will depend on the cost associated with forces applied to the instrument (1). For example, one example constraint could be that distal tip forces must be below one threshold and body forces must be below another (this could be to effectively limit the pressure on tissue). These two conditions constrain the possible path to the goal. In fact, there may be no path and this could be communicated to the operator allowing the operator to change threshold or reposition the starting point. If there is one path that meets the constraints, it is likely there are many. Haptic forces or visual shading may be used to guide the operator to stay in the set of acceptable paths. Also, the path which minimizes peak forces (or sum-of-square forces) may be calculated and light haptic forces could be used to guide the operator to drive directly along that path. Similarly, that path may be automatically driven by the robot. If the goal is unknown, there may still be a predictable set of acceptable paths through the environment. If the operator is interested in two distinct modes—maneuvering to a specific area then applying treatment in that area, the user interface can provide an interface to switch between the two modes. In the maneuvering mode, the path planner will try to keep the treatment tip and catheter body away from tissue and minimize forces along potential paths. As shown inFIGS.64A and64B, use of contact force and shape data to reach desired points (a), the system can guide the operator along paths with low forces that can lead to other areas of the geometry. As show inFIG.64B, switching to treatment mode, the system will allow the treatment tip to approach anatomy while controlling the shape to minimize interaction forces (pressures) along the body of the instrument (1). Mechanical Failure and Structural Integrity of the Instrument: The use of shape information also allows for determining different types of mechanical failure.FIG.65Ashows a shapeable instrument (1) assuming a particular configuration. Generally, shapeable instruments that include positioning elements that apply tension but not compressive force have two main sources of mechanical failures modes that can be diagnosed with measurement of shape. The first mode includes fracture of positioning element that results in a failure to properly position the instrument (1). The second failure mode includes a fracture in the structure of the shapeable instrument (1) as noted by area (92). The ability to measure shape of the instrument (1) allows for an immediate indication of a mechanical failure of the instrument (1). In the case of a fracture in the structure, bending with non-zero force around the point of fracture results in higher than normal curvature. The curvature may be higher than expected for a device and lead to an immediate failure diagnosis simply monitoring each point along the path of the device. An example of a block diagram to assess such a failure is shown inFIG.65C. The high value shown in (520) can be pre-determined using the bending characteristics of the device. For a more subtle partial fracture, the curvature could be compared to an expected curvature generated by a model and a diagnosis made based on the cumulative residual (e.g. integral of norm of distance between expected and measured shapes), diagramed inFIG.65D. A simple model might be a minimum smoothness of curvature such that a discontinuity at any point gives rise to indicate a mechanical failure. The expected shape of a device could also be generated by a solid mechanics model taking into account the actuator inputs. The expected curvature for each point would be compared to the measurement of curvature at that point, iterating along the path of the device. In the case of fracture of actuating tendons, the curvature would be less than expected for a given level of actuation. If the flexible section defaults to a zero-force position, the curvature must be compared to a modeled curvature. The flowchart inFIG.65Ddescribes differentiating between a case of a structural fracture with a high curvature and a positioning element fracture that give rise to a low curvature. As discussed above, contact with the environment will alter the shape from that expected when the instrument is actuated in free space. Such environmental factors can be considered when comparing measured curvature to expected curvature to prevent a false indication of failure. The diagnostic algorithm can simply ignore shape measurements when in the shapeable instrument (1) contacts an obstruction. If distal force is measured, it can be included in models that estimate shape. Dynamics can be used to assess the instrument for failure modes while it is in contact with the environment, meaning when there is an error between the desired shape and measured shapes. To detect a quick mechanical fracture (such as a break or tear), the measured curvature at each point along the device could be compared with a low-pas filtered version of itself. If the two differ greatly, a fracture may have occurred. The bandwidth of the filter would have to be faster than the bandwidth of actuation. Following, the actuator inputs could be considered and applied to a current estimate of catheter shape. The shape estimate would filter the measured shape to accommodate contact deflection and apply the actuation relatively to the estimate. A beneficial by-product of this shape estimate would be an estimate of when the device makes contact with its environment. Display of Fracture Information When a fracture is detected, it is important to convey the failure to the automated system and user. When the control system is notified of a mechanical fracture, tension on tendons should be configured to freeze the actuator state or reduce passive applied force which would likely be the relaxed tendon positions. In an additional variation, the user interface could provide haptic feedback to the operator by changing the force characteristics on the master device (e.g. turn off force-feedback, centering, gravity compensation, etc.). Also, the system could display a visual indicator of device failure. Visual notification could be simply textual. Alternatively, the visual notification can be information rich. If the system has a visual depiction of the instrument, the depiction of the instrument could be altered in shape, color, and/or other representative features to reflect the failure. Thus, if the instrument structure fractures, then the operator interface display could show a displacement of material at the suspected point of fracture on the corresponding depiction. If the actual fracture mode is not visually compelling to demonstrate the degree of corresponding mechanical problem that will result from the failure, the main display could show an icon near the area, magnify the area and show the fracture or highlight the area with contrasting colors. Simulating a colored semi-transparent light illuminating the fractured section would imitate other alarms such as police revolving lights to give operators an intuitive reaction. Communicating the point of failure and type if possible is important in those cases where stopping treatment or operation of the device is not the chosen fail-safe response to a failure. If the instrument remains functional (albeit impaired), then the system could permit a user with the option of continuing in a reduced workspace or reduced functionality. In such a case, showing the old and new workspace as well as the fracture point will aid an operator in safely performing their tasks or exiting the workspace.FIGS.66A and66Billustrate two examples of visual indication of a failure mode. For example,FIG.66Ashows a condition where a positioning element fails causing low curvature. As shown, the real shape of the device is shown with a phantom desired shape. Also, the fracture is represented by a failure indicator.FIG.66Billustrates another example where the device remains operable but the fracture (92) is indicated by a visual fracture indicator (96). Clearly, any number of additional variations are within the scope of this disclosure. Active Secondary Diagnostic Because of variation in devices and operating conditions, there is often some overlap between acceptable and unacceptable failures in a given diagnostic metric. Thus, there may be what are statistically called Type I or Type II errors for the hypothesis that there is a failure (false failures/positive or false passes/negative, respectively). To avoid false passes in critical diagnostics, the pass-fail criteria may be biased to report failures when the behavior is questionable due to operating condition. As one example, if a positioning element fractures while a default-straight device is nearly straight it will be difficult to diagnose with the small change in movement from nearly straight to straight. The system may request an operator perform a specific maneuver or input in order to verify the failure behavior. In the positioning element fractures situation, the system will request the operator move in the direction the positioning element in question would normally pull. A lack of motion with such intentional motion would clearly indicate a fracture which could be reported with confidence to the user. Structural Integrity of the Instrument: One aspect of using any flexing material is that the bulk properties of flexible sections change over time as the section is repeatedly flexed. Materials may fatigue, slightly surpass their elastic regions or in the case of composites experience slip on the micro-scale between materials. In extreme cases, these behaviors qualify as a fracture of the material. However, in many cases, less significant changes allow continued use of the flexible section but alter the flexural properties of the flexing material and therefore of the shapeable device. If the degradation is fairly continuous and smoothly progressing in time, knowledge of the level of degradation could be useful to the system operator. This “state of the health” of the flexible section as well as other adapted properties are useful information for users and extra-control subsystems. The state of health could be conveyed to the user as numerical percentage of original life or with an icon such as a battery level type indicator. The state of health can be calculated by comparing measured behavior to behavior predicted from a model of the device populated with parameters from the initial manufactured properties. It could also be calculated by comparing the behavior to models populated with parameters of known fatigued devices. This second technique would also provide an estimate of the device properties which may be used to in place of the initial parameters improve control of the device. Finally, the device properties may be adapted directly by minimizing the residual by varying the value of the target property. Sensor Integrity In order to diagnose failures of a flexible robotic mechanism, the integrity of the shape sensor must be known. Differentiating between a failure of the sensor and a failure of that which is sensed can be complicated depending on the type of sensor used for the measurement. The first diagnostic of sensor integrity can be based on the physics of the sensor itself. First, the range of reasonable outputs of the sensor should be bounded to enable detection of disconnected wiring. For example, if curvature at point x along the flexible path S is measured as an electrical potential between 1 and 4 Volts, the electrical system should be capable of measuring between 0 and 5 Volts. Thus, a measurement of 0.5 Volts would lead to obvious diagnosis of a sensor fault. The physics of the sensor and measuring system can be considered in designing this level of diagnostic. When the sensor is measuring outside the realm of physically reasonable, information about the robot cannot be known. If more subtle failures of the sensor are possible, a scalar error for example, lack of sensor integrity could easily be confused for a mechanical failure. If the sensor registers an extremely large curvature at one point, that would seem to indicate a fractured structure. If such errors are possible in the sensor though, other information may be considered to differentiate sensor integrity from mechanical integrity. This is important in order to properly inform the user what component has failed for repair or replacement and for the control system to implement a fail-safe response. In this case, model based diagnostics may be used to combine other sources of information to decide which component has failed. If tip position is measured, a sudden movement of the tip position could indicate a real fracture. If the shape sensor measures a change that should move the tip position, but no tip motion is detected, the sensor may be faulted. The current shape and tip position of the device can be predicted based on a model of the device, the previous shape measurement and the previous tip position measurement. Thus, the measured shape and tip position may be compared to their predicted values to produce residuals. These residuals may be the output of a Kalman filter or other such estimator. The residuals may then be analyzed to decide which failure to report. They may each simply be compared to a threshold, the residual may be integrated then compared to a threshold, or the residuals may be incorporated with operating conditions in a Bayesian network trained with operating and failed components. Tip orientation can be used analogously or combined with to tip position. If a measured shape has been registered to a hollow geometric environment model, the device should pass through the model surface boundaries. If the sensor measurement leaves the model, the sensor is probably erroneous. If the measured device shape changes rapidly but there is no change in actuating wire-tensions, the device probably did not fracture and thus the sensor is probably erroneous. Similarly, if the device is held in a state with natural potential energy by actuators connected with a back drivable drive train and the measured shape changes but the actuator effort does not, the device probably did not fracture and thus the sensor is probably erroneous. The systems described herein can predict the current shape and other properties the device and actuators based on a model of the device, the previous shape measurement and other estimates of previous properties. Thus, comparing measured shape and other measurements to their predicted values provides residuals. These residuals may be the output of a Kalman filter or other such estimator. The residuals may then be analyzed to decide which failure to report. They may each simply be compared to a threshold, the residual may be dynamically transformed then compared to a threshold, or the residuals may be incorporated with operating conditions in a Bayesian network trained with operating and failed components. While multiple embodiments and variations of the many aspects of the invention have been disclosed and described herein, such disclosure is provided for purposes of illustration only. Many combinations and permutations of the disclosed system are useful in minimally invasive medical intervention and diagnosis, and the system is configured to be flexible. The foregoing illustrated and described embodiments of the invention are susceptible to various modifications and alternative forms, and it should be understood that the invention generally, as well as the specific embodiments described herein, are not limited to the particular forms or methods disclosed, but also cover all modifications, equivalents and alternatives falling within the scope of the appended claims. Further, the various features and aspects of the illustrated embodiments may be incorporated into other embodiments, even if no so described herein, as will be apparent to those skilled in the art.

11857157

DETAILED DESCRIPTION OF THE INVENTION Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In some of the drawings, the members are partly omitted for clarification of illustration. As shown inFIG.1, a flexible tube insertion apparatus (hereinafter, referred to as insertion apparatus10) includes an endoscope20, a control device80that functions as a flexible tube insertion support apparatus, a light source device110, a providing device150, and an input device170. The control device80is connected to the endoscope20, the light source device110, the input device170, and the providing device150, and controls driving of them. The control device80functions as the flexible tube insertion support apparatus configured to output support information for supporting an insertion operation of a flexible tube35of an insertion section30disposed on the endoscope20, for example. The light source device110emits illumination light for the endoscope20to perform observation and imaging. The control device80may function as a video processor having an image processing circuit (not shown) electrically connected to an imaging unit (not shown). The imaging unit is embedded in a distal end section of the insertion section30, and has, for example, a CCD, etc. The imaging unit converts, into an electrical signal, an optical image obtained from reflected light generated by reflecting the illumination light emitted from the distal end section of the insertion section30on an observation object (for example, an inner wall of a pipeline section of a subject into which the insertion section is inserted). The imaging unit outputs the electrical signal to the image processing circuit. The image processing circuit generates an image signal of the observation object based on the electrical signal. The providing device150provides first propriety information and second propriety information to be described later. An example of such provision will be described later. The providing device150may provide an image151(e.g., seeFIG.7A) of the observation object based on the image signal generated by the image processing circuit. In this case, the providing device150has, for example, a monitor to display the image151. The input device170is, for example, a general input device such as a keyboard. The input device170may be, for example, a pointing device such as a mouse, a tag reader, a button switch, a slider, a dial, or a foot switch. The input device170may be used by an operator to input various commands for causing the insertion apparatus10to operate. The input device170as the button switch may be embedded in a control section40of the endoscope20. The endoscope20is, for example, a medical soft endoscope. The endoscope20may be, for example, an industrial soft endoscope, a catheter, or a treatment instrument. The endoscope20is only required to have the soft insertion section30to be inserted into a pipeline section (for example, an intestinal tract of a large intestine) of a subject (for example, a patient). The insertion section30is only required to have a flexible portion (for example, the flexible tube35) that is flexible in receipt of an external force. The endoscope20may be a front-viewing endoscope, or a side-viewing endoscope. The endoscope20is an example of a small precision apparatus. In addition to the endoscope20, examples of the small precision apparatus include a probe190(seeFIG.4B) to be described later. A subject is not limited to, for example, a human, and may be an animal or any other structural object. The pipeline section may be, for example, a pipe for an industrial use. The endoscope20has the insertion section30, the control section40that is connected to the proximal end section of the insertion section30and configured to control the endoscope20, and a universal cord41extending from a side surface of the control section40. The universal cord41has a connection section41athat is detachably attached to the light source device110and a connection section41bthat is detachably detached to the control device80. The light source device110may be electrically connected to the control device80, and the endoscope20may be electrically connected to the control device80through the light source device110by providing the connection section41awith an electrical contact. The insertion section30is tubular, elongated, and flexible. The insertion section30advances and retreats within the pipeline section with respect to the pipeline section. The insertion section30is an insertion body to be inserted into the pipeline section. The insertion section30has a distal end hard section31and the flexible tube35in this order from the distal end section of the insertion section30to the proximal end section of the insertion section30. The distal end hard section31is shorter than the flexible tube35. Therefore, in the present embodiment, the distal end hard section31and a distal end section of the flexible tube35are deemed to be a distal end section of the insertion section30. The distal end section of the flexible tube35has a bendable section33. That is, it is deemed that the bendable section33serves as the distal end section of the flexible tube35, and the bendable section33is included in the flexible tube35. That is, the flexible tube35has the bendable section33that is actively bent under control of the control section40, and a flexible section excluding the bendable section33. The flexible section has flexibility, and is passively bent by an external force. The flexible section that is flexed by an external force is bendable according to the shape of the pipeline section. On the other hand, the bendable section33bends in a desired direction by a knob40adisposed on the control section40. As shown inFIG.2, the insertion apparatus10has the state detector50configured to detect state information of the flexible tube35regarding a state of the flexible tube35including the bendable section33. The state information includes a bending state of the flexible tube35including the bendable section33. The bending state of the flexible tube35includes, for example, the bending quantity (the magnitude of bending) of the flexible tube35including the bendable section33. The bending quantity is, in other words, a curvature radius or curvature. The bending state of the flexible tube35includes a bending direction of the flexible tube35including the bendable section33. The state detector50has a fiber sensor configured to utilize loss in the light transmission quantity due to bending of an optical fiber51(seeFIG.4C), as an example. The fiber sensor has a light source (not shown) configured to emit light, the single optical fiber51configured to guide light, and a reflector (not shown) configured to reflect light so that the light guided by the optical fiber51proceeds reversely along the optical fiber51. The fiber sensor has a light receiver (not shown) configured to receive the light reflected by the reflector and a light branching section (not shown). The state detector50includes constituent members that may be disposed separately in the endoscope20and the control device80; however, for the sake of clarity of illustration, inFIG.2, the state detector50is depicted in the flexible tube35as one portion in which the optical fiber51is disposed. The light source has, for example, an LED, etc. The light source is a separate entity from a light source of the light source device110configured to emit light for observation and imaging. The optical fiber51is embedded in the endoscope20and has flexibility. The optical fiber51has detection targets (not shown) mounted on the insertion section30. The detection targets are disposed in different positions in the longitudinal axis direction of the optical fiber51. For example, the detection targets may be disposed on portions for calculating shape information of the flexible tube35, portions for detecting an external force applied to the flexible tube35, and the like, which will be described later. In the present embodiment, the detection targets are disposed to be spaced apart from each other at equidistant intervals. The reflector is disposed on a distal end of the optical fiber51located at the distal end section of the insertion section30. The reflector has, for example, a mirror. The light receiver may have, for example, a spectroscopic element such as a spectroscope or a color filter, and a light receiving element such as a photodiode. The light source, the light receiver, and the proximal end section of the optical fiber51are optically connected to the light branching unit. The light branching unit has, for example, an optical coupler or a half mirror. The light branching unit guides light emitted from the light source to the optical fiber51, and also guides returned light reflected by the reflector and guided by the optical fiber51to the light receiver. That is, the light travels in the order of the light source, the light branching unit, the optical fiber51, the reflector, the optical fiber51, the light branching unit, and the light receiver. The light source, the light receiver, and the light branching unit are mounted on the control device80, for example. The fiber sensor is only required to have the light source, the optical fiber51, and the light receiver (not shown) configured to receive light guided by the optical fiber51. In this case, for example, the light receiver is disposed on the distal end section of the insertion section30. When the insertion section30is bent, the optical fiber51is bent in accordance with the bending. Accordingly, part of the light propagating through the optical fiber51exits (leaks) to the outside through, for example, the detection targets each having sensitivity to a different wavelength. The detection target changes optical characteristics of the optical fiber51, for example, light transmission quantity of light of a predetermined wavelength. Therefore, when the optical fiber51is bent, the light transmission quantity of the light guided into the optical fiber51is changed according to the bending quantity of the optical fiber51. An optical signal including information on this change in the light transmission quantity is received by the light receiver. The light receiver outputs the optical signal as state information to a state calculator81disposed on the control device80, which will be described later. A single detection target may be disposed in a single optical fiber51, and in this case, optical fibers51are disposed. Assume that the detection targets are disposed at the same position or close positions in the longitudinal axis direction of the optical fiber51and at different positions in a direction around the central axis in the longitudinal axis direction of the optical fiber51. In this case, a combination of the detection results of the detection target enables the detection of the bending quantity and the bending direction. The state detector50is not limited to having the fiber sensor. The state detector50may have, for example, any one of a strain sensor, an acceleration sensor, a gyro sensor, an element such as a coil, and a position sensor. The strain sensor detects, for example, a bending strain generated in the flexible tube35by an external force (pressure) that the flexible tube35receives from the outside of the flexible tube35(e.g., an inner peripheral wall section of the pipeline section). The acceleration sensor detects an acceleration of the flexible tube35. The gyro sensor detects an angular velocity of the flexible tube35. The element is of a magnetic type that generates a magnetic field in accordance with a state of the flexible tube35, such as a shape of the flexible tube35. The position sensor detects a position of the flexible tube35. The state detector50constantly performs the detection (operation) after a detection start instruction is input from the input device170to the state detector50. The detection may be performed every time a certain time elapses, and timing for the detection is not particularly limited. The state detector50is connected to the state calculator81by, for example, wire or wireless means, and outputs a detection result detected by the state detector50to the state calculator81. As shown inFIG.2, the insertion apparatus10has one or more external force detectors60, the state calculator81, an analyzer85, a generation section87, and an output section89. The external force detector60is disposed on, for example, the flexible tube35. The state calculator81, the analyzer85, the generation section87, and the output section89are disposed on the control device80, for example. The control device80, which functions as the flexible tube insertion support apparatus, outputs first propriety information and second propriety information, which will be described later, as support information for insertion. The state calculator81, the analyzer85, the generation section87, and the output section89are constituted by, for example, a hardware circuit including an ASIC, etc. At least one of the state calculator81, the analyzer85, the generation section87, and the output section89may be constituted by a processor. In the case where at least one of the state calculator81, the analyzer85, the generation section87, and the output section89is constituted by a processor, an internal or an external memory (not shown) accessible by a computer is disposed. The internal memory or the external memory stores a program code to be executed by a processor so that the processor is caused to function as at least one of the state calculator81, the analyzer85, the generation section87, and the output section89. The state calculator81, the analyzer85, the generation section87, and the output section89may be constituted by using a processor or using processors. In the latter case, it is possible to transmit and receive data between the processors so that data is processed by the processors in cooperation with each other. Furthermore, in the latter case, it is possible to dispose the processors within separate housings. The analyzer85, the generation section87, and the output section89may be disposed on the control section40as long as they are constituted by a hardware circuit. The state calculator81calculates shape information of the flexible tube35including the bendable section33, regarding the shape of the flexible tube35including the bendable section33along the central axis of the flexible tube35, based on the state information detected by the state detector50. In particular, the state calculator81calculates shape information, to be more specific, a bent shape of a portion that is actually bent in the flexible tube35, based on the state information output from the state detector50, for example. The bent shape includes the bending quantity and the bending direction of the flexible tube35including the bendable section33, for example. The shape information includes position information of the external force detector60. For example, since the position information of the external force detector60in the flexible tube35is preset, the shape information includes the position information of the external force detector60by overlapping a position of the external force detector60with the calculated bent shape. In addition, the state calculator81may calculate the position information of the external force detector60based on an output of a sensor61a,which will be described later, of the external force detector60. The state calculator81may output the shape information calculated by the state calculator81to the providing device150through the output section89, and the providing device150may display the shape information as an image153(for example, seeFIG.7A). The image153may indicate the position of the external force detector60in the shape information. The state calculator81may output the shape information to the analyzer85so that the analyzer85analyzes based on the shape information whether or not the flexible tube is in a substantially linear state. The state calculator81constantly performs the calculation (operation) after a calculation start instruction output from the input device170is input to the state calculator81in a state in which a detection result by the state detector50is input. The calculation may be performed every time a certain time elapses, and timing for the calculation is not particularly limited. The external force detector60is disposed on the flexible tube35, detects an external force applied to the flexible tube35, and calculates a value of the detected external force. As shown inFIGS.3A,3B,3C,3D, and3E, for example, assume that the hand side of the flexible tube35is twisted in each of a counterclockwise direction and a clockwise direction around the central axis of the flexible tube35by an operator's one hand while the hand side is gripped by this one hand. Here, each of the counterclockwise direction and the clockwise direction indicates a direction around the central axis of the flexible tube35when the distal end section side of the flexible tube35is viewed from the hand side of the flexible tube35in the central axis direction of the flexible tube35. In such a twisting operation, for example, a left twisting operation in the counterclockwise direction is performed, and after the left twisting operation, a right twisting operation in the clockwise direction is performed. The right twisting operation follows the left twisting operation. The order of the left twisting operation and the right twisting operation is not particularly limited. A time interval between the left twisting operation and the right twisting operation may be adjusted as desired. An operator's twisting force applied from his or her one hand to the hand side of the flexible tube35is transmitted from the hand side of the flexible tube35to the distal end section side of the flexible tube35. As a result, the flexible tube35is twisted in each of the counterclockwise direction and the clockwise direction around the central axis of the flexible tube35. At this time, the external force detector60detects, as an external force, each of a twisting force in the counterclockwise direction (hereinafter, referred to as external force LF) and a twisting force in the clockwise direction (hereinafter, referred to as external force RF). The external force detector60detects the external force LF in the counterclockwise direction and the external force RF in the clockwise direction, and calculates a force quantity of the external force LF (hereinafter, referred to as force quantity LAF) and a force quantity of the external force RF (hereinafter, referred to as force quantity RAF). Specifically, the external force detector60calculates the force quantity LAF based on the detected external force LF, and calculates the force quantity RAF based on the detected external force RF. In other words, the external force detector60measures the force quantities LAF and RAF of the external forces LF and RF both applied to the flexible tube35at a position of the external force detector60. Therefore, the force quantities LAF and RAF correspond to measured values measured by the external force detector60, values of the detected external forces LF and RF, and also quantitative information. In this way, the external force detector60calculates the force quantities LAF and RAF as measured values. The external force detector60may detect not only a twisting force but also other forces. An example of other forces includes a reaction force that the flexible tube35receives from the intestinal wall around the flexible tube35or the organs around the flexible tube35. The external force detector60outputs the force quantities LAF and RAF to the analyzer85. The external force detector60constantly performs the detection (operation) after a detection start instruction output from the input device170is input to the external force detector60. The detection may be performed every time a certain time elapses, and timing for the detection is not particularly limited. Here, examples 1 to 3 of a constitution of the external force detector60will be described. As shown inFIG.4A, as the example 1, the external force detector60may have one or more sensors61a.As in the state detector50, the sensor61amay have, for example, any of a strain sensor, an acceleration sensor, a gyro sensor, an element such as a coil, a position sensor, and a fiber sensor. For example, the sensor61ais disposed on a peripheral surface of the flexible tube35. For example, the sensor61ais disposed directly on an outer peripheral surface of the flexible tube35. For example, the sensors61amay be disposed to be spaced apart from each other at equidistant intervals in the direction around the central axis of the flexible tube35. In addition, in the case of external force detectors60being disposed on the flexible tube35, for example, the external force detectors60are disposed to be spaced apart from each other at equidistant intervals in the direction of the central axis of the flexible tube35, and the sensors61aon each external force detector60may be disposed to be spaced apart from each other at equidistant intervals in the direction of the central axis of the flexible tube35. Each of the sensors61adetects, as the external forces LF and RF, bending strains that are generated in the flexible tube35due to the twisting when the flexible tube35is twisted in each of the counterclockwise direction and the clockwise direction around the central axis of the flexible tube35. The sensors61aoutput the external forces LF and RF to a force quantity calculator61b.The force quantity calculator61bcalculates the force quantity LAF based on the external force LF and calculates the force quantity RAF based on the external force RF. The force quantity calculator61boutputs the calculated force quantities LAF and RAF to the analyzer85. As in the state calculator81, the force quantity calculator61bmay be constituted by, for example, a hardware circuit including an ASIC, etc., or may be constituted by a processor. The force quantity calculator61bmay be disposed on the control device80, or may be disposed on the control section40. Although not shown in this example, the external force detector60may also serve as both the state detector50having the sensors61aand the state calculator81. In such a case, the external force detector60detects, as the state detector50, the state information from the outputs of the sensors61aand detects the external forces LF and RF. The external force detector60calculates as the state calculator81the shape information and also calculates the force quantities LAF and RAF. As shown inFIG.4B, as the example 2, it may be configured that the insertion apparatus10has the probe190, and one or more sensors61aare disposed on a peripheral surface of the probe190. In this example, therefore, the external force detector60has one or more sensors61adisposed on the peripheral surface of the probe190. For example, the sensor61ais disposed directly on an outer peripheral surface of the probe190. In the case of external force detectors60being disposed on the probe190, for example, the external force detectors60are disposed to be spaced apart from each other at equidistant intervals in the direction of the central axis of the probe190, and the strain sensors on each external force detector60may be disposed to be spaced apart from each other at equidistant intervals in the direction of the central axis of the probe190. Although not shown, the sensors61amay be disposed to be spaced apart from each other at equidistant intervals, for example, in the direction around the central axis of the probe190. The probe190is a separate entity from the flexible tube35. The probe190has flexibility and is inserted into a channel35adisposed inside the flexible tube35from an insertion port section43(seeFIG.1) disposed on the control section40. The outer peripheral surface of the probe190can abut on an inner peripheral surface of the channel35a.The abutting is performed, for example, when the flexible tube35is bent. The probe190can be inserted and extracted freely into and from the flexible tube35. Such a probe190is deemed to be an insertion body that is inserted into the pipeline section through the flexible tube35. The probe190is positioned relative to the flexible tube35in the direction of the central axis of the flexible tube35and the direction around the axis of the central axis thereof. Therefore, the sensors61adisposed on the probe190are indirectly disposed on the flexible tube35through the probe190. When the external force is applied to the flexible tube35, the flexible tube35is flexed. The probe190is flexed in accordance with the flexing of the flexible tube35. As a result, the outer peripheral surface of the probe190abuts on the inner peripheral surface of the channel35a.When the external force LF or RF is applied to the flexed flexible tube35, the flexible tube35is twisted in accordance with the external force LF or RF. For example, the external forces LF and RF are applied (transmitted) to the probe190through the abutting portion. The probe190is twisted in accordance with this twisting of the flexible tube35, in other words, in accordance with the external force LF or RF applied to the probe190. The sensors61adetect the external forces LF and RF applied to the probe190through the flexible tube35and detect the external forces LF and RF as the external forces LF and RF applied to the flexible tube35. As shown inFIG.4C, as the example 3, the state detector50as the fiber sensor and the state calculator81may have a function of the external force detector60. The state detector50detects the external forces LF and RF along with the state information. In addition, the state calculator81calculates the force quantities LAF and RAF along with the shape information. That is, the state calculator81functions as the force quantity calculator61bconfigured to calculate the force quantities LAF and RAF. The analyzer85analyzes a relation among the force quantity LAF of the external force LF in the counterclockwise direction, the force quantity RAF of the external force RF in the clockwise direction, and a reference value to be described later, in which the force quantity LAF and the force quantity RAF are detected by the external force detector60when the flexible tube35is twisted in each of the counterclockwise direction and the clockwise direction around the central axis of the flexible tube35. In an example of the analysis, the analyzer85compares each of the force quantity LAF of the external force LF in the counterclockwise direction and the force quantity RAF of the external force RF in the clockwise direction with the reference value. The reference value is commonly used for these two force quantities LAF and RAF. Instead of the single reference value, reference values that are values respectively set for the two force quantities LAF and RAF may be used. Herein, the analyzer85makes a comparison between the force quantity LAF and the reference value, and a comparison between the force quantity RAF and the reference value. The order of making these comparisons is not particularly limited. A time interval between these two comparisons may be adjusted as desired. The analyzer85determines whether or not both of the two force quantities LAF and RAF are larger than the reference value. The analyzer85outputs a determination result (comparison result) to the generation section87. The analyzer85constantly performs the analysis and the determination after an analysis start instruction output from the input device170is input to the analyzer85in a state in which a calculation result by the external force detector60is input. In addition, the analysis and the determination may be performed every time a certain time elapses, and the timing for the analysis and the determination is not particularly limited. Here, examples 1 to 5 of an arrangement position of the external force detector60and a comparison operation of the analyzer85corresponding to the respective examples 1 to 5 will be described with reference toFIGS.3A,3B,3C,3D, and3E. For the comparison operation, the flexible tube35is assumed to be twisted in each of the counterclockwise direction and the clockwise direction around the central axis of the flexible tube35. In such a twisting operation, for example, a left twisting operation in the counterclockwise direction is performed, and after the left twisting operation, a right twisting operation in the clockwise direction is performed. The right twisting operation follows the left twisting operation. The order of the left twisting operation and the right twisting operation is not particularly limited. As shown inFIG.3A, as the example 1, for example, a single external force detector60is disposed on a gripped portion38of the flexible tube35, which is to be gripped by an operator. The gripped portion38indicates an example of a position where an external force is applied to the flexible tube35. The external force indicates, for example, an operator's gripping force. The gripped portion38indicates, for example, a position spaced by a desired length from the distal end section of the insertion section30. The desired length indicates, for example, a total length of a rectum and a sigmoid colon, or a length greater than this total length. The external force detector60calculates the force quantities LAF and RAF at the gripped portion38. The analyzer85compares each of the force quantity LAF and the force quantity RAF with the reference value. As shown inFIG.3B, as the example 2, for example, a single external force detector60is disposed on the periphery of an intersecting portion39aincluding the intersecting portion39aof a loop section39formed in the flexible tube35. The periphery of the intersecting portion39aindicates an example of a position where a reaction force due to the twisting occurs. In general, the intersecting portion39ais often formed in the sigmoid colon. Therefore, the periphery of the intersecting portion39aindicates, for example, a position that is spaced by the length of the sigmoid colon from the distal end section of the insertion section30. Although not clearly shown inFIG.3B, in the periphery of the intersecting portion39a,the external force detector60may be disposed on a side of the distal end section of the flexible tube35, or may be disposed on a side of the proximal end section of the flexible tube35. The external force detector60calculates force quantities LAF and RAF in the periphery of the intersecting portion39a.The analyzer85compares each of the force quantity LAF and the force quantity RAF with the reference value. As shown inFIG.3C, as the example 3, for example, external force detectors60are disposed to be spaced apart from each other at substantially equidistant intervals. For example, the external force detectors60are disposed within a range from the distal end section of the flexible tube35to the gripped portion38. The external force detectors60calculate the force quantities LAF and RAF at their arrangement positions, respectively. For example, the analyzer85analyzes the maximum force quantity LAF among the force quantities LAF at the respective arrangement positions. The analyzer85compares each of the maximum force quantity LAF and the force quantity RAF at the arrangement position of the external force detector60that has calculated the maximum force quantity LAF, with the reference value. InFIG.3C, the external force detector60that is used for the comparison by the analyzer85is hatched with oblique lines, and the external force detectors60that is not used for the comparison by the analyzer85is not hatched. In this way, the analyzer85analyzes the maximum force quantity among the force quantities of the external forces in a first direction (counterclockwise direction or clockwise direction) around the central axis that are detected by the external force detectors60, respectively. The analyzer85compares each of the maximum force quantity and a force quantity of an external force in a second direction (clockwise direction or counterclockwise direction) opposite to the first direction at the arrangement position of the external force detector60that has calculated the maximum force quantity, with the reference value. The analyzer85compares the force quantities LAF and RAF at one location with the reference value. An arrangement position where a maximum force quantity has been calculated corresponds to a location that exhibits a maximum value of the reaction force as the main factor for causing an operator to feel the resistance. The reason for making a comparison using the force quantities at such an arrangement position is that when the flexible tube35is twisted in each of the counterclockwise direction and the clockwise direction, this arrangement position is presumed to exhibit the most significant difference between the force quantity LAF in the counterclockwise direction and the force quantity RAF in the clockwise direction. The analyzer85need not be limited to analyze the maximum force quantity. For example, the analyzer85may analyze an N-th force quantity (N is a natural number of one or more) from the maximum force quantity. The analyzer85may compare each of the N-th force quantity and a force quantity of an external force in the direction opposite to the first direction at the arrangement position of the external force detector60that has calculated the N-th force quantity, with the reference value. For example, N is set as desired by the input device170. A maximum value of N is equal to the number of the external force detectors60. Examples A and B in which a force quantity other than the maximum force quantity is used for the analysis and the comparison will be briefly described. As the example A, if the maximum value of the force quantity is a value that is not related to the twisting (for example, noise, etc.), a maximum value (for example, an N-th value) that is not affected by noise, etc., is used for the analysis and the comparison. As the example B, if the compared force quantities LAF and RAF at the arrangement position in which the maximum force quantity has been calculated are equal to each other, the comparison and the analysis are performed for the force quantities LAF and RAF at the arrangement position in which the next largest force quantity has been calculated. Alternatively, for example, the analyzer85analyzes a portion at which a difference between a force quantity before the twisting and a force quantity after the twisting is greatest, among the force quantities in the first direction around the central axis detected by the external force detectors60, respectively. The analyzer85may compare each of the force quantity LAF of the external force in the counterclockwise direction and the force quantity RAF of the external force in the clockwise direction at the portion at which the difference is greatest, with the reference value, respectively. As shown inFIG.3D, as the example 4, the external force detectors60are, for example, disposed to be spaced apart from each other at substantially equidistant intervals. For example, the external force detectors60are disposed within a range from the distal end section of the flexible tube35to the gripped portion38. The external force detectors60calculate the force quantities LAF and RAF at their arrangement positions, respectively. For example, the analyzer85extracts, from the calculated force quantities LAF and RAF, the force quantity LAF of the external force RF and the force quantity RAF of the external force RF that are calculated by the external force detector60that is disposed at the position where a reaction force is generated by the twisting (for example, the periphery of the intersecting portion39a). The analyzer85then compares each of the force quantity LAF of the external force RF and the force quantity RAF of the external force RF that have been extracted, with the reference value. InFIG.3D, the external force detector60that is used for the comparison by the analyzer85is hatched with oblique lines, and the external force detectors60that is not used for the comparison by the analyzer85is not hatched. The analyzer85compares the force quantities LAF and RAF at the position with the reference value. Among the external force detectors60, the external force detector60disposed in the periphery of the intersecting portion39amay be determined by the shape information. Therefore, the analyzer85may analyze the force quantities LAF and RFA detected by the determined external force detector60. As shown inFIG.3E, as the example 5, for example, the external force detectors60are disposed to be spaced apart from each other at substantially equidistant intervals. For example, the external force detectors60are disposed within a range from the distal end section of the flexible tube35to the gripped portion38. The external force detectors60calculate the force quantities LAF and RAF at their arrangement positions, respectively. For example, the analyzer85compares each of a total sum of the force quantities LAFs respectively calculated by the external force detectors60disposed within a desired range and a total sum of the force quantities RAFs respectively calculated by the external force detectors60disposed within the desired range, with the reference value. InFIG.3E, the external force detector60that is used for the comparison by the analyzer85is hatched with oblique lines, and the external force detectors60that is not used for the comparison by the analyzer85is not hatched. In this way, the analyzer85compares each of the total value of the force quantities LAFs at positions within the desired range and the total value of the force quantities RAFs at the positions within the desired range, with the reference value. The desired range is set by the input device170, for example. The desired range may be set as desired depending on a patient, an operator, etc. The desired range indicates, for example, the loop section39. In the examples 3 to 5, the external force detectors60are disposed to be spaced apart from each other at substantially equidistant intervals; however, the arrangement is not limited to this way. Intervals between the external force detectors60may be adjusted as desired. For example, referring to the distal end section of the flexible tube35, the gripped portion38, and a central portion between the distal end section of the flexible tube35and the gripped portion38, the external force detectors60may disposed at narrower intervals as extending from the distal end section to the central portion, or may be disposed at narrower intervals as extending from the gripped portion38to the central portion. That is, more external force detectors60are disposed on a part closer to the central portion and less external force detectors60are disposed on a part closer to the distal end section of the flexible tube35and a part closer to the gripped portion38. Next, the examples 1 to 3 of the reference value that is used by the analyzer85for the comparison will be briefly described. In the example 1, the reference value is manually set by an operator. In the example 2, the reference value is calculated based on a calculation condition freely set in advance by an operator based on force quantities that are accumulated at operator's discretion among the force quantities calculated by the external force detectors60. In the example 3, the reference value is calculated based on a calculation condition freely set in advance by an operator based on force quantities that are accumulated based on an accumulation condition freely set in advance by an operator among the force quantities calculated by the external force detectors60. The examples 1 to 3 of the reference value will be described in detail. First, the example 1 of the reference value will be described. As the example 1, the reference value is a value freely set by an operator. As shown inFIG.5A, for example, the reference value is set by an operator with the input device170based on his or her experimental rule on a twisting operation or force quantity information to be described later. The set reference value is input to the analyzer85through the input device170. In the example 1, the input device170functions as an input section configured to input the reference value as a freely-set value to the analyzer85. As shown inFIG.6A, the force quantity information indicates a relation between a progress of inserting the insertion section30into a subject and force quantities calculated by the respective external force detectors60in the progress of insertion. The force quantities include a force quantity against which a patient has made some pain complaints, etc., and has not been able to stand the pain, and a force quantity against which the patient has made few pain complaints, etc., and has been able to stand the pain. Among these force quantities, the force quantity against which a patient has made some pain complaints, etc., and has not been able to stand the pain is set as the reference value. The reference value for a pain complaint, etc., may be based on a patient's voice, pulse, movement, etc., during the insertion operation. Herein, the analyzer85analyzes force quantities calculated by the respective external force detectors60in the progress of insertion, for example. The generation section87generates force quantity information based on an analysis result. The force quantity information is output to the providing device150through the output section89. The force quantity information is displayed on the providing device150when the reference value is set, for example. For example, an operator sets the reference value by visually checking force quantity information displayed on the providing device150and a patient, and performing operation with, for example, the button40bof the control section40or the input device170. Next, a common constitution between the examples 2 and 3 of the reference value will be described. For the examples 2 and 3 of the reference value, as shown inFIG.5B, the insertion apparatus10has a storage section91configured to store all force quantities LAFs and RAFs calculated by the external force detectors60, and an accumulation section93configured to accumulate one or more force quantities from the force quantities LAFs and RAFs stored in the storage section91. The insertion apparatus10has the reference value calculator95configured to calculate the reference value based on accumulated force quantities, and an input section97configured to input the calculated reference value to the analyzer85. The storage section91, the accumulation section93, the reference value calculator95, and the input section97are disposed on the control device80. For example, the accumulation section93has a memory or a storage. At least one of the reference value calculator95and the input section97may be constituted by a processor. In the case where at least one of the reference value calculator95and the input section97is constituted by a processor, an internal or an external memory (not shown) accessible by a computer is disposed. The internal memory or external memory stores a program code to be executed by the processor such that the processor is caused to function as at least one of the reference value calculator95and the input section97. Next, the example 2 of the reference value will be described. In the example 2 of the reference value, the input device170functions as a selection setting section configured to output an instruction to the accumulation section93, and to select a force quantity to be accumulated in the accumulation section, from the force quantities LAFs and RAFs stored in the storage section91. The accumulation section93accumulates the force quantity selected by the selection setting section from the force quantities stored in the storage section91. The accumulation section93constantly accumulates the selected force quantity as a candidate for an optimal reference value. As the example 1 of selection for the accumulation, the selection indicates a discretionary determination for an operator after the completion of examination (twisting operation), based on whether the loop section has been eliminated or not, a patient's complaint about pain caused by the twisting operation, etc. The operator performs the selection by visually checking the providing device150displaying the force quantities stored in the storage section91to make selection operation with the input device170. As the example 2 of selection for the accumulation, the selection indicates a discretionary determination for an operator who has confirmed a condition of a patient in the progress of inserting the insertion section30into a subject. In this case, the operator determines a force quantity against which the patient has made few pain complaints, etc., and has been able to stand the pain in the progress of insertion. Then, a force quantity determined by the operator is accumulated in the accumulation section93. The reference value for the pain complaint, etc., may be based on a patient's voice, pulse, movement, etc., during the insertion operation. For example, the operator sets the reference value by visually checking force quantity information displayed on the providing device150and the patient, and performing operation with, for example, the button40bof the control section40or the input device170. In the example 2 of the reference value, the input device170functions as a selection setting section configured to set and input in advance a calculation condition set by an operator to the reference value calculator95. The calculation condition includes, for example, a first condition and a second condition. The operator sets which one of the first condition and the second condition to use. The first condition of the calculation condition indicates, for example, that a force quantity among the accumulated force quantities that is optimal for patient information is used as the reference value. Patient information includes a patient's sex, age, preexisting disorder, surgical history, current condition, etc. Patient information is only required to be stored in the storage section91, for example. For example, an operator sets the reference value by visually checking patient information displayed on the providing device150and force quantities accumulated in the accumulation section93, and performing operation with, for example, the button40bof the control section40or the input device170. Hereinafter, an example of selecting the reference value from the force quantities will be described. With respect to a patient subjected to multiple examinations, an operator selects a force quantity against which the patient has not been able to stand the pain, from force quantities used in the previous examinations, and set this selected force quantity as the reference value, using the button60bor the input device170. Alternatively, the operator visually checks the providing device150and selects, from stored patient information on patients, patient information that is most similar to patient information on a patient who is about to be examined, by using the button40bor the input device170. The operator sets, as the reference value, the force quantity that is optimal for the selected patient information. The optimal force quantity indicates, for example, a force quantity against which a patient has not been able to stand the pain. The second condition of the calculation condition indicates that, as shown inFIGS.6B,6C, and6D, for example, any one of an average force quantity, a minimum force quantity, and a maximum force quantity of the accumulated force quantities is used as the reference value. The accumulated force quantities indicate, for example, any one of a force quantity with which the loop section has not been eliminated, a force quantity with which the loop section has been eliminated, a force quantity against which a patient has made some pain complaints and has not been able to stand the pain, and a force quantity against which the patient has made few pain complaints and has been able to stand the pain. As shown inFIG.6C, the minimum force quantity indicates the smallest force quantity among force quantities that are included in the accumulated force quantities and with which the loop section has not been eliminated or against which a patient has not been able to stand the pain caused by a twisting operation. As shown inFIG.6D, the maximum force quantity indicates the greatest force quantity among force quantities that are included in the accumulated force quantities and with which the loop section has been eliminated or against which a patient has been able to stand the pain caused by a twisting operation. As the reference value, the reference value calculator95does not necessarily calculate force quantities corresponding to the first condition and the second condition with no change. As the reference value, for example, the reference value calculator95may calculate an integral value obtained by integrating a force quantity corresponding to the first and second conditions over a period in time such as a twisting time period. As described above, the reference value calculator95calculates a force quantity corresponding to the calculation condition input to the reference value calculator95among the force quantities accumulated in the accumulation section93. The input section97inputs, as the reference value, the force quantity calculated by the reference value calculator95to the analyzer85. The input device170may set, as the reference value, a force quantity among the force quantities accumulated in the accumulation section93, while omitting the reference value calculator95and the input section97. This setting is performed (determined) by, for example, the operator. The operator sets a force quantity with the input device170by referring to the providing device150displaying the force quantities accumulated in the accumulation section93. For example, the force quantity to be set may be any one of an average force quantity, a maximum force quantity, and a minimum force quantity. The input device170inputs the set force quantity as the reference value to the analyzer85. Next, the example 3 of the reference value will be described. In the example 3 of the reference value, the input device170functions as a selection setting section configured to set in advance, in the accumulation section93, an accumulation condition for the accumulation section93set by an operator. The accumulation section93accumulates a force quantity among the force quantities LAFs and RAFs stored in the storage section91, based on the accumulation condition set in advance in the accumulation section93. The accumulation condition includes, for example, a first condition, a second condition, and a third condition. The first condition of the accumulation condition is an instruction to accumulate all the force quantities LAFs and RAFs stored in the storage section91. The second condition of the accumulation condition is a condition indicating that a force quantity with which the loop section has been eliminated or a force quantity with which the loop section has not been eliminated among the force quantities LAFs and RAFs stored in the storage section91is accumulated. The force quantity with which the loop section has been eliminated indicates, for example, a force quantity with which the flexible tube35has been brought into a substantially linear state by the twisting operation. A state of the flexible tube35may be determined by the analyzer85based on shape information of the flexible tube35calculated by the state calculator81. A maximum value of the force quantity with which the loop section has been eliminated may be utilized as the reference value. A minimum value of the force quantity with which the loop section has not been eliminated may be utilized as the reference value. The third condition of the accumulation condition is a condition indicating that force quantities among the force quantities LAFs and RAFs stored in the storage section91are accumulated based on a patient's condition. These force quantities indicate a force quantity against which a patient has made few pain complaints, etc., and has been able to stand the pain, and a force quantity against which the patient has made some pain complaints, etc., and has not been able to stand the pain. The reference value for a pain complaint, etc., may be set in advance by an operator based on a patient's voice, pulse, movement, etc., during the insertion operation, and stored in the accumulation section93. A maximum value of the force quantity against which a patient has been able to stand the pain may be utilized as the reference value. A minimum value of the force quantity against which a patient has not been able to stand the pain may be utilized as the reference value. In the example 3 of the reference value, as in the example 2 of the reference value, the input device170functions as a selection setting section configured to set and input in advance a calculation condition set by an operator to the reference value calculator95. The reference value calculator95calculates the reference value based on a force quantity corresponding to a calculation condition input to the reference value calculator95among the accumulated force quantities. A calculation condition herein is similar to the calculation condition described in the example 2 of the reference value. The input section97inputs, as the reference value, the force quantity calculated by the reference value calculator95to the analyzer85. In the examples 2 and 3 of the reference value, the input device170may set a correction value for the reference value. The correction value is based on patient information on a patient as a subject into which the flexible tube35is to be inserted, and model information of the insertion apparatus10. Model information includes, for example, a length, a thickness, and a hardness of the flexible tube35. Model information is only required to be stored in the storage section91, for example. Next, a force quantity calculated by the external force detector60, a force quantity analyzed by the analyzer85, a force quantity accumulated in the accumulation section93, and a force quantity used as the reference value will be specifically described below. As these force quantities, a force quantity or a value described below may be used. For example, the force quantity may be a force quantity at the time when the application of a quantity of twisting to the flexible tube35is completed. The force quantity may be a maximum force quantity during a period in time from the start to the completion of application of a given quantity of twisting to the flexible tube35. The value may be a value obtained by integrating a force quantity from the start to the completion of application of a given quantity of twisting to the flexible tube35. The value may be a value obtained by integrating a maximum force quantity during a period from the start to the completion of application of a given quantity of twisting to the flexible tube35, over a period in time from before to after a point in time when the maximum force quantity is calculated. For example, each of plots shown inFIG.6Bmay be a force quantity at the time when the application of twisting with a given quantity to the flexible tube35is completed, or a maximum force quantity during a period from the start to the completion of application. Next, the generation section87, the output section89, and the providing device150will be described. The generation section87shown inFIG.2generates the first propriety information regarding the current propriety of a twisting operation with respect to the flexible tube35, depending on an analysis result (comparison result) by the analyzer85. The first propriety information indicates whether or not to permit the twisting operation in the current situation. Thus, the first propriety information includes, for example, first warning information regarding warning against the twisting operation in the current situation, and first permission information regarding permission for the twisting operation in the current situation. For example, the first warning information indicates that the twisting operation is not permitted and the elimination of the loop section is impossible. For example, the first warning information indicates that the twisting operation is permitted and the elimination of the loop section is possible. The generation section87generates the first propriety information in accordance with the determination result (comparison result) by the analyzer85. When the analyzer85analyzes that both of the two force quantities LAF and RAF are larger than the reference value, the generation section87generates the first warning information of the first propriety information. When the analyzer85analyzes that at least one of the two force quantities LAF and RAF is smaller than the reference value, the generation information generates the first permission information of the first propriety information. As described above, the generation section87generates, as the first propriety information, warning, or permission with respect to the twisting operation with which the loop section is eliminated and the flexible tube35is changed into a substantially linear state. In practice, the first propriety information described above functions as support information for an operation of eliminating the loop section to change the flexible tube35into a substantially linear state. The generation section87outputs the generated first propriety information to the output section89. The output section89outputs the first propriety information generated by the generation section87to the providing device150. The providing device150provides the first propriety information as information including at least one of characters155a(seeFIG.7A), a symbol155b(seeFIG.7B), light emission (seeFIGS.7C and7D), sound155h(seeFIGS.1and7E), fragrance, and vibration. The first propriety information will be briefly described below. The providing device150may provide the first propriety information as a display to the monitor. A position of the display may not particularly limited, as long as an operator can visually check the display. As a result, the first propriety information may be displayed overlapping the image151or the image153, or may be displayed in a different position from the image151or the image153. As shown inFIG.7A, the providing device150may display the first warning information of the first propriety information, in the form of the characters155asuch as “Elimination: NO”. Although not shown, the providing device150may display the first permission information of the first propriety information, in the form of the characters such as “Elimination: OK”. As shown inFIG.7B, the providing device150may display the first propriety information in the form of the symbol155b. As shown inFIGS.7C and7D, the providing device150may provide the first propriety information in the form of light emission. As shown inFIG.7C, the providing device150may have light emitting sections155fdisposed on the monitor and configured to emit light. Positions of the light emitting sections155fare not particularly limited, as long as they can be visually checked by an operator. The light emitting sections155fare disposed in different positions from the image151or the image153, for example. The light emitting section155fmay be disposed so as to overlap the image151or the image153. The image151or the image153on the monitor is a separate entity from the light emitting sections155f;however, they may serve as the light emitting sections155f. As shown inFIG.7D, the providing device150may be disposed on the endoscope20and function as a light emitting element155gconfigured to emit light. For example, light emitting elements155gare disposed on the control section40. Each of the light emitting elements155gdisposed on the control section40has, for example, an LED, etc. For example, the light emitting elements155gmay be disposed on the gripped portion38or an exposed portion of the flexible tube35, which is disposed outside the pipeline section. The light emitting sections155fare provided for the first warning information and the first permission information, respectively. Only the light emitting section155fof the first warning information or the first permission information is turned on or caused to blink according to an analysis result by the analyzer85. When the light emitting section155ffor the first warning information is turned on/caused to blink, the light emitting section155ffor the first permission information is turned off. When the light emitting section155ffor the first permission information is turned on/caused to blink, the light emitting section155ffor the first warning information is turned off. A single light emitting section155fmay be provided and emit light in a color corresponding to the first warning information or the first permission information. The color corresponding to the first warning information or the first permission information may be input and set in advance as desired with the input device170, for example. While the description has been made using the light emitting sections155f,this content is also applicable to the light emitting elements155g. As shown inFIGS.1and7E, the providing device150may output the sound155hcorresponding to the first propriety information (the first warning information or the first permission information). The sound155hcorresponding to the first propriety information (the first warning information or the first permission information) may be input and set in advance as desired with the input device170, for example. The sound155hincludes, for example, voice, tone color, etc. For example, the providing device150may be disposed inside the control device80or inside the control section40. The providing device150functions as a sound source or a speaker. For example, the providing device150may be disposed in a room, etc., in which the insertion apparatus10is disposed. Although not shown, the providing device150may output fragrance corresponding to the first propriety information (the first warning information or the first permission information). For example, the providing device150is disposed in the control device80, the control section40, a room in which the insertion apparatus10is disposed, or the like. Although not shown, the providing device150may output the vibration corresponding to the first propriety information (the first warning information or the first permission information). For example, the providing device150is disposed in the control device80or the control section40. It is assumed that the twisting operation for eliminating the loop section and changing the flexible tube into a substantially linear state is performed when the generation section87generates the first permission information of the first propriety information or when the providing device150provides the first permission information of the first propriety information. Herein, for example, it is assumed that a right twisting operation in the clockwise direction is performed. The external force detector60calculates the force quantity RAF and outputs the calculated force quantity RAF to the output section89. The output section89outputs this force quantity RAF to the providing device150. As shown inFIG.7F, the providing device150displays this force quantity RAF in the form of the characters155aindicating the twisting direction in the twisting operation and a numerical value155cof the force quantity RAF (unit: N (newton)). The numerical value155cindicates an operator's twisting force applied from his or her one hand to the hand side of the flexible tube35during the twisting operation being performed. A numerical value may be calculated by the force quantity calculator61bbased on the force quantity RAF.FIG.7Fshows an example of a display area155dthat displays the characters155aand the numerical values155c.A right area of the display area155ddisplays “Right”, which is the characters155aindicating the twisting direction, and displays X N, which is the numerical value155c.In this case, a left area of the display area155ddisplays “Left”, which is the characters155aindicating the twisting direction, while the numerical value155cindicates an empty field. In this case, the left area of the display area155dmay not be displayed. A twisting direction is analyzed by the analyzer85based on a force quantity calculated by the external force detector60. The external force detector60outputs the calculated force RAF to the analyzer85. The analyzer85analyzes the force quantity RAF and the reference value. The reference value herein is the same as that in the examples 1 to 3 of the reference value used by the analyzer85for the comparison. Therefore, the description about the reference value is omitted herein. As an example of analysis, the analyzer85compares the force quantity RAF with the reference value. The analyzer85determines whether or not the force quantity RAF is larger than the reference value. The analyzer85outputs the determination result (comparison result) to the generation section87. The generation section87generates the second propriety information in accordance with an analysis result (comparison result) by the analyzer85. The second propriety information indicates whether an excessive quantity of force is applied or not to the flexible tube35while the twisting operation is performed in order to eliminate the loop section formed in the flexible tube35and in order to change the flexible tube35into a substantially linear state. This application results in a rapid change in shape of the flexible tube and rapid elimination of the loop section, which overloads a patient and brings about a pain on him or her. Therefore, the second propriety information indicates whether or not a force quantity in the twisting operation is appropriate. For example, the second propriety information may include second warning information regarding warning against a force quantity used in the twisting operation, and second permission information regarding permission for a force quantity used in the twisting operation. For example, the second warning information indicates that: the twisting operation using this force quantity is not permitted; the twisting operation may cause a patient pain; a patient makes some pain complains, etc., and cannot stand the pain; and the twisting operation is causing a patient pain. For example, the second permission information indicates that: the twisting operation using this force quantity is permitted; the twisting operation does not cause a patient pain; and a patient makes few pain complains, etc., and can stand the pain. The second permission information indicates that the loop section can be eliminated under a condition that a patient is given no pain or can stand the pain. The generation section87generates the second propriety information in accordance with the analysis result (comparison result) by the analyzer85. When the analyzer85analyses that the force quantity RAF is larger than the reference value, the generation section87generates the second warning information of the second propriety information. When the analyzer85analyses that the force quantity RAF is smaller than the reference value, the generation section87generates the second permission information of the second propriety information. The generation section87outputs the generated second propriety information to the output section89. The output section89outputs the second propriety information generated by the generation section87to the providing device150. As shown inFIG.7F, the providing device150may display the second warning information of the second propriety information, in the form of the characters155asuch as “Overloading”. Although not shown, the providing device150may display the second permission information of the second propriety information, in the form of the characters such as “Not Overloading (Appropriate Force Amount)”. Although not shown, the providing device150provides the second propriety information as information including at least one of the characters155a(seeFIG.7A), the symbol155b(seeFIG.7B), the numerical value155cof the force quantity (FIG.7F), light emission (seeFIGS.7C and7D), the sound155h(seeFIGS.1and7E), fragrance, and vibration, in a similar manner to the first propriety information. A method of operating the insertion apparatus10will be described with reference toFIGS.8A,8B,9A,9B, and9C. As shown inFIG.8A, when a push-operation of the flexible tube35is performed and the flexible tube35advances toward a deep part of a large intestine along an intestine wall of the large intestine, the state detector50detects the state information of the flexible tube35and the state calculator81calculates shape information of the flexible tube35based on the state information. The shape information is displayed as a bent shape of the flexible tube35on the monitor of the providing device150. The shape information is displayed on the monitor in the form of the image153. An operator visually checks the monitor to determine whether or not the loop section39is formed in the flexible tube35(Step1). The formation of the loop section39may be determined by the operator based on the sensation felt by the operator's hand gripping the hand side of the flexible tube35when the operator pushes the flexible tube35toward the deep part. If the loop section39is not formed (Step1: No), the push-operation of the flexible tube35is continuously performed, and the operation returns to Step1. If the loop section39is formed (Step1: Yes), the push-operation of the flexible tube35is interrupted. The hand side of the flexible tube35is twisted in each of the counterclockwise direction and the clockwise direction around the central axis of the flexible tube35by the operator's one hand gripping the hand side of the flexible tube35. As a result, the flexible tube35is twisted in the counterclockwise direction and the clockwise direction, respectively, around the central axis of the flexible tube35(Step2). For example, twisting is only required to be performed once in each direction. In such the twisting operation, for example, a left twisting operation in the counterclockwise direction is performed, and after the left twisting operation, a right twisting operation in the clockwise direction is performed. The right twisting operation follows the left twisting operation. The order of the left twisting operation and the right twisting operation is not particularly limited. The external force detector60detects the external force LF in the counterclockwise direction and the external force RF in the clockwise direction, and calculates the force quantity LAF of the external force LF and the force quantity RAF of the external force RF. The external force detector60outputs the calculated force quantities LAF and RAF to the analyzer85(Step3). The input section97inputs a selected reference value to the analyzer85(Step4). Herein, the examples 1 to 3 of an operation method from the selection to the input of the reference value in Step S4will be described. The example 1 of the operation method may be performed in Step4or may be performed in a separate step from the operation flow of the insertion apparatus10. As the example 1 of the operation method, as shown inFIG.9A, the reference value as a given value is manually set and input by an operator (Step41). In Step41, for example, the operator sets the reference value with the input device170based on the operator's experimental rule on the twisting operation or the force quantity information, and inputs the reference value to the analyzer85through the input device170. The operation in Step4is then terminated and the operation of the insertion apparatus10proceeds to Step5. The example 2 of the operation method is performed in advance in a separate step from the operation flow of the insertion apparatus10. As the example 2 of the operation method, as shown inFIG.9B, the external force detector60calculates the force quantities LAF and RAF (Step21). The storage section91stores all of the force quantities LAFs and RAFs calculated by the external force detector60(Step22). A force quantity to be accumulated in the accumulation section93is selected by the operator's discretionary determination from the force quantities LAFs and RAFs stored in the storage section91(Step23). In Step S23, for example, the operator selects such a force quantity with the input device170after the examination, based on whether or not the loop section has been successfully eliminated, a patient's complaint about pain caused by the twisting operation, etc., or by confirming the patient's condition in the progress of insertion. Next, the accumulation section93accumulates the force quantity selected by the operator's discretionary determination among the force quantities stored in the storage section91(Step24). The reference value calculator95calculates, as the reference value, the force quantity that is corresponding to a calculation condition set by the operator and included in the accumulated force quantities (Step25). In Step25, for example, the operator sets the calculation condition with the input device170, and inputs the calculation condition to the reference value calculator95through the input device170. The input section97inputs, as the reference value, the force quantity calculated by the reference value calculator95to the analyzer85(Step26). The operation in Step4is terminated and the operation of the insertion apparatus10proceeds to Step5. The example 3 of the operation method is performed in advance in a separate step from the operation flow of the insertion apparatus10. As the example 3 of the operation method, as shown inFIG.9C, Steps21and22are performed in sequence as in the example 2. A force quantity to be accumulated in the accumulation section93is selected from the force quantities LAFs and RAFs stored in the storage section91based on an accumulation condition set in advance to the accumulation section93(Step31). In Step31, the operator inputs in advance the accumulation condition set with the input device170to the accumulation section93. The accumulation section93accumulates a force quantity among force quantities stored in the storage section91, based on the accumulation condition set in advance by the operator (Step32). After Step32, Steps25and26are performed in sequence. The operation in Step4is terminated and the operation of the insertion apparatus10proceeds to Step5. Referring back toFIG.8A, the method of operating the insertion apparatus10will be described. The analyzer85compares each of the force quantities LAF and RAF with the reference value (Step5). In Steps3and5, the comparison operation by the analyzer85differs in accordance with the examples 1 to 5 of an arrangement position of the external force detector60shown inFIGS.3A,3B,3C,3D, and3E. The analyzer85determines whether or not both of the force quantities LAF and RAF are larger than the reference value, and outputs the determination result to the generation section (Step6). For example, if both of the force quantities LAF and RAF are larger than the reference value (Step6: Yes), the generation section87generates the first warning information of the first propriety information, and the output section89outputs the first warning information of the first propriety information to the providing device150(Step7). The providing device150provides the first warning information of the first propriety information (Step8). After the first warning information of the first propriety information is provided, the operation is terminated. For example, if at least one of the force quantities RAF and LAF is smaller than the reference value (Step6: No), as shown inFIG.8B, the generation section87generates the first permission information of the first propriety information, and the output section89outputs the first permission information of the first propriety information to the providing device150(Step9). The providing device150provides the first permission information of the first propriety information (Step10). After the first permission information of the first propriety information is provided, the twisting operation is performed (Step11). In the twisting operation, the flexible tube35is twisted around the central axis of the flexible tube35in a predetermined direction (herein, the clockwise direction) so as to eliminate the loop section and change the flexible tube35into a substantially linear state. The external force detector60calculates the force quantity RAF and outputs the calculated force quantity RAF to the output section89. The output section89outputs the force quantity RAF calculated by the external force detector60to the providing device150. The providing device150provides the force quantity RAF by, for example, displaying it in the form of the numeral value155c(Step12). In addition, the external force detector60outputs the calculated force quantity RAF to the analyzer85. The analyzer85compares the force quantity RAF with the reference value (Step13). The analyzer85determines whether or not the force quantity RAF is larger than the reference value, and outputs the determination result to the generation section87(Step14). If the force quantity LAF is smaller than the reference value (Step14: No), the generation section87generates the second permission information of the second propriety information, and the output section89outputs the second permission information of the second propriety information to the providing device150(Step15). The providing device150provides the second permission information of the second propriety information (Step16). After the second permission information of the second propriety information is provided, the operation returns to Step11in a manner such that the twisting operation is continuously performed. If the force quantity LAF is larger than the reference value (Step14: Yes), the generation section87generates the second warning information of the second propriety information, and the output section89outputs the second warning information of the second propriety information to the providing device150(Step17). The providing device150provides the second warning information of the second propriety information (Step18). After the second warning information of the second propriety information is provided, the operation is terminated. Generally, a running state of the flexible tube35inside the large intestine, a length of the large intestine, and a condition of the large intestine differ widely for each patient. Such differences give variety to the tactile information for an operator when performing the twisting operation on the hand side of the flexible tube35using one hand while gripping the hand side of the flexible tube with the same hand, such tactile information being a sense of resistance, which is transmitted from the hand side of the flexible tube35to the same hand, and is sensed differently by different operators. In the present embodiment, the tactile information is calculated by the external force detector60, as quantitative information such as the force quantities LAF and RAF of the external forces LF and RF applied to the flexible tube35. In the present embodiment, a relation between the force quantities LAF and RAN and the reference value is analyzed by the analyzer85and, based on the analysis result, the first propriety information is generated in the generation section87and output from the output section89. In the present embodiment, the first propriety information is output and provided based on the force quantities LAF and RAF instead of based on the shape information of the flexible tube35. Therefore, in the present embodiment, the tactile information can be calculated as quantitative information and, based on the calculation result, the first propriety information can be output and provided as support information for insertion. In the present embodiment, the first warning information or the first permission information contained in the first propriety information is output. This allows an operator to clearly perceive whether or not performing the twisting operation for eliminating the loop section39to change the flexible tube35into a substantially linear state is permitted, before performing the twisting operation. In the present embodiment, the second warning information or the second permission information contained in the second propriety information as support information for insertion is output and provided. This allows an operator to clearly perceive whether or not the twisting operation in progress is overloading a patient, during the twisting operation. Therefore, in the present embodiment, the first propriety information and the second propriety information as support information for insertion enables the twisting operation to be performed while a kinetic load on an intestinal tract is visualized and perceived. In the present embodiment, regardless of whether an operator is a person skilled in the twisting operation (hereinafter, referred to as an expert) or a person who has low experience in the twisting operation (hereinafter, referred to as an inexperienced person), accurate support information can be equally output and provided. In the present embodiment, it is possible to quantitatively determine whether the twisting operation is permitted based on the first propriety information before the twisting operation is performed. In the present embodiment, it is possible to quantitatively determine whether or not the twisting operation is overloading a patient based on the second propriety information, during the twisting operation. As described above, in the present embodiment, an unreasonable twisting operation can be prevented before an overload is given to an intestine tract, etc., so that the occurrence of the patient feeling pain can be prevented and the safety can be improved. In the present embodiment, the second propriety information, which indicates whether an excessive force quantity is applied or not to the flexible tube35during the twisting operation currently performed to eliminate the loop section formed in the flexible tube35and change the flexible tube35into a substantially linear state, is output and provided to an operator. Accordingly, information indicative of whether or not a patient is overloaded can be output and provided to an operator. This improves the safety in an insertion operation, reduces the pain felt by a patient, and improves an arrival rate of the flexible tube35to a deep part. In the present embodiment, the reference value is manually set in the example 1. In the example 2, the reference value is calculated based on a calculation condition set in advance by an operator from force quantities accumulated by the operator's discretionary determination. In the example 3, the reference value is calculated based on a calculation condition set in advance by an operator from force quantities accumulated based on an accumulation condition set in advance by the operator. Therefore, the first or second propriety information in accordance with a condition can be output and provided. In the present embodiment, the reference value is correctable based on patient's information and model information. This allows improving the safety in an insertion operation, reducing a patient's pain, and improving an arrival rate of the flexible tube to a deep part. In the present embodiment, in the case where only one external force detector60is disposed on the flexible tube, the external force detector60is disposed on the periphery of the gripped portion38of the flexible tube35to be gripped or the periphery of the intersecting portion39aof the loop section39formed in the flexible tube35. Thus, the force quantity at the periphery of the gripped portion38or the intersecting portion39acan be reliably detected. In addition, the number of the external force detectors60can be minimized, and the constitution of the insertion apparatus10can be simplified. In the present embodiment, for example, the external force detectors60are disposed to be spaced apart from each other at substantially equidistant intervals. For example, the external force detectors60are disposed within a range from the distal end section of the flexible tube35to the gripped portion38. Therefore, in the present embodiment, it is possible to dispense with changing the arrangement position of the external force detector60for each patient. In the present embodiment, the external force detector60may serve as both the state detector50as the fiber sensor and the state calculator81. Therefore, in the present embodiment, without the need for a large and complicated device to be introduced to calculate shape information, the shape information can be calculated with a simple and compact constitution. In addition, in the present embodiment, it is possible to determine, on the monitor, the presence or absence of the loop section39and the position of the external force detector60, to improve the detection accuracy of the first and second propriety information, and to perform the twisting operation on the flexible tube35in a state in which the shape of the flexible tube35is visually checked through the monitor. The present embodiment assumes that, for example, the state detector50in the external force detector60is mounted in the form of a magnetic coil. In such a case, unless a magnetic field is in a good condition, the calculation of shape information of the flexible tube35or a position of the flexible tube35may lack accuracy, meaning the shape information or the position may not be accurately displayed on the monitor. However, the detection accuracy of the first and second propriety information can be improved by disposing the sensor61aof the external force detector60in addition to the magnetic sensor of the state detector50. In addition, unless a magnetic field is in a good condition under a situation in which the magnetic coil is used, the calculation of shape information of the flexible tube35or a position of the flexible tube35may lack accuracy, meaning that the shape information or the position may not be accurately displayed on the monitor. However, in the case of the state detector50being mounted in the form of the fiber sensor, there is no need to consider a magnetic field condition, and it is possible to always calculate shape information or a position with accuracy, to display the shape information or the position on the monitor with accuracy, and to provide support information. In the present embodiment, a position of the probe190with respect to the flexible tube35in the direction of the central axis of the flexible tube35is adjusted by moving the probe190. That is, the probe190is positioned relatively to the flexible tube35. Therefore, a position of the external force detector60can be adjusted according to the patient or situation, so that the external force can be detected with high accuracy. Additional advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described herein. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

11857158

DETAILED DESCRIPTION An optical system, an endoscope apparatus and an endoscope according to an embodiment will be described below in detail by referring to the accompanying diagram. An objective optical system in an endoscope apparatus is used as an example of the optical system. However, the present invention is not restricted by the embodiment described below. FIG.1is a cross-sectional view (normal observation state) of an objective optical system, a λ/4 wavelength plate of higher multi-order, an optical path splitting unit, and an image sensor of the endoscope apparatus according to the present embodiment. The objective optical system includes in order from an object side, a first lens group G1having a negative refractive power, a second lens group G2having a positive refractive power, and a third lens group G3having a positive refractive power. Moreover, an aperture stop S is disposed in the third lens group G3. The second lens group G2moves toward an image side on an optical axis AX and corrects a variation in a focal position due to a change from the normal observation state to a close observation state. The endoscope optical system according to the present embodiment includes in order from the object side, an objective optical system OBL, a λ/4 wavelength plate121awhich includes one birefringent material, polarizing beam splitters121band121e(FIG.2) which split light from the objective optical system OBL into to two, and an image sensor122which picks up two images split, and the endoscope optical system satisfies the following conditional expression (1). 1.1≤Fno/(d/|Δn|)≤49  (1) where, Fno denotes an effective F-number of the objective optical system, d denotes a thickness of the λ/4 wavelength plate, and Δn denotes a birefringence of the λ/4 wavelength plate for an e-line (546.1 nm), provided that, |0.01|<Δn. The λ/4 wavelength plate121awhich includes a single birefringent material is a λ/4 wavelength plate of higher multi-order. The λ/4 wavelength plate of higher multi-order has a function of a depolarization plate. By using a material having a large birefringence for the λ/4 wavelength plate of higher multi-order, it is possible to generate a phase difference of even higher order, and to regard a polarized wave for which an intensity of an extraordinary light ray (S-polarized light) and an intensity of an ordinary light ray (P-polarized light) varies at a high frequency in accordance with the wavelength, as equivalent to unpolarized light in a visible range (400 nm-700 nm). FIG.2is a diagram showing a schematic arrangement of the λ/4 wavelength plate121aof higher multi-order, an optical path splitting unit120, and an image sensor122. Light emerged from the objective optical system OBL passes through the λ/4 wavelength plate121aof higher multi-order, and is incident on the optical-path splitting unit120. The optical-path splitting unit120includes a polarizing beam splitter121which splits an object image into two optical images of different focus, and the image sensor122which acquires two images by picking up the two optical images. The polarizing beam splitter121, as shown inFIG.2, includes an object-side prism121b, an image-side prism121e, a mirror121c, and a λ/4 plate121d. Both the object-side prism121band the image-side prism121ehave a beam splitting surface which is inclined at 45 degrees with respect to the optical axis AX. Moreover, the object-side prism121band the image-side prism121eare cemented to an adhesive layer130by an adhesive. A polarization splitting film121fis formed on the beam splitting surface of the object-side prism121b. Moreover, the object-side prism121band the image-side prism121eform the polarizing beam splitter121which brings the beam splitting surfaces in contact via the polarization splitting film121f. Furthermore, the mirror121cis provided near an end surface of the object-side prism121bvia the λ/4 plate121d. The image sensor122is attached to an end surface of the image-side prism121evia a cover glass CG. Here, I is an image forming surface (image pickup surface). An object image from the objective optical system OBL is split into a P-polarized component (transmitted light) and an S-polarized component (reflected light) by the polarization splitting film121fprovided on the beam splitting surface of the object-side prism121b, and are split into two optical images, an optical image of the P-polarized light component and an optical image of the S-polarized light component. The optical image of the S-polarized light component is reflected at the polarization splitting film121ftoward a surface facing the image sensor122and follows an optical path A, and upon being transmitted through the λ/4 plate121d, is reflected at the mirror121c, and is returned toward the image sensor122. The optical image returned, by being retransmitted through the λ/4 plate121d, has a direction of polarization turned through 90°, and upon being transmitted through the polarization splitting film121f, is formed as an image on the image sensor122. The optical image of the P-polarized light component follows an optical path B upon being transmitted through the polarization splitting film121, and is reflected by a mirror surface provided on an opposite side of a beam splitting surface of the image-side prism121ereturning perpendicularly toward the image sensor122, and is formed as an image on the image sensor122. At this time, an optical path in a glass of the prism is to be set to generate a predetermined optical-path difference of about tens of μm for example in the optical path A and the optical path B, and two optical images of different focus are formed on a light-receiving surface of the image sensor122. In other words, the object-side prism121band the image-side prism121eare to be disposed such that an optical-path length on a reflected-light side becomes shorter (smaller) with respect to an optical path length (path length in glass) on a transmitted-light side reaching the image sensor122in the object-side prism121bin order to be able to split the two optical images of different focusing positions of the object image. FIG.3is a schematic arrangement diagram of the image sensor122. The image sensor122, as shown inFIG.3, is provided with two light receiving areas (effective pixel areas)122aand122bin an overall pixel area of the image sensor122for capturing an image by receiving separately the two optical images of different focusing positions. FIG.4Ashows a front view of the λ/4 wavelength plate121a(optical axis 90 degree) of higher multi-order andFIG.4Bshows a cross-sectional view.FIG.4Cshows a front view of the λ/4 wavelength plate121a(optical axis 45 degree) of higher multi-order, andFIG.4Dshows a cross-sectional view. Moreover, an anti-reflection coating AR is applied to an object-side surface of the λ/4 wavelength plate121aof higher multi-order. Accordingly, it is possible to reduce problems such as a flare, a ghost, and a loss of brightness. Note that, the anti-reflection coating AR may be applied even to a side of a surface of the λ/4 wavelength plate121aof higher multi-order, cemented to a glass substrate121g. Next, a reason as to why it is not possible to achieve a favorable image due an astigmatism which occurs in a depolarization plate in a case of making an attempt to achieve a depolarization effect in an endoscope optical system of a conventional arrangement will be described below. FIG.5Ashows an astigmatism which occurs in a λ/4 wavelength plate DP1of higher multi-order. An object point P shows an optical system which forms an image. Light rays from the object point P form an image via objective lenses OBL1and OBL2. Here, the λ/4 wavelength plate (uniaxial crystal) DP1of higher multi-order is disposed in an optical path between the objective lens OBL1and the objective lens OBL2. Accordingly, a position of an image forming point Po of ordinary light and a position of an image forming point Pe of extraordinary light differ. At this time, when an index ellipsoid having an optical axis in a Y-direction is taken into consideration, a refractive index becomes ne all the time for a light ray in an XZ plane. Whereas, the refractive index for a light ray in an YZ plane becomes no. A refraction effect of a light ray differs for an X-direction and a Y-direction in accordance with an angle of the light ray incident on the λ/4 wavelength plate DP1of higher multi-order. Consequently, an astigmatism occurs even axially only in a direction of an optical axis. This occurrence of astigmatism can be ignored in a λ/4 wavelength plate of low order or zero order in which a crystal and the like is used, but cannot be ignored in a λ/4 wavelength plate of higher multi-order with large birefringence. FIG.5Bis a diagram describing an astigmatism which occurs in the λ/4 wavelength plate of higher multi-order and an astigmatism which occurs in a polarizing beam splitter. An astigmatism ASA indicated by solid lines and dashed lines occurs in the λ/4 wavelength plate121a(depolarization plate) (not shown inFIG.5B). An astigmatism ASB indicated by solid lines and dashed lines occurs in the polarizing beam splitter. An absolute value of aberration amount for the astigmatism ASA and an absolute value of aberration amount for the astigmatism ASB are substantially same, and signs thereof are opposite. Consequently, the astigmatism ASA+the astigmatism ASB=0, and image forming points in an image sensor IMG coincide. As mentioned above, by using the λ/4 wavelength plate121a(depolarization plate) of higher multi-order with a large birefringence, it is possible to achieve a pseudo-depolarization effect. Whereas, by increasing a thickness of the λ/4 wavelength plate121aof higher multi-order, it is possible to enhance the depolarization effect. However, as a light ray incident on the λ/4 wavelength plate121aof higher multi-order goes on inclining, the astigmatism occurs even axially only in the direction of the optical axis. In other words, an amount of astigmatism which occurs is determined by a magnitude of the birefringence and a thickness of the λ/4 wavelength plate121aof higher multi-order, and an angle of incidence on the λ/4 wavelength plate of higher multi-order. Next, conditional expression (1) of the present embodiment will be explained below. Conditional expression (1) regulates the most appropriate range of Fno/(d/|Δn|). When a value falls below a lower limit value of conditional expression (1), the angle of incidence of a light ray on the λ/4 wavelength plate121aof higher multi-order becomes excessively large. Or, the λ/4 wavelength plate121aof higher multi-order being excessively thick, the axial astigmatism becomes excessively large. As a result, an image quality is degraded. Moreover, the birefringence is excessively small, and it is not possible to achieve a favorable depolarization effect. Whereas, when an upper limit value of conditional expression (1) is exceeded, the objective optical system becomes excessively dark (the F-number becomes large). Or, the λ/4 wavelength plate121aof higher multi-order is excessively thin, and it is not possible to achieve an adequate depolarization effect. Or, the birefringence is excessively large, and the astigmatism occurs largely. Consequently, since the image quality is deteriorated, it is not favorable. Note that, the relationship is restricted to |0.01|<Δn. It is desirable that a material to be used for the λ/4 wavelength plate of higher multi-order is a material having a large birefringence to some extent. For a material having a small birefringence such as a crystal and the like, an amount of phase difference that occurs is excessively small, and when the material is made thick in order to achieve depolarization effect, it cannot be accommodated in a front-end portion of an endoscope, and therefore it is not favorable. Moreover, according to a preferable aspect of the present embodiment, it is desirable that the λ/4 wavelength plate is disposed between an aperture stop of the objective optical system and an optical-path splitting surface of the polarizing beam splitter. The closer the angle of incidence of a light ray incident on the λ/4 wavelength plate of higher multi-order to parallel to the optical axis, the more suppressible is the occurrence of astigmatism. In a wide angle retro focus optical system such as an endoscope, an angle of oblique incidence of an off-axis ray becomes excessively large on a front-group side of the aperture stop. Therefore, when the λ/4 wavelength plate of higher multi-order is disposed on the front-group side, since a large astigmatism occurs even for the off-axis, it is not preferable. Consequently, it is desirable to dispose the λ/4 wavelength plate of higher multi-order on an image plane side on a rear side of the aperture stop, and between the front side (object side) of the polarizing beam splitter. Moreover, according to a preferable aspect of the present embodiment, it is desirable to cause an axial astigmatism of an opposite sign to occur in the polarizing beam splitter, with respect to an axial astigmatism occurred in the λ/4 wavelength plate. When an oblique incidence light is incident on a crystal material of a large birefringence, an astigmatism AS occurs in a direction of an optical axis. In the λ/4 wavelength plate of higher multi-order, light incident on the polarizing beam splitter becomes an unpolarized astigmatism because of having the depolarization effect. For light split into two by the polarizing beam splitter, the astigmatism AS is included evenly in a P-polarized light optical path and an S-polarized light optical path. Whereas, the adhesive layer130which joins the polarizing beam splitters121band121eis disposed to be inclined (wedge shape) with respect to an incident light ray. Consequently, another astigmatism B (ASB inFIG.5B) occurs due to a difference in a refractive index of the polarizing beam splitter and a refractive index of the adhesive of the adhesive layer. At this time, when a magnitude of an absolute value of the astigmatism A (ASA inFIG.5B) and a magnitude of an absolute value of the astigmatism B are substantially same, and the astigmatism is of opposite signs (opposite directions), they cancel each other. As a result, it is possible to reduce the astigmatism to an amount that can be made almost zero at the image forming surface (light receiving surface of the image sensor). Moreover, according to a preferable aspect of the present embodiment, it is desirable that the λ/4 wavelength plate is a uniaxial crystal material having a negative birefringence. In the uniaxial crystal material having a negative birefringence, the relationship between the refractive index no of the ordinary light and the refractive index ne of the extraordinary light becomes no>ne. When the a λ/4 wavelength plate of higher multi-order having a negative birefringence which is a uniaxial crystal material, is used, an astigmatism of a sign opposite to that of the astigmatism which occurs in the adhesive layer which is inclined with respect to an incident light ray at the polarizing beam splitter occurs. Consequently, it is possible to cancel the astigmatism. Moreover, according to a preferable aspect of the present embodiment, it is desirable that the optical system satisfies the following conditional expression (2). 0.8≤(np/Δn)/(d/lpc)≤4.4  (2) where, np denotes a refractive index for an e-line (546.1 nm) of a glass material used for the polarizing beam splitter, Δn denotes a birefringence of the λ/4 wavelength plate for the e-line (546.1 mm), provided that, |0.01|<Δn, d denotes a thickness of the λ/4 wavelength plate, and lpc denotes a thickness of an adhesive layer of an adhesive used on a surface of the polarizing beam splitter. It is possible to control the amount of astigmatism which occurs, by the refractive index of the glass material used for the polarizing beam splitter, the thickness of the adhesive layer, the birefringence of the crystal material used for the wavelength plate, and the thickness of the crystal material used for the wavelength plate. When a value falls below a lower limit value of conditional expression (2), the thickness of the λ/4 wavelength plate becomes excessively thick. Or, by the birefringence becoming excessively large, it is not possible to cancel the astigmatism. Consequently, an image is deteriorated. When an upper limit value of conditional expression (2) is exceeded, the thickness of the λ/4 wavelength plate becomes excessively thin, and the most appropriate aberration correction becomes difficult. Moreover, a problem related to processing of the λ/4 wavelength plate arises. Or, the refractive index of the glass material used for the polarizing beam splitter becomes excessively high and the astigmatism which occurs in the polarizing beam splitter becomes excessively large, and it is not possible to cancel the astigmatism. Consequently, an image is deteriorated. An endoscope optical system in an endoscope apparatus according to an example 1 will be described below. FIG.6is a cross-sectional view of an objective optical system, a λ/4 wavelength plate of higher multi-order, an optical-path splitting unit, and an image sensor. Here,FIG.6is a cross-sectional view showing an arrangement of the objective optical system in a normal observation state (an object point at a far distance). It is possible to switch the objective optical system to a close observation state (an object point at a close distance) by driving a lens L5. The objective optical system includes in order from an object side, a planoconcave negative lens L1having a flat surface directed toward the object side, a plane parallel plate L2, a biconcave negative lens L3, a positive meniscus lens L4having a convex surface directed toward the object side, a positive meniscus lens L5having a convex surface directed toward the object side, a biconvex positive lens L6, a negative meniscus lens L7having a convex surface directed toward an image side, an aperture stop S, a biconvex positive lens L8, a biconvex positive lens L9, and a negative meniscus lens L10having a convex surface directed toward the image side. Here, the biconcave negative lens L3and the positive meniscus lens L4are cemented. The biconvex positive lens L6and the negative meniscus lens L7are cemented. The biconvex positive lens L9and the negative meniscus lens L10are cemented. The abovementioned optical-path splitting unit120is disposed on the image side of the objective optical system. In a prism in the optical system, an optical path is bent. Note that, the plane parallel plate L2is a filter having a coating for cutting specific wavelengths such as, 1060 nm of YAG (yttrium aluminum garnet) laser, 810 nm of semiconductor laser, or an infrared region applied thereto. I is an image forming surface (image pickup surface). Moreover, the λ/4 wavelength plate121aof higher multi-order is disposed on the image side of the objective optical system, between the objective optical system and the optical-path splitting unit120. Numerical data for each example is shown below. Regarding symbols, r denotes a radius of curvature of each lens surface, d denotes a distance between two lens surfaces, ne denotes a refractive index for an e-line of each lens, νe denote Abbe's number of each lens, FNO denotes an F-number, and ω denotes a half angle of view. Moreover, a back focus fb is expressed by a distance from an optical surface nearest to image up to a paraxial image plane being subjected to air conversion. An overall length is a length obtained by adding the back focus to a distance (not subjected to air conversion) from a lens surface nearest to object up to an optical surface nearest to image. A stop is an aperture stop. Numerical data for the example is shown below. Example 1 Unit mmSurface dataSurface no.rdneνe1∞0.491.8881540.5221.8120.793∞0.841.5230066.34∞0.345−4.8810.561.8881540.5261.8662.131.8550423.59777.332Variable82.0100.811.4891570.0492.149Variable103.3541.131.6522233.5311−1.6650.322.0116928.0712−9.9870.0413(Stop)∞0.5614512.3630.951.7044229.8915−3.5520.36169.1280.941.4891570.0417−2.1800.391.9342918.7418−4.0934.5919(Image∞pickupsurface)Various dataNormal observation statefocal length1.00FNO.3.582ω144.9fb (in air)4.59LTL (in air)17.15d70.47d91.43 Example 1 FIG.7shows an optical characteristic of a λ/4 wavelength plate121aof higher multi-order in the endoscope apparatus according to the example 1. The optical characteristic is a wavelength scramble characteristic (depolarization characteristic) in a case in which linearly polarized light is incident on the λ/4 wavelength plate121a. It is an example of generating a phase difference of 16 wavelengths. Solid lines (intensity X) and dashed lines (intensity Y) indicate respective orthogonal polarization components. A horizontal axis indicates a wavelength (nm) and a vertical axis indicates an intensity of P-polarized light (intensity X for example) and S-polarized light (intensity Y for example) after being transmitted through the λ/4 wavelength plate of higher multi-order. The λ/4 wavelength plate121aof higher multi-order with a large birefringence is to be disposed between the polarizing beam splitter121and an objective optical system OBL of an endoscope, and to be used as a depolarization plate. Light passed through the λ/4 wavelength plate121aof higher multi-order can be deemed as equivalent to unpolarized light in a visible range (400 nm˜700 nm) in a visible region because a polarized wave varies at a high frequency in accordance with the wavelength. In a zero order λ/4 wavelength plate or a multi-order λ/4 wavelength plate of several wavelengths, although it is possible to convert linearly polarized light of specific wavelength to circularly polarized light, a wavelength and polarization dependency in the entire visible range being high, it is not possible to maintain a split intensity in the polarizing beam splitter, and it is not possible to achieve an image of uniform intensity. By making an arrangement shown in the present example, an adequate depolarization effect is achieved and there is no need to use a depolarization plate having a complex arrangement. Consequently, an advantageous effect that it is possible to realize small-sizing of a distal end of endoscope of an endoscope apparatus is shown. FIG.8A,FIG.8B, andFIG.8Care diagrams showing an axial MFT (Modulation Transfer Function) in the present embodiment. A horizontal axis indicates a defocusing amount and a vertical axis indicates the MTF. The axial MTF is proportional to the astigmatism. In the diagrams, solid lines indicate the axial MFT in a sagittal direction and dashed lines indicate the MTF in a meridional direction. The diagrams showing the axial MTF in all examples below will indicate in the same manner as in the present example. FIG.8Ashows an astigmatism at a final image plane.FIG.8Bshows an astigmatism in the adhesive layer130of the polarizing beam splitters121band121e.FIG.8Cshows an astigmatism after being transmitted through the λ/4 wavelength plate121aof higher multi-order. The astigmatism at the image plane shown inFIG.8Ais obtained by adding a characteristic curve shown inFIG.8Band a characteristic curve shown inFIG.8C. As it is evident fromFIG.8A, a difference between an astigmatism in the meridional direction and an astigmatism in the sagittal direction is reduced. Accordingly, in the present example, it is possible to achieve an adequate depolarization and to reduce the astigmatism which occurs in the λ/4 wavelength plate of higher multi-order, thereby enabling to achieve a favorable image. Example 2 An endoscope optical system in an endoscope apparatus according to an example 2 will be described below. FIG.9is a cross-sectional view of an objective optical system, a λ/4 wavelength plate of higher multi-order, an optical-path splitting unit, and an image sensor. The λ/4 wavelength plate is disposed in the objective optical system. Here,FIG.9is a cross-sectional view showing an arrangement of the objective optical system in a normal observation state (an object point at a far distance). It is possible to switch the objective optical system to a close observation state (an object point at a near distance) by driving a lens L5. The objective optical system includes in order from an object side, a planoconcave negative lens L1having a flat surface directed toward the object side, a plane parallel plate L2, a biconcave negative lens L3, a planoconvex positive lens L4having a convex surface directed toward the object side, a positive meniscus lens L5having a convex surface directed toward the object side, an aperture stop S, a biconvex positive lens L6, a negative meniscus lens L7having a convex surface directed toward an image side, a plane parallel plate L8, a plane parallel plate L9, a planoconvex positive lens L10having a convex surface directed toward the image side, a biconvex positive lens L11, and a negative meniscus lens L12having a convex surface directed toward the image side. Here, the biconcave negative lens L3and the planoconvex positive lens L4are cemented. The biconvex positive lens L6and the negative meniscus lens L7are cemented. The plane parallel plate L8and the plane parallel plate L9are cemented. The biconvex positive lens L11and the negative meniscus lens L12are cemented. The reason as to why the two plates, the plane parallel plate L8and the plane parallel plate L9, are cemented is, for improving a handleability of the λ/4 wavelength plate of higher multi-order. For instance, a thickness of LiNbO3in Example 2 is 0.15 mm, and in an example to be described later, the thickness of LiNbO3is 0.12 mm which is thin. Therefore, while handling the λ/4 wavelength plate of higher multi-order, a precaution about breakage etc. is necessary. Therefore, by sticking glass plates which are plane parallel plates as in the present example, the handleability of the λ/4 wavelength plate of higher multi-order is improved. A material to be cemented may be a glass substrate, but it is preferable that it is a material such as quartz glass, having a coefficient of linear expansion closer to a coefficient of linear expansion of a material of the λ/4 wavelength plate of higher multi-order. The abovementioned optical-path splitting unit120is disposed on the image side of the objective optical system. In a prism in an objective optical system, an optical path is bent. Note that, the plane parallel plate L2is a filter having a coating for cutting specific wavelengths such as, 1060 nm of YAG laser, 810 nm of semiconductor laser, or an infrared region, applied thereto. I is an image forming surface (image pickup surface). The λ/4 wavelength plate121aof higher multi-order is disposed on a 14thsurface which is a surface of the plane parallel plate L8. Numerical data for the example is shown below. Example 2 Unit mmSurface dataSurface no.rdneνe1∞0.491.8881540.5221.68761.423∞0.561.52366.34∞0.345−8.24160.701.8881540.5261.9992.021.8550423.597∞0.4681.9990.881.4891570.0492.1071.6310(Stop)∞0.07113.90261.091.6522233.7912−1.5880.422.0116928.2713−7.64820.0414(λ/4∞0.152.3164918.72Wavelengthplate)15∞0.151.5182563.9316∞0.0317∞0.701.7044229.8918−2.99080.031917.820.941.4891570.0420−2.38060.421.9342918.7421−5.08664.5622(Image∞pickup surface)Various datafocal length1Fno.3.62ω152.6fb4.5614th surface(λ/4 Wavelength plate) LiNbO3 FIG.10shows an optical characteristic of the λ/4 wavelength plate of higher multi-order in the endoscope apparatus according to the example 2. It is an example of generating a phase difference of 24 wavelengths. The λ/4 wavelength plate121aof higher multi-order having a large birefringence is disposed on the 14thsurface of the objective optical system, and is used as a depolarization plate. For the λ/4 wavelength plate121a, since a polarized wave varies at a high frequency in accordance with the wavelength, light passed through the λ/4 wavelength plate121acan be deemed as equivalent to unpolarized light in a visible range (400 nm 700 nm). FIG.11Ashows an astigmatism at a final image plane.FIG.11Bshows an astigmatism in an adhesive layer130of polarizing beam splitters121band121e.FIG.11Cshows an astigmatism after being transmitted through the λ/4 wavelength plate121aof higher multi-order. The astigmatism at the image plane shown inFIG.11Ais obtained by adding a characteristic curve shown inFIG.11Band a characteristic curve shown inFIG.11C. As it is evident fromFIG.11A, a difference between an astigmatism in a meridional direction and an astigmatism in a sagittal direction is reduced. Accordingly, in the present example, it is possible to achieve an adequate depolarization and to reduce the astigmatism which occurs in the λ/4 wavelength plate of higher multi-order, thereby enabling to achieve a favorable image. Example 3 An endoscope optical system according to an example 3 will be described below. An optical characteristic of a λ/4 wavelength plate121aof higher multi-order in an endoscope apparatus according to the example 3 is same as that in the example 1 (refer toFIG.7). Therefore, the description of optical characteristic is omitted. FIG.12Ashows an astigmatism at a final image plane.FIG.12Bshows an astigmatism in an adhesive layer130of polarizing beam splitters121band121e.FIG.12Cshows an astigmatism after being transmitted through the λ/4 wavelength plate121aof higher multi-order. The astigmatism at the image plane shown inFIG.12Ais obtained by adding a characteristic curve shown inFIG.12Band a characteristic curve shown inFIG.12C. As it is evident fromFIG.12A, a difference between an astigmatism in a meridional direction and an astigmatism in a sagittal direction is reduced. Accordingly, in the present example, it is possible to achieve an adequate depolarization and to reduce the astigmatism which occurs in the λ/4 wavelength plate of higher multi-order, thereby enabling to achieve a favorable image. Example 4 An endoscope optical system according to an example 4 will be described below.FIG.13shows an optical characteristic of a λ/4 wavelength plate121aof higher multi-order in an endoscope apparatus according to the example 4. It is an example of generating a phase difference of 56 wavelengths. The λ/4 wavelength plate121aof multi-order having a large birefringence is disposed and used as a depolarization plate. For the λ/4 wavelength plate121aof higher multi-order, since a polarized wave varies at a high frequency in accordance with the wavelength, light passed through the λ/4 wavelength plate of higher multi-order can be deemed as equivalent to unpolarized light in a visible range (400 nm˜700 nm). FIG.14Ashows an astigmatism at a final image plane.FIG.14Bshows an astigmatism in an adhesive layer130of polarizing beam splitters121band121e.FIG.14Cshows an astigmatism after being transmitted through the λ/4 wavelength plate of higher multi-order. The astigmatism at the image plane shown inFIG.14Ais obtained by adding a characteristic curve shown inFIG.14Band a characteristic curve shown inFIG.14C. As it is evident fromFIG.14A, a difference between an astigmatism in a meridional direction and an astigmatism in a sagittal direction is reduced. Accordingly, in the present embodiment, it is possible to achieve an adequate depolarization and to reduce the astigmatism which occurs in the λ/4 wavelength plate of higher multi-order, thereby enabling to achieve a favorable image. Example 5 An endoscope optical system in an endoscope apparatus according to an example 5 will be described below. FIG.15is a cross-sectional view of an objective optical system, a λ/4 wavelength plate of higher multi-order, an optical-path splitting unit, and an image sensor. Here,FIG.15is a cross-sectional view showing an arrangement of the objective optical system in a normal observation state (an object point at a far distance). It is possible to switch the objective optical system to a close observation state (an object point at a near distance) by driving a lens L5. A λ/4 wavelength plate121aof higher multi-order is disposed in the objective optical system. The objective optical system includes in order from an object side, a planoconcave negative lens L1having a flat surface directed toward the object side, a plane parallel plate L2, a biconcave negative lens L3, a planoconvex positive lens L4having a convex surface directed toward the object side, a positive meniscus lens L5having a convex surface directed toward the object side, an aperture stop S, a plane parallel plate L6, a plane parallel plate L7, a biconvex positive lens L8, a negative meniscus lens L9having a convex surface directed toward an image side, a planoconvex positive lens L10having a flat surface directed toward the object side, a biconvex positive lens L11, and a negative meniscus lens L12having a convex surface directed toward the image side. Here, the biconcave negative lens L3and the planoconvex positive lens L4are cemented. The plane parallel plate L6and the plane parallel plate L7are cemented. The biconvex positive lens L11and the negative meniscus lens L12are cemented. The abovementioned optical-path splitting unit120is disposed on the image side of the objective optical system. In a prism in an optical system, an optical path is bent. Note that, the plane parallel plate L2is a filter having a coating for cutting specific wavelengths such as, 1060 nm of YAG laser, 810 nm of semiconductor laser, or an infrared region, applied thereto. I is an image forming surface (image pickup surface). The reason as to why the plane parallel plate L6and the plane parallel plate L7are cemented is as mentioned above. The λ/4 wavelength plate121aof higher multi-order is disposed on an 11thsurface which is a surface of the plane parallel plate L6. Numerical data for the example is shown below. Example 5 Unit mmSurface dataSurface no.rdneνe1∞0.501.8881540.5221.72161.463∞0.571.52366.34∞0.355−8.55060.721.8881540.5262.07262.011.8550423.597∞0.4782.05070.921.4891570.0492.16451.6710(Stop)∞0.0711(λ/4∞0.122.3164918.72Wavelengthplate)12∞0.181.5182563.9313∞0.03143.89321.151.6522233.7915−1.60090.332.0116928.2716−8.79010.0317∞0.821.7044229.8918−2.98520.031914.99720.961.4891570.0420−2.48880.361.9342918.7421−5.21674.5822(Image∞pickup surface)Various datafocal length1Fno.3.62ω160.5fb4.5311th surface(λ/4 wavelength plate) LiNbO3 The endoscope optical system according to the example 5 will be described below.FIG.16shows an optical characteristic of the λ/4 wavelength plate121aof higher multi-order in the endoscope apparatus according to the example 5. It is an example of generating a phase difference of 19 wavelengths. The λ/4 wavelength plate121aof higher multi-order having a large birefringence is disposed and is used as a depolarization plate. For the λ/4 wavelength plate121aof higher multi-order, since a polarized wave varies at a high frequency in accordance with the wavelength, light passed through the λ/4 wavelength plate121acan be deemed as equivalent to unpolarized light in a visible range (400 nm 700 nm). FIG.17Ashows an astigmatism at a final image plane.FIG.17Bshows an astigmatism in an adhesive layer130of polarizing beam splitters121band121e.FIG.17Cshows an astigmatism after being transmitted through the λ/4 wavelength plate121aof higher multi-order. The astigmatism at the image plane shown inFIG.17Ais obtained by adding a characteristic curve shown inFIG.17Band a characteristic curve shown inFIG.17C. As it is evident fromFIG.17A, a difference between an astigmatism in a meridional direction and an astigmatism in a sagittal direction is reduced. Accordingly, in the present example, it is possible to achieve an adequate depolarization and to reduce the astigmatism which occurs in the λ/4 wavelength plate of higher multi-order, thereby enabling to achieve a favorable image. Example 6 An endoscope optical system according to an example 6 will be described below.FIG.18shows an optical characteristic of a λ/4 wavelength plate121aof higher multi-order in an endoscope apparatus according to the example 6. It is an example of generating a phase difference of 38 wavelengths. The λ/4 wavelength plate121aof higher multi-order having a large birefringence is disposed and used as a depolarization plate. For the λ/4 wavelength plate121a, since a polarized wave varies at a high frequency in accordance with the wavelength, light passed through the λ/4 wavelength plate can be deemed as equivalent to unpolarized light in a visible range (400 nm 700 nm). FIG.19Ashows an astigmatism at a final image plane.FIG.19Bshows an astigmatism in an adhesive layer130of polarizing beam splitters121band121e.FIG.19Cshows an astigmatism after being transmitted through the λ/4 wavelength plate of higher multi-order. The astigmatism at the image plane shown inFIG.19Ais obtained by adding a characteristic curve shown inFIG.19Band a characteristic curve shown inFIG.19C. As it is evident fromFIG.19A, a difference between an astigmatism in a meridional direction and an astigmatism in a sagittal direction is reduced. Accordingly, in the present embodiment, it is possible to achieve an adequate depolarization and to reduce the astigmatism which occurs in the λ/4 wavelength plate of higher multi-order, thereby enabling to achieve a favorable image. Example 7 An endoscope optical system according to an example 7 will be described below. An optical characteristic of a λ/4 wavelength plate121aof higher multi-order in an endoscope apparatus according to the example 7 is same as that in the example 1 (refer toFIG.7). Therefore, the description of optical characteristic is omitted. FIG.20Ashows an astigmatism at a final image plane.FIG.20Bshows an astigmatism in an adhesive layer130of polarizing beam splitters121band121e.FIG.20Cshows an astigmatism after being transmitted through the λ/4 wavelength plate of higher multi-order. The astigmatism at the image plane shown inFIG.20Ais obtained by adding a characteristic curve shown inFIG.20Band a characteristic curve shown inFIG.20C. As it is evident fromFIG.20A, a difference between an astigmatism in the meridional direction and an astigmatism in a sagittal direction is reduced. Accordingly, in the present example, it is possible to achieve an adequate depolarization and to reduce the astigmatism which occurs in the λ/4 wavelength plate of higher multi-order, thereby enabling to achieve a favorable image. Example 8 An endoscope optical system according to an example 8 will be described below.FIG.21shows an optical characteristic of a λ/4 wavelength plate121aof higher multi-order in an endoscope apparatus according to the example 8. It is an example of generating a phase difference of 10 wavelengths. The λ/4 wavelength plate121aof higher multi-order having a large birefringence is disposed and used as a depolarization plate. For the λ/4 wavelength plate121aof higher multi-order, since a polarized wave varies at a high frequency in accordance with the wavelength, light passed through the λ/4 wavelength plate can be deemed as equivalent to unpolarized light in a visible range (400 nm-700 nm). FIG.22Ashows an astigmatism at a final image plane.FIG.22Bshows an astigmatism in an adhesive layer130of polarizing beam splitters121band121e.FIG.22Cshows an astigmatism after being transmitted through the λ/4 wavelength plate of higher multi-order. The astigmatism at the image plane shown inFIG.22Ais obtained by adding a characteristic curve shown inFIG.22Band a characteristic curve shown inFIG.22C. As it is evident fromFIG.22A, a difference between an astigmatism in a meridional direction and an astigmatism in a sagittal direction is reduced. Accordingly, in the present embodiment, it is possible to achieve an adequate depolarization and to reduce the astigmatism which occurs in the λ/4 wavelength plate of higher multi-order, thereby enabling to achieve a favorable image. Note that, in the present example, the λ/4 wavelength plate (depolarization plate) of higher multi-order is not a material having a negative birefringence. Therefore, the astigmatism which occurs in the λ/4 wavelength plate of higher multi-order and the astigmatism which occurs in the polarizing beam splitter are not cancelled. However, the λ/4 wavelength plate of higher multi-order is made as thin as possible, and in addition, a refractive index of a glass material of the polarizing beam splitter is made small. Accordingly, in the present example, an absolute value of the astigmatism which occurs in the λ/4 wavelength plate of higher multi-order and an absolute value of the astigmatism which occurs in the polarizing beam splitter are made small. (Various Data for Examples) Example1Example2Example3Example4Crystal material ofminusminusminusminusλ/4 wavelength plateLiNbO3LiNbO3LiNO3LiNbO3Fno3.753.634.5d0.10.150.10.35Δn−0.08798−0.08798−0.087980.08798lpc0.010.020.0050.015np1.641291.641291.758441.75844Example5Example6Example7Example8Crystal material ofminusminusminusplusλ/4 wavelength plateLiNbO3calciteα-BBOYVO4Fno3.63.754.75d0.120.120.070.0236Δn−0.08798−0.17372−0.123770.23122lpc0.0050.020.0230.01np1.758441.758441.641291.51825 Characteristics of each example are shown below. PBS denotes a polarizing beam splitter EF denotes extremely favorable. F denotes favorable. SF denotes somewhat favorable. Adjustment ofDepolarizationadhesive layerExtinctioneffectof PBSratio of PBSExample 1FFFExample 2FEFFExample 3FNot necessaryEFExample 4EFFEFExample 5FNot necessaryEFExample 6EFEFEFExample 7FEFFExample 8EFFF-SF An adjustment of an adhesive layer of a polarizing beam splitter will be described below. Prisms121band121eused in the polarizing beam splitter121generally have a manufacturing error of an angle. In a case in which the manufacturing error is relatively large, since there arises a difference between an imaging quality of an upper image and a lower image or a left-side image and a right-side image formed on the image forming surface I of the image sensor122, it is not preferable. Therefore, it is desirable to tilt the prisms121band121erelatively by using a spacing of the adhesive layer130, and to carry out the adjustment to make uniform the imaging quality of an optical image at the image forming surface I. In examples 2, 6, and 7, by having the thickness of the adhesive layer130relatively large, a range in which the tilt adjustment can be made is widened, and an improvement in the imaging quality at the image forming surface I is facilitated. Whereas, the examples 3 and 5 are examples in which, the tilt adjustment is eliminated by carrying out precision processing of the prisms121band121e. Any of the methods may be adopted upon taking into consideration a component cost and an adjustment cost. An extinction ratio of the polarizing beam splitter will be described below by usingFIG.2. It is desirable that intensity of light to be subjected to optical-path splitting in the polarizing beam splitter121is substantially same. In other words, a state in which, when the S-polarized light is incident on the polarization splitting film121f, the S-polarized light is reflected with 100% intensity to the optical path A, and when the P-polarized light is incident on the polarization splitting element121f, the P-polarized light is reflected with 100% intensity to the optical path B, is an ideal state. Generally, a ratio of such intensity split of the optical paths A and B is defined as the extinction ratio, and is used as an index of quality of PBS. The larger the difference between a refractive index of a material used for the polarizing beam splitter121(prism121b) and a refractive index of a material used for the polarization splitting film, the favorable is the extinction ratio. However, in a case in which the difference between the refractive index of the polarizing beam splitter121(prism121b) and the adhesive layer130is excessively large, the astigmatism which occurs is excessively large thereby causing degradation of image, and therefore it is desirable to contain the refractive index difference to be appropriate. In the examples 3, 4, 5, and 6, an improvement in the extinction ratio is facilitated by making a refractive index of a glass used for the prism121bcomparatively high. Whereas, in the example 8, by using a commonly-used glass material for the polarizing beam splitter121(prism121b) instead of containing the extinction ratio within an acceptable quality, a polarizing beam splitter arrangement favorable from a cost point of view is provided. Values of each of embodiments are shown below. (1) Fno/(d/|Δn|) (2) (np/Δn)/(d/lpc) Conditional Expression Example1Example2Example3Example4(1)3.302.112.641.13(2)1.872.491.000.86Example5Example6Example7Example8(1)2.645.438.3148.99(2)0.831.694.362.78 An endoscope apparatus according to the embodiments includes an endoscope having the above-mentioned optical system and an image processor having an image combining processor which combines images picked by the image sensor into one image. FIG.23illustrates a configuration of the endoscope apparatus. An endoscope system1according to the present embodiment includes an endoscope2inserted into a subject, a light source3configured to supply illumination light to the endoscope2, a processor4, and an image display device5. The processor4has a function of performing image processing, but also has other functions. The processor4includes an actuator controller25, an image processor30, and a controller39. The image display device5displays an image signal generated with the processor4as an endoscope image. The endoscope2includes an elongated insertion unit6to be inserted into the subject, and an operating unit7provided at the rear end of the insertion unit6. A light guide cable8extends outward from the operating unit7. One end of the light guide cable8is detachably connected with the light source3through a connection unit8a. The light guide cable8includes a light guide9therein. Part of the light guide9is disposed inside the insertion unit6. The light source3includes therein a lamp11, such as a xenon lamp, as the light source. The light source is not limited to the lamp11, such as a xenon lamp, but a light emitting diode (abbreviated to “LED”) may be used. The transmitted light quantity of the illumination light generated with the lamp11, for example, white light, is regulated with a diaphragm12. Thereafter, the illumination light is condensed with a condenser lens13, and made incident on an incident end surface of the light guide9. It is possible to change the aperture of the diaphragm12with a diaphragm driving unit14. The light guide9transmits the illumination light generated by the light source3to a distal end portion6aof the insertion unit6. The transmitted illumination light is emitted from the distal end surface of the light guide9. An illumination lens15is disposed in the distal end portion6awhile facing the distal end surface. The illumination lens15emits the illumination light from an illumination window15a. In this manner, the observation target region inside the subject is illuminated. An observation window20is provided adjacent to the illumination window15ain the distal end portion6a. Light from the observation target region passes through the observation window20, and is made incident on the inside of the distal end portion6a. The objective optical system is disposed behind the observation window20. The objective optical system is formed of a lens group16and an optical path splitter120. The lens group16includes a lens16aand a lens21. The lens21is movable along the optical axis. In this manner, focusing is performed. An actuator22is disposed to move the lens21. One image sensor122(not illustrated) is disposed on the optical path splitter120. Two optical images are simultaneously formed on the light-receiving surface of the image sensor122. The two optical images are imaged with the image sensor122. The operating unit7is connected with the processor4through a cable24. A signal connector24ais provided in a portion connected with the processor4. Transmission of various types of information is performed between the endoscope2and the processor4through the cable24. The signal connector24aincludes a correction parameter storage unit37. The correction parameter storage unit37stores therein correction parameters (or information of correction parameters) used for correction of the image. The correction parameters are different between individual endoscopes. It is assumed that an endoscope having unique endoscope identification information is connected with the processor4. In this case, on the basis of the endoscope identification information, correction parameters peculiar to the connected endoscope are read from the correction parameter storage unit37. Image correction is performed in an image correction processor32on the basis of the read correction parameters. Presence/absence of correction is determined by the controller39. Control of the actuator22is performed by the actuator controller25. For this reason, the actuator22and the actuator controller25are connected through a signal line23. Moreover, the image sensor is connected with the image processor30through a signal line27a. The signal from the image sensor is input to the image processor30. Information of a switch26provided in the operating unit7is also transmitted to the processor4through a signal line. When the optical path length in the first optical path is slightly different from the optical path length in the second optical path, two optical images in focus are formed in front of and behind the image pickup surface. The shift quantities of the optical images from the image pickup surface are slight. For this reason, two optical images in focus only in a part of the region are formed on the image pickup surface. The two optical images are imaged with the image sensor122. An image signal acquired by imaging is input to the image processor30through the signal line27a. The image processor30includes an image reader31, the image correction processor32, an image combining processor33, a rear-stage image processor34, an image output unit35, and a light control unit36. In the image reader31, image signals of a plurality of images are read from the input image signal. Herein, both the number of optical images and the number of images are two. In the optical system forming two optical images, a geometrical difference may occur. Examples of the geometrical difference include a relative shift (difference) of the two optical images, such as a shift (difference) in magnification, a shift (difference) in position, and a shift (difference) in rotational direction. It is difficult to completely remove these differences in manufacturing of the objective optical system or the like. However, when the shift quantities of them increase, for example, a composite image looks double. For this reason, it is preferable to correct the geometrical difference described above in the image correction processor32. The image correction processor32performs image correction on the two read images. The image correction processor32performs, for example, processing to make at least one difference among a relative difference in magnification, a difference in position, and a difference in rotation agree between the two images. In addition, the image correction processor32performs tone correction. For this reason, the image correction processor32includes a tone correction unit (not illustrated). In tone correction, the tone correction unit performs processing to make relative luminance and saturation of the two images substantially agree in at least one desired specific wavelength band. The tone correction may be performed by the image correction processor32, without providing the tone correction unit. The image correction processor32changes the luminance in one of the two images to substantially agree with the luminance in the other image. Moreover, the image correction processor32changes the saturation in one of the images to substantially agree with the saturation in the other image. As described above, in a method of acquiring an image with a large depth of field, only in-focus regions are extracted from a plurality of images, and composition of the extracted regions is performed. In the endoscope according to the present embodiment, it is possible to reduce a difference in brightness and/or a difference in tone in a plurality of images. Accordingly, it is possible to reduce unevenness in brightness and/or a difference in tone in the composite image. Moreover, in a method for improving the color reproducibility of the image, image composition using two images is performed. When a difference in brightness and a difference in tone occurs in two optical images, a difference in brightness and a difference in tone occurs also in two images acquired by imaging. In the endoscope according to the present embodiment, it is possible to reduce a difference in brightness and a difference in tone, even when a difference in brightness and a difference in tone occurs in a plurality of images. Accordingly, it is possible to further improve color reproducibility of the composite image. In the image combining processor33, first, contrast is compared using two images. This comparison is performed on each of the spatially equal pixel regions in the two images. Thereafter, the pixel region with the relatively high contrast is selected. Thereafter, one image is generated using the selected pixel region. As just described, one combine (composite) image is generated from two images. When a difference in contrast between two images is small, it suffices to generate a combine (composite) image after performing composite image processing to provide each of the images with a predetermined weight and add the weight to the images. The rear-stage image processor34performs image processing, such as edge enhancement and gamma correction, on the composite image. The image output unit35outputs the image-processed image to the image display device5. In the light control unit36, a light control signal to control brightness of light to the standard brightness is generated from the image read with the image reader31. The light control signal is output to the diaphragm driving unit14of the light source3. The diaphragm driving unit14regulates the opening quantity of the diaphragm (aperture stop)12so as to maintain the standard brightness in accordance with the light control signal. Next, in the present embodiment, a flow in a case of combining two optical images will be described below according to a flowchart inFIG.24. An image related to the far-point image and an image related to the near-point image with a different focus are acquired in the image sensor122. At step S101, the two images which are the near-point image and the far-point image, are subjected to correction processing. In other words, according to correction parameters that have been set in advance, correction of two images is carried out such that the relative position, the relative angle, and the relative magnification of each optical image of the two images becomes substantially same. This correction processing is carried out in the image correction processor32. Images after correction are output to the image combining processor33. The brightness and color of the two images may be corrected according to the requirement. At step S102, the image combining processor33synthesizes the two images subjected to the correction processing. In other words, for the pixel area corresponding to each of the far-point image and the near-point image, a contrast value is calculated, and the contrast values are compared. At step S103, a judgment of whether or not there is a difference in the contrast values that have been compared is made. In a case in which there is a difference in the contrast, the process advances to step S105. At step S105, the image combining is carried out. In a case in which there is a difference in the contrast, an area with a high contrast value is selected, and the images are combined. In a case in which there is no difference in the contrast or in a case in which the difference in the contrast is small, the process advances to step S104. In a case in which the difference in the contrast values is small or in a case in which the contrast values are almost same, it is necessary to make a judgment which to select between the two images which are the far-point image and the near-point image. Wrong choice of the selection becomes a cause of unstable processing. For instance, in a case in which a selected image includes a fluctuation in a signal such as noise, a discontinuous area occurs in the combined image or a problem such that an object image which is resolved originally becomes blurred occurs. Therefore, the process advances to step S104and the weighting is carried out. At step S104, in the pixel area in which the contrast is compared, in a case in which the contrast values for the two images which are the far-point image and the near-point image are almost same, the weighting is carried out. Moreover, the instability of the image selection is eliminated by carrying out an addition processing of images subjected to weighting at the subsequent step S105. In such manner, according to the present embodiment, in both the close observation and the distant observation, it is possible to acquire an image in which the depth of field has been widened, while preventing the blurring of the optical image and the occurrence of the discontinuous area in the combined image due to noise. FIG.25is a diagram showing an image-formation state in a case in which an image is formed on an image sensor after reflection for odd number of times by the polarization beam splitter121. In a case of the abovementioned polarization beam splitter121inFIG.25, an optical image is formed on the image sensor122after one reflection or in other words after reflection for the odd number of times. Consequently, one of the two images assume an image-formation state (mirror image) as shown inFIG.8, and an image processing in which an image direction is made to coincide by inverting the mirror image in the image processor30, is carried out. Since correction of the mirror image by an optical reflection for the even number of times may lead to making the objective optical system large-size and the cost of the prism high, it is preferable to carry out the correction of the mirror image by reflection for the odd number of times by inverting the mirror image in the image correction processing section32. In a case in which the image sensor122has a shape which is long in a longitudinal direction of the endoscope, it is preferable to rotate the combined image appropriately up on taking into consideration an aspect ratio of the image display device5. Various embodiments of the present invention are described heretofore. However, the present invention is not restricted to these embodiments, and embodiments in which the arrangements of these embodiments are combined appropriately without departing from the scope of the invention also fall within the scope of the present invention. As described heretofore, the present disclosure is useful for an endoscope optical system and an endoscope apparatus which enable to achieve a favorable image by reducing the astigmatism which occurs in a wavelength plate (depolarization plate) while achieving an adequate depolarization effect. The present disclosure shows an effect that it is possible to provide an optical system, an endoscope apparatus and an whether endoscope which enable to achieve a favorable image by reducing the astigmatism which occurs in the λ/4 wavelength plate (depolarization plate) while achieving an adequate depolarization effect.

11857159

DETAILED DESCRIPTION The present disclosure is described with reference to exemplary medical systems and medical tools for accessing a target site, for example, for accessing a target site from different directions and/or different angles at a distal end of an endoscope. This may provide improved medical tool functionality and/or assist medical professionals to gain improved access to the target site for performing medical procedures. However, it should be noted that reference to any particular device and/or any particular procedure is provided only for convenience and not intended to limit the disclosure. A person of ordinary skill in the art would recognize that the concepts underlying the disclosed devices and application methods may be utilized in any suitable procedure, medical or otherwise. The present disclosure may be understood with reference to the following description and the appended drawings, wherein like elements are referred to with the same reference numerals. For ease of description, portions of the disclosed devices and/or their components are referred to as proximal and distal portions. It should be noted that the term “proximal” is intended to refer to portions closer to a user of the devices, and the term “distal” is used herein to refer to portions further away from the user. Similarly, extends “distally” indicates that a component extends in a distal direction, and extends “proximally” indicates that a component extends in a proximal direction. Further, as used herein, the terms “about,” “approximately” and “substantially” indicate a range of values within +/−10% of a stated or implied value. Additionally, terms that indicate the geometric shape of a component/surface refer to exact and approximate shapes. Referring toFIG.1, a medical system10according to an embodiment is shown. Medical system10includes a shaft20(e.g., a catheter) and a handle40connected at a proximal end of shaft20. Shaft20may be flexible, but the rigidity/flexibility of shaft20is not limited. Shaft20may be an endoscope, a colonoscope, a bronchoscope, a ureteroscope, or other like-device (not shown). Handle40, or some other device for actuating or controlling medical system10and any tools or devices associated with medical system10, includes first and second actuating devices42,43. Devices42,43control articulation of shaft20, and/or an articulation joint at a distal end of shaft20, in multiple directions. Devices42,43, may be, for example, rotatable knobs that rotate about their axes to push/pull actuating elements (not shown). The actuating elements, such as cables or wires suitable for medical procedures (e.g., medical grade plastic or metal), extend distally from a proximal end of medical system10and connect to shaft20to control movement thereof. Alternatively, or additionally, a user may operate actuating elements independently of handle40. Distal ends of actuating elements extend through shaft20and terminate at an actuating joint and/or a distal tip of shaft20. For example, one or more actuating elements may be connected to an articulation joint, and actuation of actuating elements may control the actuating joint or the distal end of shaft20to move in multiple directions. One or more electrical cables (such as the electrical cable138bdisposed in a light lumen138a, shown inFIG.5) may extend from the proximal end of shaft20to the distal end of shaft20. Cables (e.g., cable138b) may provide electrical controls to imaging, lighting, and/or other electrical devices138(shown inFIG.5) at the distal end of shaft20, and may carry imaging signals from the distal end of shaft20proximally to be processed and/or displayed on a display. Handle40may also include ports44,46for introducing and/or removing tools, fluids, or other materials from the patient. Port44may be used to introduce tools. Port46may be connected to an umbilicus for introducing fluid, suction, and/or wiring for electronic components. For example, as shown inFIG.1, port44may be connected to a lumen (such as working channel136ashown inFIG.5), which extends from the proximal end to the distal end of shaft20. Port44may receive a medical device, such as medical device160(e.g., an ablation device), as shown inFIG.5. According to an example,FIG.1shows a device100(e.g., an accessory device) may be attachable to shaft20and/or handle40. Device100may include a distal end cap110, which may be attachable to a distal end of shaft20. Distal end cap110may be attached to a distalmost end of shaft20, or distal end cap110may be disposed proximally to the distalmost end of shaft20. Device100may also include one or more mounting clips120provided between distal end cap110and a proximal mounting clip130. One or more sheaths140may extend from a proximal (e.g., a proximalmost) mounting clip130to distal end cap110, and may be supported along a length of shaft20by one or more mounting clips120. Sheaths140may be flexible, but the rigidity/flexibility is not limited. While distal end cap110is shown having an oval shape, the shape of distal end cap110is not limited thereto, and may be circular, rectangular, or any other shape. Proximal mounting clip130may be attached to handle40(e.g., a distal end of handle40) via snap fit, a clip with or without a set screw, an adhesive, welding, hook-and-loop fastener (e.g., Velcro), or the like. While device100may be removably attached to medical system10, device100may also be permanently or fixedly attached to medical system10, e.g., device100may not be removed without destroying medical system10. The location and attachment means of proximal mounting clip130to handle40is not limited, and may be changed to correspond to the shape of handle40. Proximal mounting clip130may include one or more ports132, each of which may be coupled to a lumen of respective sheaths140. Ports132may receive medical devices, e.g., medical instruments having end effectors such as graspers, baskets, scissors, or the like, and the medical devices may be advanced along (through) the lumen of respective sheaths140to distal openings in distal end cap110, as will be described herein. Proximal mounting clip130may also include an actuation device134(e.g., a lever) for actuating one or more wires170, where wires170extend from proximal mounting clip130to distal end cap110. As will be described herein, wires170may cause distal ends of sheaths140to move relative to distal end cap110and/or shaft20. While actuation device134is disposed on proximal mounting clip130, the location is not limited thereto, and the position may be selected according to ergonomic and/or functional requirements. With reference toFIGS.1and2A, distal end cap110includes two guide members112,114(although other suitable numbers of guide members, e.g., one, three, four, or more, are also contemplated). Each guide member112,114is connected together by a respective hinge112a,114a(seeFIG.2A). Guide member112includes a first arm112b, a second arm112c, and hinge112aconnecting first arm112bto second arm112c. An end of first arm112bopposite hinge112ais attached to a body110aof distal end cap110. An end of second arm112copposite hinge112ais attached to a first distal tip116. Guide member114have a similar arrangement, with a first arm114battached to body110aof distal end cap110, a second arm114cattached to a second distal tip118, and hinge114aconnecting first and second arms114b,114c. First and second distal tips116,118may be actuated via wires170. Wires170may extend from the proximal end of shaft20to the distal end. For example, wires170may be attached at distal ends of first and second distal tips116,118as shown inFIGS.2A and2C, and to lever134. Alternatively, wires may be attached to any portion of guide members112,114, including but not limited to hinges112a,114a. Movement of lever134may move one or both of wires170in a proximal direction or a distal direction. Alternatively, wires170may be independently actuated by, e.g., separate levers or actuators, or by different states of the same levers or actuators. Wires170may have sufficient stiffness to receive a force to move wires170in a distal direction to overcome a force maintaining first and second distal tips116,118in a non-deployed configuration, as will be described herein. Wires170may include a single filament having a sufficient diameter and rigidity, may be a coil or bundle of filaments, or the like. In addition, wires170may be moved in a proximal direction to move first and second distal tips116,118from a deployed configuration (e.g.,FIG.3A) to the non-deployed configuration (e.g.,FIG.2A). As discussed herein, wires170may pass through holes124in mounting clips120(seeFIG.4A) which may assist in guiding wires170and/or to provide additional support. However, wires170may extend adjacent shaft20from the proximal end to the distal end without passing through holes124in mounting clips120. FIGS.2B and2Cfurther illustrate distal end cap110in a non-deployed configuration, in which first distal tip116and second distal tip118are each attached to lateral sides of body110aof distal end cap110at separation joints119via, e.g., a magnet, a snap-fit, an adhesive, or the like. It will be understood that tabs or other connectors (not shown) on first and second distal tips116,118may contact a distal and/or a proximal side of body110ato assist in attaching first distal tip116and second distal tip118to body110a. Alternatively, or additionally, first distal tip116and second distal tip118may rest against respective lateral side of body110a, e.g., biased there by guide members112,114. A force on wires170in the proximal direction (or the release of the distally-directed force) may move first distal tip116and second distal tip118into the non-deployed configuration. For example, activating actuation device134when first distal tip116and second distal tip118are in the deployed configuration may cause wires170to pull first distal tip116and second distal tip118in the proximal direction. Pulling wires170in the proximal direction may overcome a biasing force of guide members112,114, thereby moving first distal tip116and second distal tip118in the proximal direction to rest against separation joints119in the non-deployed configuration. In the non-deployed configuration, distal end faces of first distal tip116and second distal tip118are disposed in a first orientation, e.g., with the distal end faces approximately perpendicular to a longitudinal axis A, as shownFIG.2A. The first orientation is not limited to this example. For example, the distal end faces of first distal tip116and second distal tip118may form angles with longitudinal axis A, as described below. Activation of guide members112,114may change the orientation of distal end faces of first distal tip116and/or second distal tip118relative to longitudinal axis A. For example, activation of guide members112,114may cause first distal tip116and/or second distal tip118to move distally of distal end cap110, may change the orientation of first distal tip116and/or second distal tip118relative to longitudinal axis A, etc. A distal end face of each of first distal tip116and second distal tip118may include at least one opening116a,118a, respectively, that connect to a respective lumen of a sheath140. It will be understood that each first distal tip116and second distal tip118may include additional openings such that multiple medical instruments may be deployed through the openings, as will be described herein. Body110aof distal end cap110includes a central lumen110cto receive shaft20. An outer diameter of a shaft outer wall20a(FIG.5) of shaft20may be smaller than or approximately a same size as a diameter of central lumen110c, thereby providing a friction attachment between body110aof distal end cap110a shaft20. Alternatively, or additionally, a set screw may be inserted into hole110b(seeFIGS.2A,3A, and6) to provide additional support for securing distal end cap110to shaft20. With continued reference toFIGS.2B and2C, shaft20may include multiple lumens. These lumens may include lumens for light emitting elements (e.g., light lumens138a, shown inFIG.5) which terminate at openings and/or imaging or lighting devices138. Shaft20may also include working channels (e.g., working channels136a, shown inFIG.5) which may receive medical instruments, and which may terminate at openings136. Medical instruments may extend from a proximal end of working channels136a, and the medical instruments may extend from opening136in a distal end of shaft20such that the medical professional may perform a therapy, e.g., cutting, grasping, or other therapies on a target tissue T (seeFIG.5). The medical professional may control the medical instruments and/or the light emitting elements at a proximal end of shaft20via, e.g., switches, knobs, or other control mechanisms on or associated with handle40. FIGS.3A and3Billustrate a deployed configuration of distal end cap110according to an example. Hinges112a,114amay include a spring or other biasing mechanism such that once first and second distal tips116,118are deployed, first arm112band second arm112cmay form approximately up to a 90 degree angle therebetween, and first arm114band second arm114cmay also form approximately up to a 90 degree angle therebetween. In this manner, the medical personnel may access a target site from a direction approximately perpendicular to openings136, which may allow the medical personnel to pull or cut tissue in a direction substantially perpendicular to openings136and any instruments extending from openings136. Alternatively, the angle between the arms of guide members112,114may be selected based on the position of wires170. For example, wires170may be actuated such that the angle between the arms of guide members112,114may be changed throughout a procedure to allow the medical professional to access a target site from different angles. In addition, the hinged connection between first arm112bto body110aand the hinged connection between second arm112cand first distal tip116may orient first distal tip116such that opening116ais offset, e.g., substantially parallel, to a longitudinal axis A of shaft20. The hinged connection between first arm114band body110aand the hinged connection between second arm114cand second distal tip118may similarly allow opening118ato be offset from longitudinal axis A when in the deployed configuration at a same or a different offset as opening116a. As will be described herein, the angle between first and second arms112b,112cand first and second arms114b,114cis not limited to 90 degrees. Further, wires170may maneuver first and second distal tips116,118to orient openings116a,118aat different angles relative to longitudinal axis A. A longitudinal axis B extends through each of openings116aand118a. Angles are formed between longitudinal axis A and longitudinal axis B. For example, a first angle α1is formed between longitudinal axis A and longitudinal axis B extending from opening116a. A second angle α2is formed between longitudinal axis A and longitudinal axis B extending from opening118a. An angle of α1and an angle of α2may be greater than 0 degrees and less than or equal to 180 degrees. For example, when the angle of al is between 0 degrees and 90 degrees, openings116afaces a distal direction. When the angle of al is 90 degrees, opening116ais parallel to longitudinal axis A. When the angle of al is between 90 degrees and 180 degrees, distal opening116afaces a proximal direction, and when the angle of α1is 180 degrees, opening116afaces the distal end face of distal end cap110(i.e., faces proximally) and is offset to longitudinal axis A. Opening118amay be similarly oriented based on similar angles of α2. FIGS.4A and4Bshow an example of mounting clip120and a distal end cap110′, respectively. Distal end cap110′ illustrates a modified shape and connection means from distal end cap110. Mounting clip120and distal end cap110′ may snap onto shaft20via respective openings121,111. For example, mounting clip120and distal end cap110′ may have a C-shape configuration, and respective openings121,111may have a diameter less than the diameter of the outermost surface of shaft20. Mounting clip120and distal end cap110′ may then be attached to shaft20by pushing each mounting clip120and distal end cap110′ onto shaft20at the appropriate locations along a length of shaft20, such that shaft20is received by a central recess120aof mounting clip120and by a central recess110c′ formed in a body110a′ of distal end cap110′. The snap-fit configuration may be used alternatively to, or in addition to, a set screw in hole110bof distal end cap110(FIGS.2A and3A). First and second distal tips116,118may be arranged on body110a′ in a similar manner, and may be deployed in a similar manner, as described relative to distal end cap110. Mounting clip120inFIG.4Amay include a pair of first openings122and second openings124. First openings122may be diametrically opposed on either side of central lumen120(first openings122are not limited to being diametrically opposed on either side of central lumen120). Second openings124may also be diametrically opposed on either side of central lumen120(second openings124are not limited to being diametrically opposed on either side of central lumen120), and may be positioned radially inward (as shown inFIG.4A) or radially outward from first openings124. First openings122may receive sheaths140and may support sheaths140along a length of shaft20when mounting clips120are connected thereto. Second openings124may receive wires170and may similarly support wires170. First and second openings122,124may have inner diameters greater than an outer diameter of sheath140and wires170, respectively. This may allow sheaths140and wires170to move proximally and distally with respect to shaft20, as will be described herein. A cross-section of the distal end of device100is shown inFIG.5, in which distal end cap110is in a deployed configuration. Medical instruments150may extend through lumens140aof sheaths140from a proximal end of sheaths140(e.g., adjacent handle40) and protrude from openings116a,118ain first distal tip116and second distal tip118, respectively. Medical instruments150may include grasping elements at a distal end, but are not limited thereto. Medical instruments150may include any end effector including, but not limited to, a knife, a net, an ablation device, a stapler, or the like. As described herein, a second medical instrument160, such as an ablation device, may extend through working channel136afrom a proximal end of shaft20(e.g., adjacent handle40) and protrude from opening136at a distal end of shaft20. Second medical instrument160is also not limited to an ablation device, and may include any end effector, such as but not limited to grasping elements, a knife, a net, a stapler, or the like. Light emitting elements and/or imaging elements may be disposed at distal end138of light lumen138aand may provide visualization of target site T. Electricity and/or image data may travel along cable138bdisposed in light lumen134afrom the distal end of shaft20to the proximal end of shaft20. Cable138bmay be connected to a power supply and/or m be connected to a visualization device, such as a monitor or the like. A method of operating medical system10will now be described. Device100may be attached to endoscope20and handle40via proximal mounting clip130, mounting clips120, and distal end cap110. For example, proximal mounting clip130may be attached to any portion of handle40by snap-fit, an adhesive, a tether, one or more set screws, or the like. Mounting clip120and distal end cap110may be similarly attached to shaft20by snap-fit, an adhesive, a tether, one or more set screws, or the like. Shaft20may be inserted into a body via a natural orifice, an incision, or any other opening in the body and advanced to target site T. A medical professional may visualize the distal end of shaft20using one or more light emitting elements at distal end138of light lumen138aand/or a visualization device (e.g., a camera or other image sensor) at or extending through one or more openings136. Medical instruments may be introduced to one or more working channels136avia ports44,46. Medical instruments and/or visualization devices may also be introduced to lumens140aof sheath140via ports132. The medical instruments and/or visualization devices may extend from openings116a,118a,138to perform medical procedures and/or provide visualization of target site T. It will be understood that medical instruments and/or visualization devices may be introduced into respective lumens at any time during the medical procedure. After positioning the distal end of shaft20at target site T, first and second distal tips116,118may be deployed. For example, the medical professional may actuate first and second distal tips116,118by pushing distally on wires170to overcome a holding force acting on to each of first and second distal tips116,118at separation joints119so that distal end faces of first distal tip116and second distal tip118are offset from longitudinal axis A. After the holding force is overcome, first and second distal tips116,118are deployed, where each of arms112b,112cand arms114b,114cform angles of approximately 90 degrees. Deployment of first and second distal tips116,118causes first and second distal tips116,118to move distally of the distalmost end of shaft20. Medical instruments and/or visualization devices may then be extended from openings116a,118ato provide additional visualization and/or to allow the medical professional to perform cutting, grasping, stapling, or the like of target site T. Additionally, guide members112,114may allow additional angles of movement, such that the medical professional may push wires170distally and/or pull wires170proximally to change an orientation of first and second distal tips116,118relative to longitudinal axis A. After completion of the medical procedure, the medical professional may move wires170proximally until the attachment mechanism at separation joints119attaches first and second distal tips116,118in the non-deployed configuration. Subsequently, the medical professional may withdraw the medical instruments and/or the visualization devices into working channels136aand/or lumens140a. Shaft20may then be moved proximally to remove shaft20from the body. It will be understood that the medical instruments and/or the visualization devices may be introduced to working channels132aand/or lumens140aat any point during the medical procedure. Further, the medical instruments may be extended from respective openings116a,118a, and136at any time during the procedure to access target site T. While different medical systems have been described, it will be understood that the particular arrangements of elements in these medical systems are not limited. Moreover, a size and a shape of the catheter or shaft of the medical system, or the medical instruments used with the medical system, and/or the method of deploying the system, are not limited. As described in examples herein, distal tips may be extended distally of a distalmost end of the shaft, allowing for improved visualization and/or access to a target site. For example, in certain procedures, accessing the target site from multiple different directions may improve the results of the medical procedure, may decrease the time of the medical procedure, and may improve recovery times of the patient after the medical procedure. It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed device without departing from the scope of the disclosure. For example, the angle of each of the pairs of arms and/or the angle of the openings of the distal tips relative to the longitudinal axis may be modified based on a desired medical therapy. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

11857160

DETAILED DESCRIPTION It is to be understood that the present invention is not limited to the particular methodology, compounds, materials, manufacturing techniques, uses, and applications, described herein, as these may vary. It is also to be understood that the terminology used herein is used for the purpose of describing particular embodiments only, and is not intended to limit the scope of the present invention. It must be noted that as used herein and in the appended claims, the singular forms “a,” “an,” and “the” include the plural reference unless the context clearly dictates otherwise. Thus, for example, a reference to “a suture” is a reference to one or more sutures and includes equivalents thereof known to those skilled in the art. The materials that may be used in conjunction with the present invention may include conventional materials such as stainless steel, other surgical alloys of steel, various biocompatible plastics and elastomers, and other conventional materials. In general it may be valuable to avoid using materials that are likely to cause allergic reactions or inflammation, unless such a result is desired. Reference herein to the term “endoscope” refers not only to conventional endoscopes, but also to any rigid, semi-rigid, or flexible optical instrument for use in visual examinations of the interior of the human body. Such examinations may include, for example, examinations of bodily canals or vessels such as blood vessels or hollow organs such as stomachs, intestines, colons, the heart or bladders. The term “endoscope” also includes angioscopes and also echo-endoscopes, which may include an ultrasound transducer at, for example, the tip of the device. The present invention may be an embodiment that permits the automation of a tissue penetrating device by means of a pre-biasing device, which includes a member such as compressed gas compartment, a coil spring, or a torsion spring. In a specific embodiment, an integrated spring coil component, such as a compression spring component, may be used. Although a compression spring coil may be one component that may be used to forward-bias a portion of the device, other components may be used as well. For example, other types of elastically deformed mechanical spring elements, compressed air, chemical combustion, or magnetic repulsion (or attraction) may also be used a pre-biasing device. The compression spring, or other pre-biasing device, may be loaded. On release of the component, a tissue-penetrating component may shoot forward at high velocity. The velocity that may be desirable may depend on the tissue whose penetration is desired. A high velocity operation avoids striction effect and hence is more repeatable and accurate. Thus, the device may be able to penetrate in a more predictable and precisely calculable fashion. Further, the device may penetrate more than one tissue in a single forward movement or in more than one forward movement. Thus, the device may be used to penetrate through the wall of a luminal structure into and through a wall of an adjacent luminal structure. Thereafter, the adjacent tissue may be engaged by an anchoring or connecting member. Thus, the device may be able to create an anastomotic connection between two luminal structures. In certain embodiments, a device according to the present invention may be a tissue penetrating device that is inserted though the instrumentation channel of an endoscope, echo-endoscope, or the like. The handle of the device may be attached to the inlet port of the endoscope or echo-endoscope. Examples of such endoscopes are found, for example, in U.S. Pat. Nos. 6,638,213; 6,614,595; and 6,520,908. The tissue penetrating device may be manually advanced or retracted. Additionally, the forward-biasing device (for example, a compression spring) may be loaded and released. This may enable the tissue penetrating device to shoot forward with high velocity on the release of the device, which may occur via the release (or depression) of a trigger. The tissue penetrating device may, for example, take the form of a barbed needle. The needle may be housed in a protective outer sheath. The outer sheath may serve to protect the instrumentation channel in the endoscope from the needle, as well as to protect the needle. The outer sheath may be adapted to be separate from the tissue penetrating device. Thus, the outer sheath may be moved independently of the tissue penetrating device. The outer sheath may further serve as a guide for the tissue penetrating device. Finally, the outer sheath may also serve to dilate or enlarge a tissue penetration tract. The handle of the device may be screwed and thereby securely anchored into the inlet port of the instrumentation channel of the endoscope using a Luer lock mechanism. This may be useful to prevent time handle from back-firing after the forward-biasing device is activated. In the example of a spring-loaded embodiment, the distance of forward (or as it will be referred to herein, distal) movement of the tissue penetrating device may be controlled at the handle. For example, in one embodiment, the degree to which the spring is compressed or the degree to which the spring is permitted to travel may precisely control the distal movement of the tissue penetrating device. In an embodiment in which an anchor is to be inserted, the method of insertion is not essential to the operation of the anchor, although controlled, rapid insertion may accrue the benefits described. FIG.1depicts an installation device for the anchors and other hardware of the present invention, and may be an embodiment of the present invention.FIG.2is a detailed depiction of a portion2ofFIG.1. This installation device may, for example, be attached to an endoscope or echoendoscope. An example of such an attachment may be found in U.S. Pat. No. 6,228,039, which is hereby incorporated in its entirety herein by reference. The embodiment depicted inFIGS.1and2may be assembled as follows. The activation cable assembly (including outer sheath40, pusher50, tether60, and suture20) may be threaded. The locknut330may be installed prior to threading. The locknut330may be used to assemble this embodiment together with an endoscope. Next the suture20may be pushed through an opening that may be provided in main cylinder200and outer sleeve210. Next, outer sleeve210may be attached to an endoscope via locknut330or via other appropriate attachment device. The outer sheath40may be attached onto the main cylinder200using an appropriate connection, such as a screw (not shown). Main cylinder200may be fastened to outer sleeve210by stop screw220. The stop screw220may permit setting the relative position of main cylinder200and outer sleeve210. One position that may be useful is one in which outer sheath40is consequently adjusted to an appropriate place within a patient. Sliding piston230may be tensioned and locked using pre-bias latch/release (not shown) as described in U.S. Pat. No. 6,228,039. It may be valuable to identify whether pusher50is in correct axial position along outer sheath40. If not, it may be valuable to adjust the position of pusher50accordingly. Stop screw260may be used to lock pusher50in an appropriate position once adjusted. Calibration cap250may be turned on mating threads on main cylinder200to adjust the amount of travel upon the release of the compression spring240. End cap270may be installed into the end of pusher50. The end cap270may be pushed down until the end of its axial travel has been reached. The end cap270may then be fastened in place with a locking screw280. This step of installation may be performed without clamp nut290or expansion nut300in place. Clamp nut290together with anti-rotation pin320and expansion nut300may be installed over the tether60. In this embodiment, expansion nut300may snap over clamp nut290to form a subassembly. Expansion nut300may be screwed down the threads of end cap270until the shoulders contact. It may be valuable to confirm that tether60is appropriately placed. The locking screw310may then be tightened. The device as described to this point may be used to deploy the anchor (not shown). After deploying the anchor, the expansion nut300may be rotated backwards until the proper expansion of the anchor (not shown) has been obtained. Expansion nut300may be connected to tether60. Tether60may be connected to an expander. Turning expansion nut300creates relative motion between tether60and pusher50. FIG.3depicts an embodiment of the present invention in a sectional view. This embodiment of the present invention may be inserted into tissue. This embodiment includes an expander30at a distal end of the apparatus, three anchors10, a pusher50, an outer sheath40, sutures20, and a tether60. In this example, the expander30may be forced through a surface in a distal direction. The other elements depicted, except for the outer sheath, may also at least partially penetrate the surface. Thus, for example, one of the anchors10may partially penetrate the surface. A mechanism (not shown) may be used to retract the expander30in a proximal direction. The pusher50may prevent the anchor10from retracting in the proximal direction. As the expander30retracts, it may force the anchor10to expand. This expansion may result in anchor10having a greater diameter at its distal end. Thus the anchor10may be prevented from moving back through the surface in a proximal direction. However, a tether60may provide a tensile force in the proximal direction that may keep the anchor in contact with the penetrated surface. In certain circumstances, it may be advisable to apply an anchor10that has a suture20attached. Additionally, although this method may use motion of the expander, it may also use motion of the anchor relative to the expander. FIG.4depicts an embodiment of the present invention that may be an anchor. This embodiment includes an expanded-form anchor10at a distal end and a suture20at a proximal end. As shown here, an anchor10may be expanded (shown already expanded), creating a distal region with an effective diameter larger than the hole occupied by the more proximal region. A suture20may be attached to the expanded anchor10. The suture20may, in some embodiments be more easily attached prior to expansion of the anchor10. In particular, it may be desirable to attach the suture before penetrating a surface with the anchor. FIG.5depicts another embodiment of the present invention that may be an anchor. This embodiment includes an anchor10at a distal end and a suture20at a proximal end. As shown, the anchor10may be in a pre-expansion form. Such a form may be useful, for example, in aiding in the insertion of an anchor through a surface. As shown here, a suture20may be attached to the anchor10prior to expansion. FIG.6depicts the use of an embodiment of the present invention in four steps. In the first step (at top), the apparatus as a whole is shown as having been partially inserted through a first layer of tissue80(which may, for example be the bowel wall), and into a second layer of tissue70(which may, for example, be connective tissue outside the bowel wall). In the next three steps (proceeding downward), the expander30may be gradually retracted. This gradual retraction may force anchor10in its unexpanded state to partially expand. Eventually, the legs of anchor10may be fully expanded. In this instance, the anchor10may be retracted until it engages an outer surface of the first layer of tissue80. A suture20may remain attached and extend through the first layer of tissue80. The expander30and pusher50may be eventually completely withdrawn. In this instance the tether60may remain attached to the expander30. An alternative means of expanding the anchor10may be accomplished as follows. The anchor10may be constructed with legs made from a shape metal alloy, such as a nickel-titanium alloy. The legs may be pre-biased to assume an expanded state. However, the legs of the anchors may be maintained in an unexpanded state by means of a restraining sheath. Gradual retraction of the sheath may allow the legs to expand to their pre-biased expanded state. This mechanism may thus make use of the super-elastic properties of the shape-memory alloy. Alternatively, a temperature change memory effect of an alloy may also be used, by (for example) training the alloy into an expanded state, bending the legs into an unexpanded state, and then raising the temperature of the alloy above the necessary threshold to return it to the memorized expanded state. The temperature change may be accomplished by a variety of means such as the use of a heating element. FIG.7depicts another use of an embodiment of the present invention in four steps. In the first step (at top), the apparatus as a whole is shown as having been partially inserted through a first layer of tissue80(which may be, for example, the bowel wall), and into a second layer of tissue70(which may be, for example, a structure made of muscle tissue such as the diaphragm, and may, as shown here, be adjacent to the first layer of tissue80). In the next three steps (proceeding downward), the pusher50may advance anchor110against expander30. This advancement may force anchor110in its unexpanded state to partially expand. Eventually, the anchor110may be fully expanded. As shown, the anchor110may be left completely within the second layer of tissue70. In this embodiment, the tether60and the expander30may remain partially within the second layer of tissue70. For example, the expander3may lie completely with the second layer of tissue70, and the tether60may remain attached and extend from the second layer of tissue70, through the first layer of tissue80. The pusher50may be withdrawn in a proximal direction. As previously discussed, the expansion may take place by any relative opposing motion of the expander and anchor. Additionally, an anchor may be deployed by prebiasing a leg to an expanded radius, constraining or constricting the leg to a narrower radius, and then removing the restraint. Such a technique may include the use of a superelastic leg constrained by a sheath. As the sheath is removed in, for example, a proximal direction, the leg may expand the distal radius of the anchor. FIG.8depicts an embodiment of the present invention including a sensor or treatment delivery device120. In this embodiment, the anchor110may lie within a second layer of tissue70. A tether100, may pass through a first layer of tissue80, and connect the anchor110with a sensor or treatment delivery device120. Examples of sensors120include cameras, electromagnetic sensors, manometry sensors, pH probes, and probes for lumen content sampling. Example of treatment delivery devices120include pharmaceutical delivery devices; chemotherapy delivery devices; treatment activation devices (e.g. photodynamic therapy devices); radioisotope containment or delivery devices; thermal or radiofrequency delivery devices; radioisotope containers; thermal, photochemical, and radio frequency delivery devices; and stimulating electrode devices, including pacemakers and nerve stimulators. Attachment of the sensor or treatment delivery device120to tether100may be accomplished by, for example, a nail, screw, bolt, clip, knot, loop, friction mount, or adhesive mechanism. A tether may be a suture, but it may also be a more rigid material, and may be an inflexible material. Examples of materials that may serve as a tether include a wire. FIG.9depicts an embodiment of the present invention including two anchors110connected by two tethers100. In this example, the anchors and tethers may be inserted as previously described. However, the tethers100may further be connected by a lock ring140. Drawing the tethers together may allow the margins of the first layer of tissue80and the second layer of tissue70to approximate and close a tear or gap in tissue continuity130. FIG.10depicts an anchor10with a shoulder150. In this embodiment of the present invention, an anchor10(shown expanded) may be provided with a shoulder150. This shoulder150may be adapted to prevent over penetration by providing significant resistance to further penetration.FIG.11depicts an anchor10with a shoulder150passing through a first layer of tissue80and a second layer of tissue70. In this example, the anchor10may be provided with a hollow center. Thus, when in place, as shown, the anchor10may serve as a stent. The stent may, for example, be self expanding or mechanically expandable. A balloon may be used to expand the stent, and this may permit the stent to acquire an increased diameter as shown inFIG.26. Tabs may be provided directed radially inwardly to convert some of the force of an expander moving in an axial direction into a radially expansive force on the stent. FIG.12depicts an anchor160with a separate shoulder170. In this embodiment, the anchor160and the shoulder170are in two pieces. These pieces may be adapted to engage one another. This may be accomplished, for example, by providing the pieces with corresponding threads, by arranging for a light frictional fit, or by tensioning tethers180while advancing rod190. One advantage of this design may be the ease of removal. In particular, the shoulder170may be restrained from moving in a proximal direction, and tension may be applied in a proximal direction to the anchor160. This may force the anchor160through the shoulder170in a proximal direction, collapsing the anchor160in the process. FIG.13depicts an anchor160with a separate shoulder170as installed. This anchor160is otherwise the same asFIG.10. It is an object of the invention to provide a device that efficiently and effectively penetrates tissue in a precisely targeted manner for a diagnostic or therapeutic endoscopy or endosonography-guided transluminal procedures. The present invention may be a puncturing or penetrating member that includes or is provided with a tissue anchoring or engaging member. The puncturing member may be integral with the tissue anchoring member. For example, a barbed needle would integrate both a tissue penetrating and tissue anchoring member. In another embodiment the members may be separate. For example, an anchor may be provided that may be fitted around a tissue penetrating member. The tissue penetrating member may also be adapted to be withdrawn in such a manner that it expands the distal radius of the anchor member. The anchoring member may involve such devices as crossbars, flanges, hooks, barbs, adhesive, or clips. The anchoring member may also be a gas or liquid inflatable element, such as a balloon. The puncturing member may be detachable by means of an elongate link such as a thread, wire, strand, or cord. Referring toFIG.14, such an embodiment of the present invention may include a tissue penetrating device, an outer sleeve210, and a handle1410. The handle1410may include a main cylinder200that houses a sliding piston230, and a compression spring240. The upper (proximal) end of the outer piston may have a shoulder above which the compression spring240may be loaded. In a particular embodiment, when the outer piston, is maximally advanced in the main cylinder200, the compression spring240may be relaxed (as opposed to tightly compressed) and handgrip may be in contact with the calibrating sleeve. The outer piston may be retracted by pulling back on the handgrip, thereby loading the compression spring240by compressing it. The main cylinder may be provided with a trigger that has a spring. Retraction of the outer piston may engage this spring in the groove, thereby locking the outer piston in the locked position. Pressing a button may release this lock, allowing the compression spring to uncoil (relax) and advance the outer piston distally at high velocity. The handgrip may be provided with a screw that secures the position of the inner piston230that contains the tissue penetrating device. The calibrating sleeve may be adjusted proximally to shorten the distance that the outer piston will progress after the spring is released. Thus, the distance of the tissue penetrating device may be precisely calibrated. An outer sleeve210may be connected and secured to the main cylinder200with a screw. The outer sleeve210may be screwed into the instrumentation channel inlet port of the endoscope or echo-endoscope by screw attachment. The outer sheath40may screw into the main cylinder. By loosening the screws, the position of the outer sleeve210may be adjusted relative to the main cylinder200. Such an adjustment may adjust the exposed length of the outer sheath40. FIG.15depicts an embodiment of the invention similar to that shown inFIG.8. In this embodiment, the expander has been removed from the anchor110. The suture105may be attached to the anchor110in a non-coaxial position. The suture may have a loop or other member at the proximal end which may be used to attach a sensor or treatment delivery device. It may be advantageous to remove the expander from the anchor110because the expander may be used to expand anchors at other locations. Attachable devices may include, for example, treatment activation devices (e.g. photodynamic therapy devices), radioisotope containment devices, radioisotope delivery devices, thermal delivery devices, or radio frequency delivery devices. Although the invention is described in terms of an expander, the expander may also be used for non-expansion purposes (such as to aid in penetrating tissue) and may (in some instance) not be used for any expansion purpose. For example, if a leg (or a plurality of legs) of shape memory alloy is used, the deployment mechanism may be the withdrawal or rupture of an encompassing sheath. FIG.16depicts an embodiment of the invention similar to that shown inFIG.9. In this embodiment, the expanders have been removed from the anchors110. The suture106may be attached to the anchor110in a non-coaxial position. It may be advantageous to remove the expander from the anchor110because the expander may be used to expand anchors at other locations. Sutures106may be connected by a lock ring140. FIGS.17A and17Bdepict an anchor1030with a collapsible shoulder1040. Anchor assembly1010shows the distal legs of an anchor deployed with a collapsible shoulder mechanism at the proximal end of the anchor in its pre-deployed position. Shoulder tabs1040pivot on the anchor1030and may be connected to the anchor1030with elastic tension members1050such as silicone rubber bands. An encompassing sheath (not shown) may prevent the shoulder tabs1040from deploying until it the encompassing sheath1065retracted. Once the sheath1065is retracted, the shoulder tabs1040on anchor assembly1020may be forced by the elastic tension members1050to deploy and form a shoulder that may prevent the distal motion of the anchor1030. The distal legs more than one leg is used) may be implemented by a superelastic alloy. In such a configuration, the distal legs may be trained to produce an expanded distal radius, and may be constrained by the encompassing sheath1065to a narrower radius. Such an arrangement may require fewer discrete components. FIG.18depicts the use of the collapsible shoulder mechanism in two steps. In the first step (at top), the anchor1030is shown penetrating a first layer of tissue1070and a second layer of tissue1080with its legs already deployed. An encompassing sheath1065is shown in position restraining the opening of shoulder tabs1040against the applied force from the elastic tension member1050. The next step depicts the retraction of the expander1055and its associated tether1060and the encompassing sheath1065. These components may be retracted simultaneously or sequentially. The encompassing sheath1065may be removed first so that the expander1055and tether1060may stabilize the anchor1030prior to deployment of the collapsible shoulder. The encompassing sheath1065may be removed and the shoulder tabs1040may be forced into place against the second layer of tissue1080by the force supplied by elastic tension members1050. As described elsewhere, the encompassing sheath1065may also deploy legs by releasing a constraint on the legs. Additionally, the encompassing sheath1065may be releasably attached to a distal portion of the legs. The distal portion of the leg may be slightly spooned inward, so that its distal portion extends slightly radially outwardly. As the sheath is retracted, the ends of the legs may be pulled in a proximal direction. This may cause the legs to form an approximately U-shaped configuration which may have the effect of expanding a distal radius of the device. At a suitable time, the encompassing sheath may release the legs after they have formed such a shape. For such a deployment, as with deployment by an expander, it may be advantageous to use a leg formed of a malleable material. FIG.19depicts the use of an expandable stent in combination with an anchor. The figure shows a series of four steps of installing an anchor with an expandable stent. In the first step (at top), the combination anchor with expandable stent1110may be inserted through two layers of tissue1170and1180. An expander1130may be located coaxially within the anchor1110. The expander1130may be retracted proximally by, for example, a tether (not shown). A pusher1150may be slipped over the expander1130and positioned coaxially with the expander1130. The pusher1150may be used to counteract axial loads or threes applied by the expander1130to the anchor1110in a proximal direction. In the second step, the expander1130may cause the distal legs of the anchor to deploy. Simultaneously, the pusher1150may cause the proximal legs of the anchor to expand. The expander1130and pusher1150may then make contact with tabs in the anchor. This contact may prevent their further axial motion. Application of increased tensile force on the tether (not shown) connected to the expander1130and increased compression three on the pusher1150may load the anchor1110in compression. The compression loading of the anchor1110may yield the material and cause plastic deformation. The anchor body may be formed of an open mesh-like structure that expands in diameter as it yields and is forced into a shorter axial configuration. The third step in the figure illustrates an intermediate point of expansion of the diameter. Finally, the fourth step depicts the anchor fully expanded and the expander1130and pusher1150retracted from the anchor1110. It would also be possible to expand the stent portion of the anchor with an inflatable balloon. The expandable stent depicted inFIG.19could also be configured with a collapsible shoulder mechanism as illustrated inFIGS.17and18. Such a stent may be made of a malleable material. Similarly, a stent may be made of a superelastic alloy. Such a stent may be constrained to a first diameter by an encompassing sheath (not shown) and may resume a larger diameter after the sheath is removed. FIGS.22A-Hdepicts detailed views of an expandable stent2200in combination with an anchor. Referring toFIGS.22A and22E(FIG.22Eis the sectional view A-A ofFIG.22A), the anchor may be delivered to the site with the legs160straight and the stent2200may initially be in an unexpanded state. Referring toFIGS.22B and22F(FIG.22Fis the sectional view B-B ofFIG.22B), the legs160may be deployed by means of the action of an expander device (not shown) moving coaxially through the anchor (from distal end towards proximal end). Referring toFIGS.22C and22G(FIG.22Gis the sectional view C-C ofFIG.22C), the stent2200diameter may be expanded. The expander that deployed the legs may also be used to expand the stent as well. Tabs2210may be formed on the stent2200. Such tabs2210may be bent radially inward. Such a bend may catch the expander as it is pulled toward the proximal end of the anchor. Continued pulling on the expander may cause the stent2200to plastically deform. The mesh-like walls of the stent2200may cause the stent diameter to increase as the stent length is reduced by the compressive force applied through the expander. A pusher device, not shown, may counteract the force applied by the expander and may thereby keep the anchor stationary. The stent2200may approximately double in diameter (compareFIGS.22A and22D). In another configuration the diameter may increase more than double. The reduction in length with increased diameter is also illustrated inFIGS.22D and22H(FIG.22His the sectional view D-D ofFIG.22D). Also compareFIGS.22E and22H. The coaxial expander may be used (if desired) to perform a part of the expansion (or none at all). Other ways to effectuate the expansion of the stent2200include using a shape-memory alloy such as Nitinol that may be pre-biased to the expanded state. The unexpanded stent2200may be constrained in a sheath that may be retracted once in the stent is in the proper position. Another way to expand the stent2200is to deform the stent2200into a larger diameter using an inflatable balloon. FIG.20depicts an anchor1260with a separate expandable shoulder1270. In this embodiment, the anchor1260and the shoulder1270are two separate pieces. The pieces may be adapted to engage each other. This may be accomplished as described above for the configuration shown inFIG.12. Tethers1280and1290may be provided for applying tension to the anchor1260and compression to the expandable shoulder1270. The expandable shoulder1270may have its legs deployed in the same fashion as described earlier for deploying the legs of an anchor. An expander (not shown) may be forced between the legs of the expandable shoulder1270in a distal direction, and this forced movement may expand the legs.FIG.21depicts the embodiment of the invention shown inFIG.20installed between the stomach1380and section of bowel1370to create an anastomosis. Automatic operation of the penetrating device and pre-biasing the penetrating device may occur via use of, for example, a mechanical spring. Other pre-biasing devices may include, for example, compressed air or chemical explosion. In the example of a spring biasing device, as soon as the spring is released, the penetrating device may thrusts forward into a layer of tissue. By virtue of the greater inertia of the mass of the endoscope (if one is used in conjunction with the present invention), the penetrating device may experience all (or almost all) of the relative motion and may pass through even hardened tissue. The high velocity of the penetrating device may lessen the bending of the penetrating device and may help to overcome the striction effects. More specifically, according to the device of the present invention, the penetrating device pre-biased may rush forward after a release (or launch) device provided with the pre-biasing device is operated. Further, the use of the penetrating device of the invention may result in avoiding the potentially undesirable (in certain circumstances) repeated reciprocating motion that may be required by conventional techniques and devices. In this case, the penetrating device that may be located in the passage formed in the endoscope may be surrounded by a protecting sleeve. The sleeve may be made of an impenetrable material that may be moved independently of the penetrating device. The movable sleeve may protect and may reinforce the penetrating device and may position the penetrating device appropriately, even after the penetrating device has moved out of the passage provided in the endoscope. In order to reliably move the penetrating device forward and to prevent the pre-biasing device from projecting, the housing of the pre-biasing device may be set into screw engagement with the opening of the passage provided in the endoscope. Adjusting means (such as, for example, screws or slides) may precisely adjust the position of the penetrating device and the forward movement of the pre-biasing device. Referring toFIG.14, the penetrating device may include an operating and pre-biasing device. The device may have a main cylinder200in which a sliding piston230may be provided. The sliding piston230may have a projection1420on its top end. To the projection1420there may be attached a spring240for pre-biasing the penetrating device. A release device1430having a spring1440may be provided on the main cylinder200. The spring1440may be set into a groove1450made in the slide piston, when the penetrating device or the slide piston230is biased. At the end of the slide piston230, which may be distant from the penetrating device, a grip300may be provided to move the piston230, thereby performing automatic penetration. On the grip300a stop pin280may be provided, by which the penetrating device may be secured. As long as the spring240is released, the grip300may remain in contact with a calibration cap250. The position of the calibration cap250may be changed to adjust the end position of the piston230and hence the penetration depth of the penetrating device. An outer sleeve210may be provided on the end of the main cylinder200, which may be near the penetrating device. This end of the cylinder200may hold the pre-biasing and control device in the penetrating device passage provided in the endoscope. The main cylinder200may be fastened to the outer sleeve210by means of a stop pin or screw220. The outer sleeve210may be fixed in the open end (inlet port) of the penetrating device passage of the echo-endoscope by means of a screw attachment1460. Standard endoscopes and “interventional” echo-endoscopes can be used. Using an interventional echo-endoscope, the angle of departure of the penetrating device may be adjusted at the echo-endoscope. The transducer at the end of the echo-endoscope may be surrounded by a latex balloon. The latex balloon can be filled with water during the use of the echo-endoscope. The water can serve as a medium between the detection probe and, for example, the intestinal wall. The penetrating device may extend through an outer sheath that may be made, for example, of a flexible metal weave or impenetrable plastic. The penetrating device may be inserted into the endoscope by the operating- and pre-biasing device until it projects, along with the sleeve, from the lower end of the endoscope. In certain cases, it may be desired that the penetrating device tip be beveled and that the distal end of the penetrating device be sand-blasted, pitted, or otherwise altered to improve the resolution of ultrasonic imaging. A dull stylet may be located in a hollow penetrating device (in some situations in which a hollow penetrating device is desired) and may be flush with or may project by approximately 2 mm from the open end of the penetrating device. The proximal end of the penetrating device, which may be ready for insertion into the operating and pre-biasing device, may be set in screw engagement with the proximal end part of the operating and pre-biasing device. In the device according to the invention, the penetrating device can be manually moved back and forth by loosening the stop pin provided on the grip. The position of the penetrating device can therefore be manually adjusted. Referring toFIG.14, the slide piston230may be drawn back greatly. If so, the groove1450may move toward the spring1440, compressing the coil spring240. When the spring1440comes into engagement with the groove1450, the penetrating device may be pre-biased and can be quickly moved forward by the release device1430. The calibrating sleeve250may adjust the depth of penetration of the penetrating device. A coarse adjustment may be possible in accordance with the depth of insertion of the main cylinder200. At this stage in the use of the device, the main cylinder200may be fixed in place by stop pin or screw220. A quick and accurate adjustment of the penetrating device may be performed by manipulation of the outer sleeve210provided at the end of the main cylinder200. Once the stop pin or screw220is loosened, while the stop pin280at the grip remains tightened, the protective sheath attached to the main cylinder200and the penetrating device secured to the slide piston may be inserted together into the outer sleeve210until they become visible by the endoscope. Thereafter, the stop pin or screw220may be tightened, whereby the calibrating sleeve250may adjust the depth of penetration with precision. The stylet (if one is used, a stylet is not required for the present invention) may be drawn a little from the hollow penetrating device, releasing the sharp end of the hollow penetrating device. The sharp end of the penetrating device first penetrates a first layer of tissue, such as the intestinal wall, and then comes close to a second layer of tissue that is to be punctured. As soon as the penetrating device reaches the tissue to be punctured, the stylet may be removed and may be replaced by any device or substance that may be set into contact with the other end of the hollow penetrating device. The stop pin280provided on the grip300may be loosened to insert the penetrating device into the tissue to be punctured. To accomplish manual puncture, the stop pin280may be loosened and the penetrating device may be moved back and forth with respect to the main cylinder200. When the manual puncture is difficult to achieve or when the tissue is hard to penetrate, the release device1430may release the elastic spring240. Thus, the penetrating device may project forward into the hardened tissue. Regarding one goal of this invention, the automation of the installation of anchors, one skilled in the art should recognize that it is possible to further automate the installation of anchors. As shown inFIG.3, for example, it is possible to have multiple anchors staged near the distal end of the apparatus. The installation device may, thus, be readily modified to provide a cocking action that compresses the spring, retracts the pusher member through the next anchor and advances a next anchor and pusher member toward the expander. As shown inFIG.23, the device according to an alternate embodiment of the invention may be used to approximate two luminal structures a conduit in between. The device depicts the use of a central member4108that has a distal anchor4110, or sometimes referred to as a distal retention member, coupled at the distal end of the central member. The central member4108also may have a proximal anchor4112, or sometimes referred to as a proximal retention member, coupled at the proximal end of the central member. The figure shows a series of four steps of installing these anchors with a central member. The central member4108may be an expandable member that is capable of shortening in length as it expands in diameter. Examples of such expandable members may be deformable stents, self-expanding stents, expandable meshes, or Nitinol shape memory material that expands in response to a heat source either body temperature or through applied resistance heat. The central member4108may be a conduit that is adapted to transfer fluid from one end of the central member to the other. In the first step (at top), the expandable central member4108with coupled anchor4110may be inserted through two layers of tissue4170and4180that are part of first and second luminal structures. These luminal structures may be separated by a space S. One example of these types of luminal structures may be the stomach and the gall bladder which may be positioned next two one another or be separated by a distance inside the abdominal cavity. An expander4130may be located coaxially within the central member4108and the anchors4110and4112. The expander4130may be retracted proximally by, for example, a tether (not shown). A pusher4150may be slipped over the expander4130and positioned coaxially with the expander4130. The pusher4150may be used to counteract axial loads or forces applied by the expander4130to the anchor4110in a proximal direction. In the second step, the expander4130may cause the legs of the distal anchor to deploy. When the expander4130is retracted proximally, the substantially straight legs of the distal anchor curl radially outwardly causing an increase in the diameter of the anchor. The legs may partially curl or may fully curl. When the legs are fully curled, a substantially round ring like shape is formed as shown in steps 2 and 3. This fully curled condition may be useful to present an anchor interface with the tissue that reduces trauma to the tissue. In the case of partial curling, the legs may be used to actually penetrate the tissue layers4170and4180. This partially curled position may be useful to secure the anchor to the tissue layer. Simultaneously, the pusher4150may cause the legs of the proximal anchor to expand. When the pusher4150is advanced distally, the substantially straight legs of the proximal anchor curl radially outwardly causing an increase in the diameter of the anchor. The legs may partially curl or may fully curl. The expander4130and pusher4150may then be used to apply a further axial compression force through the tabs in the anchor. In one embodiment of the invention this axially applied compression force may be used to draw the two luminal structures closer together thereby reducing the space S between the luminal structures by shortening the effective longitudinal length of the central member. This is illustrated in the second and third steps. This approximation of luminal structures may be useful to reduce the distance between structures to facilitate fluid exchange between the two or to improve the accessibility of these structures by positioning therapeutic instruments into one from the other. In step four, the walls of the structures are shown side by side each other but this amount of approximation may not be necessarily required. Continued application of increased tensile force on the tether (not shown) connected to the expander4130and increased compression force on the pusher4150may load the central member4108in compression which may also cause further deformation of the central member resulting in an enlargement of the central member diameter. This increase in diameter may be useful to increase fluid exchange between the two luminal structures or to allow larger sized instruments such as scopes into the second luminal structure. Although the process of decreasing the central member length to approximate the luminal structures and increasing the diameter to increase fluid flow and accessibility may occur separately, these processes may also occur sequentially or even simultaneously depending on the design of the central member. The central member may have a thin covering or membrane4160disposed about it that is designed to seal the central member to provide a fluid conduit that inhibits fluid leaks between the fluids of the luminal structures and the fluids of the abdominal cavity or other anatomical spaces. This is depicted inFIG.24. It is preferred that when the central member and the anchors are fully deployed that a stable fluid conduit is established so that fluids may pass from one luminal structure to another without significant loss of fluid. The covering4160may be an elastic covering that can expand or contract as the central member expands and contracts. If the central member is an expandable stent, the covering should be designed to seal the gaps between the braids of the stent thereby sealing the outside of the stent and making the stent internal diameter capable of conduction fluids. Although in Figures As shown inFIG.25, the expandable central member4108may be a self expanding stent or mesh that is constrained in a small diameter configuration and then self expands as a restraining member is removed. The self expanding member is shown restrained by an encompassing sheath4170. As the encompassing sheath4170is withdrawn the expandable central member4108enlarges to an expanded condition with a diameter that is larger than the restrained configuration. Such expansion may be accompanied with a concomitant shortening of the member length along the longitudinal axis. As shown inFIG.26, the expandable central member4108may be an expanding stent or mesh that must be expanded by the use of a dilating balloon4172. The dilating balloon4172may be positioned inside the stent and with the balloon in a deflated condition. Once inside the stent or mesh the balloon4172may be inflated to expand the diameter of the member as shown in the third and fourth steps. Once the member is sufficiently expanded, the balloon may be deflated and withdrawn leaving behind a central expanding member with an expanded inside diameter. Alternately the expandable central member4108may be an expanding stent or mesh that is constructed from a metal alloy material such as Nitinol that expands from a first diameter to an expanded diameter by the exposure to body heat or by applying a current to the mesh or stent such that raises the temperature of the metal alloy so that a programmed shape may form. An alternative embodiment of the invention is illustrated inFIG.27. This device is similar to that previously described inFIG.20. This device illustrates two separate anchors1260and1270which are both coupled to central members1271and1272respectively. The central members1271and1272are coaxially aligned such that central member1271is slidably positioned inside central member1272. This device is designed to allow for variable functional distances between anchors1260and1270. After the anchors1260and1270are positioned in or about the first and second luminal structures respectively and the anchors are expanded as shown inFIG.27, the two luminal structures may be approximated by drawing the two anchors1260and1270close to each other. As the anchors and thereby the luminal structures are approximated, the central member1271slides inside central member1272and the distance between the anchors1260and1270decreases. The central members may be provided with a ratcheting mechanism (not shown) that permits selective anchor to anchor separation distances. In this embodiment the approximation of the luminal structures may controlled by the operator. This may be preferable because the amount of approximation possible for one situation with one set of luminal structures may be different from another situation. This embodiment may allow the operator to decide the optimal luminal structure spacing in situ and reduce the amount of further interventions required. Once the optimal spacing is determined, the two central members may lock in position together by utilizing various locking apparatus well know to those skilled in the art. Such locking mechanisms may include bayonet locks, compression locks such as by twisting one central member relative to the other, tab and slot or other mechanisms. If a device such as this is removed, the two central members may be unlocked from each other and the smaller central member1271removed from the first luminal structure. The second central member1272may be subsequently removed by collapsing the anchor1270and removing the device from the second and the first luminal structures. As described above, it may be necessary to remove a device that has been positioned across two luminal structures. In one method a grasper may be introduced to the proximal end of the central member or to the proximal anchor coupled there. The grasper may grasp the proximal anchor and pull proximally. This axial force may pull the central member proximally and the distal anchor coupled to it. Sustained axial displacement of the grasper may cause the distal anchor to uncurl as the central member is withdrawn. The grasper may finally remove the device from the tissue layers. Another embodiment of the present invention is illustrated inFIG.28that is designed to permit removal of a device once deployed. As shown in the first illustration ofFIG.28, the device is deployed from a first luminal structure across wall4180and across wall4170and into a second luminal structure. This deployment is similar to that previously described inFIG.23. The device has been deployed such that the two walls4170and4180have been approximated, anchors4110and4111have been expanded and are deployed at or into the walls as shown and the central member4108is in an expanded condition. The expanded device may be removed by the introduction of a removal device having a distal probe4115which has a foldable barb4113positioned on at least one side of the probe sidewall near the distal tip of the probe. The foldable barb is collapsed flush with the outside wall of the probe for introduction and can be made to unfold to at least a 30.degree. angle. A proximal probe4118is concentrically positioned about the distal probe4115and has at least two hooks4116coupled to the distal end of the proximal probe4118. These hooks are configured to attach to the proximal end of the device near the proximal anchor4111. As shown in the second step ofFIG.28, the removal device is positioned inside the expanded central member and the proximal probe is attached to the proximal end of the central member near the proximal anchor4111. In the case where the central member is a stent, the hooks4116of the proximal probe may for example ensnare the braids of the stent. The distal probe is brought near the distal opening of the expanded central member and the foldable barbs are deployed such that they impinge on the inside walls of the central member. If the central member is an expanded stent, the barbs are designed to wedge against the sidewall of the stent. In this configuration the removal device is ready to begin removal of the expanded central member4108. The distal probe4115is advanced distally as shown by the arrow in the second step illustration. Simultaneously the proximal probe4118is withdrawn proximally in the direction of the arrow shown in the second step illustration. This action applies a tensile force on the expanded central member and deforms and stretches the expanded central member so that the length of the central member increases and the diameter subsequently decreases. This may move the central member away from the walls of the luminal structures as the central member lengthens and the diameter decreases. It is understood that minimal stretching of the central member may be required to facilitate its removal and the walls4170and4180may collapse around the central member as it is stretched. The central member should be stretched sufficiently so that the anchors4110and4111may be extricated from their respective walls4170and4160. Once the anchors are separated from the walls, which may be visible using direct endoscopic visualization or using ultrasound or other diagnostic methods, the proximal anchor4111is removed or detached from the proximal end of the central member4108. A collapsing sleeve4120is then slid over the distal probe4115and advanced over the probe4115until the distal anchor4110contacts the collapsing sleeve4120. The position of the distal probe4115may be maintained as the collapsing sleeve is advanced distally by applying a tensile force to a tether4122attached to the proximal end of the distal probe. As the collapsing sleeve is further advanced the legs of the distal anchor4110are straightened and contained within the collapsing sleeve4120. Finally the collapsing sleeve4120, distal anchor4110and the central member4108may be removed together. Alternatively the device may be constructed with materials that are known to be bioabsorbable such that after a certain period of time, the device including the anchors and the central member may be reabsorbed by the body. This type of device may have several distinct advantages. This type of device does not require subsequent interventions to remove it after a period of time. This is less invasive and potentially safer and more comfortable foe the patient. Secondly as the device begins to break down slowly, it is probable that the first and second luminal structures will repair the opening in their walls naturally as the device degrades so that a plug or patch is not required. The walls of the first and second luminal structures may collapse as the collapsing sleeve4120is withdrawn to occlude the opening created by the central member. However in another embodiment, a plug4124may be deposited in any remaining opening to artificially occlude the opening. This may be important to limit the amount of fluids that escape out of the luminal structures. This plug4124may also be a patch or a stopper. Alternatively the opening may also be closed through the use of other well known closure devices such as staples, sutures, or adhesives. As shown inFIG.29, the device may have a valve member4116that is attached to the proximal end of the central member4108. The valve is a sock like member that is designed to restrict fluid flow to one direction. Preferably the valve member4116prevents fluid flow from the first luminal structure A to the second luminal structure B. The valve member may act similarly to a wind sock or a one way flap valve in that the valve functions because the diameter of the proximal end of the valve, the neck4114, is collapsed as compared to the diameter where the valve attaches to the central member to a small closed neck. The proximal tip4118has an opening so that instruments can be passed through the valve4116and into the second luminal structure B. The valve is capable of opening to accommodate passing instruments through it but quickly closes once these instruments are removed to restrict fluid flow to a single direction. The preferred direction of fluid flow is from the second to the first luminal structure although this could be reversed if necessary without affecting the function of the device. This invention has been described and specific examples of the invention have been portrayed. The use of those specifics is not intended to limit the invention in anyway. Additionally, to the extent that there are variations of the invention, which are within the spirit of the disclosure or equivalent to the inventions found in the claims, it is my intent that this patent will cover those variations as well.

11857161

DETAILED DESCRIPTION Operational portions of endoscopes (e.g., handle portions of endoscopes) may include a variety of components that are used by an operator when performing a procedure with the endoscope. For example, an operational portion of an endoscope may include steering components used to deflect a distal portion of an insertion portion of the endoscope. The operational portion may also include electronics for operating, for example, a camera or lighting in a distal portion of an endoscope, or for transferring image data. The operational portion may also include fluidic components, such as valves and tubing for air, water, suction, and/or instruments. Furthermore, the operational portion may include mechanisms for raising or lowering an elevator at a distal end of an endoscope. Any or all of these components fit within an operation portion, such as a handle, in a manner suitable to perform the functions and provide the necessary connections therebetween and to external components. Certain of these components should be kept separate from one another so as to avoid interference with the components, fluid leakage, etc. This disclosure describes, for example, a handle of an endoscope that contains built-in features and structures for supporting, segregating, aligning, or otherwise positioning components, such as those described above, that may reside in the handle. Such a handle may minimize manufacturing costs by reducing a number and cost of parts and/or by reducing the number of steps, time, and difficulty involved in manufacturing. FIGS.1and2depict an exemplary device10. Device10may have an operation portion12, which may have a first side14(seeFIG.1) and a second side16opposite first side14(seeFIG.2). Device10may be an endoscope, duodenoscope, bronchoscope, ureteroscope, colonoscope, or other type of medical device. Device10may also include an insertion portion20, which may be inserted into a body lumen of a subject during a medical procedure. Insertion portion20may be joined to operation portion12. A stress relief portion22may bridge operation portion12and insertion portion20. An umbilicus24may extend from operation portion12, and a stress relief portion26may bridge operation portion12and umbilicus24. Umbilicus24may be used to connect device10to components, such as a controller (for providing, e.g., optical controls including camera, video, light, or other optical controls), an air and/or water supply, and/or a suction supply. Operation portion12may include a number of components used by an operator to control device10before, during, or after a procedure involving device10. For example, operation portion12may include steering components30. Steering components30may be used to control deflection of a distal portion (not shown) of insertion portion20. Steering components30may be a part of a steering assembly. For example, steering components30may include two knobs,32,34, used for deflecting a distal portion of insertion portion20. For example, one of knobs32,34may be used to deflect a distal portion of insertion portion20in a left/right direction, and the other of knobs32,34may be used to deflect a distal portion of insertion portion20in an up/down direction. For example, knob32may be operable to deflect a distal portion of insertion portion20in a left/right direction, and knob34may be operable to deflect a distal portion of insertion portion20in an up/down direction. Steering components30may also include locking mechanisms36,38, which may be used so as to limit a distal portion of insertion portion20from moving in a left/right and/or up/down direction or otherwise lock the position of the distal portion. For example, locking mechanism36may be a knob that is operable to prevent knob32from deflecting a distal portion of insertion portion20in a left/right direction. Locking mechanism38may be a lever that is operable to prevent knob34from deflecting a distal portion of insertion portion20in an up/down direction. Operation portion12may also include a number of ports and/or valves. For example, operation portion may include a working channel port40that may be used for passing instruments or other devices down a working channel of insertion portion20. Working channel port40may be housed in a port housing42. Port40may include a valve to prevent leakage. Operation portion12may also include fluidic components, such as valves52,54for providing air, water, and/or suction. Valves52,54may connect to tubing in umbilicus24, operation portion12, and/or insertion portion20, such that pressing on valves52,54permits the corresponding function. For example, valve52may be used to provide air and/or water. Valve54may be used to provide suction and may connect to a working channel extending from working channel port40. Operation portion12may also include other components such as elevator lever60, which may be used to move an elevator (not shown) at a distal end of insertion portion20up and/or down. For example, elevator lever60may be used where device10is a duodenoscope. As shown inFIGS.3and4, operation portion12may include a main body portion100. Main body portion100may have a first side104(FIG.3) and a second side106opposite first side104(FIG.4). In some embodiments, the main body portion100may be one-piece. First side104of main body portion100may correspond to first side of14of operation portion12. Second side106of main body portion100may correspond to second side16of operation portion12.FIGS.3and5-7depict aspects of first side14of operation portion12and/or first side104of main body portion100.FIGS.2,4,8, and9depict second side16of operation portion12and/or second side106of main body portion100. Main body portion100may be formed from rigid material, such as plastic or metal, or any other suitable material. Main body portion100may be formed of one integral structure and may be, for example, molded. First side104of operation main body portion100may include features or structures for supporting, segregating, and/or positioning certain components installed in operation portion10. For example, components which interact with steering components30and/or elevator lever60may be positioned alongside first side104of operation main body portion100, within recessed portions of first side104of operation main body portion100, or otherwise interacting with first side104of operation main body portion100. FIG.5shows first side14of operation portion10and its corresponding components, with a first side cover portion114(seeFIG.7) removed. Stress relief portion22is shifted distally inFIG.5to better show the structure of body portion100. Removal of first side cover portion114exposes some of the components that may be installed in operation portion10. The portion of body portion100and housing that may be covered by cover portion114may form a first chamber116for receiving components.FIG.5does not show all components that may be installed in operation portion10and/or chamber116and should not be construed as limiting the components that could be installed or would be installed. First side104of operation main body portion100is also visible underlying the components. An outer surface of a first side14of operation portion12may be formed partially by cover portion114and partially by a wall118of first side104of main body portion. Referring primarily toFIGS.3and5, main body portion100may include a variety of features for supporting, positioning, or otherwise interacting with components of operation portion10. For example, main body portion100may include support structures or features for receiving a steering block120. Steering block120may be a component of a steering assembly, along with steering components30. For example, main body portion100may include one or more walls122that align with and/or interact with portions of steering block120. For example, walls122may align with outer edges of steering block120or may interact with indentations or grooves of steering block120to fix steering block120in place. Main body portion100may also include one or more features such a holes or cavities124, which may be used for securing steering block120. For example, cavities124may be configured to receive a screw or other securing mechanism to secure steering block120to main body portion100. Cavities124may be, for example, threaded to receive a screw or may have a complementary, mating shape to a fixing mechanism. For example, as shown inFIG.3, cavities124have a hexagonal shape. A fixing mechanism for fixing steering block120to main body portion100may have a corresponding hexagonal shape to fit within cavities124with a mating shape. Alternatively, any other mechanisms could be used for fixing steering block120to main body portion100. As another alternative, steering block120could be formed integrally with main body portion100. The design of main body portion100may allow for mounting of steering mechanisms (including steering block120or steering components30) directly to main body portion100, rather than to additional internal support component(s). Steering block120may have features to provide support for steering wires130, which may interact with steering components30to deflect a distal end of insertion portion20. Steering block120may also house or otherwise connect to components such as an arm132and a pull wire134for raising and/or lowering an elevator at a distal end of insertion portion20. Alternatively, steering block120may be omitted, and portions of main body portion100may provide support, structure, stability, etc. for components such as steering wires130, arm132, and/or pull wire134. Alternatively, any other suitable steering mechanisms may be used and may interact with features of main body portion100in order to position the steering mechanisms. Main body portion100may also include a feature such as a distal neck portion140that is smaller in cross-section than a more proximal portion of main body portion100. Neck portion140may include a raised ridge142. A sleeve144formed of either flexible or rigid (e.g., plastic) material may include an annular groove146that mates with ridge142. Components of operation portion10that will pass distally through insertion portion20may first pass through sleeve144. An interaction between groove146and ridge142may help keep sleeve144in place. Stress relief portion22may fit over neck portion140. Neck portion140may include a ridge150and/or a shoulder152to assist in keeping stress relief portion22in place on neck portion140. For example, a proximal portion of stress relief portion22may fit between ridge150and shoulder152, which will resist distal or proximal movement of stress relief portion22. Now referring primarily toFIGS.3and6, main body portion100may include a feature such as recessed portion160. Recessed portion160may have walls162surrounding some but not all of recessed portion160. Recessed portion160may be open on a distal end of recessed portion160. Recessed portion may also be open along a side that is most radially outward from a longitudinal axis of main body portion100. A longitudinal axis of the device is an axis extending along an operation portion and an insertion portion, and a longitudinal direction is a direction along the longitudinal axis. Alternatively, recessed portion160may have walls162surrounding entirety of recessed portion160or other subsets of recessed portion160. Recessed portion160may have a rounded proximalmost side or end. The rounded side of recessed portion160may have a same or similar radius of curvature as an axle used in steering components30such that recessed portion160serves to support or constrain one or more steering components30. For example, recessed portion160may include a semicircular proximalmost side. Other sides of recessed portion160may have straight-sided walls162. For example, at a cross-section of main body portion100along line A-A, recessed portion160may have a rectangular cross-section, as shown inFIG.6. For example, a curved (e.g., semicircular) side of recessed portion160may be a proximal side of recessed portion160. Recessed portion160may include a further recessed portion170, which may be more deeply recessed than recessed portion160. Further recessed portion170may have one or more holes172. For example, further recessed portion170may have one, two, three, or more holes172. Further recessed portion170may be generally round in shape and may have a straightened edge on one or more sides. Walls162may have a uniform height or may have a varying height measured along an axial direction of main body portion100(a direction perpendicular to a longitudinal direction of main body portion100). For example, a ridge180may extend around a portion of a perimeter of recessed portion160. For example, a ridge180may extend around a proximal, curved side of recessed portion160. Ridge180may also extend along part of a straight side of recessed portion160. For example, ridge180may extend along a part of a straight side of recessed portion160that is more proximate to umbilicus24. As shown inFIG.6, a cable system200used for steering a distal end of insertion portion24may fit within recessed portion160. Cable steering system200may have a complementary shape to recessed portion160so that cable steering system200fits securely within recessed portion160. Use of recessed portion160may eliminate a need for a separate frame to position cable steering system200. Further details of cable steering system200are described in concurrently filed U.S. Provisional Patent Application No. 62/841,290, titled “Systems and Devices for Articulation Wire Guidance,”, incorporated herein in its entirety. Cable steering system200may be used to transmit a force from steering components30to articulation wires130, which may be another component of a steering assembly. For example, one or more of steering components may cause rotation of an axle, such as axle210. Rotation of axle210may cause rotation of one or more spools and/or pulleys that are included in steering system200. One or more components of cable steering system200or steering components30may also engage with further recessed portion170. For example, a pulley, washer, axle, or other component of steering system200or steering components30may engage with further recessed portion170or holes172. Holes172may be used to secure a component of steering system200to main body portion100. Axle210of steering components30may be fixed to main body portion100via further recessed portion170and/or holes172. For example, a base of axle210may have a complementary shape to recessed portion170, such that recessed portion170may be used to locate axle210relative to body portion100and/or to constrain rotational movement of a base of axle210relative to body100. Axle210may have a same or similar radius to a rounded portion of recessed portion160so that axle210fits within a rounded portion of recessed portion160. Body portion100may also include further features such as an outer ridge220. Outer ridge220may have a shape similar to ridge180. For example, at least part of outer ridge220may be curved. For example, at least a part of outer ridge220may form a partial circumference of a circle. Another part of outer ridge220may be straight. For example, a part of outer ridge220that is further from umbilicus24may be straight. While a straight portion of ridge180may extend distally on one side (e.g., a side closer to umbilicus24) of recessed portion160, a straight portion of ridge220may extend distally on the other side (e.g., further from umbilicus24) of recessed portion160. A straight portion of outer ridge220may extend further in a distal direction than a straight portion of ridge180. Outer ridge220may have a greater radius of curvature than ridge180. Ridges180and/or220may be used to engage with components of steering components30. For example, ridges180and/or220may be used to align a washer or other component of steering components30. A height of ridge180may extend a height of walls162to reach a height of steering components30, and ridge220may mate with portions of steering components30. Main body portion100may also include a feature such as portion230for engaging with port housing42. For example, an edge of portion230may be slightly recessed from an edge of adjacent portions of main body portion100. In other words, the outermost surface of portion230is recessed relative to adjacent outer surfaces of body portion100. Portion230may also include one or more holes or cavities232for engaging connectors for coupling port housing42to main body portion100. Cavities232may have any of the properties of cavities124, discussed above. FIG.7shows a first side cover portion114that has been removed from a first side14of operation portion12, shown inFIG.5. Cover portion114may be connectable to main body portion100by holes or recesses240in body portion100and corresponding holes or recesses242in cover portion114. Cover portion114may fit over first chamber116and may fully or partially enclose first chamber116. A mechanism such as a screw, pin, bolt, or other connector may be used to join holes or recesses240to holes or recesses242. Additionally or alternatively, other mechanisms may be used for joining cover portion114to main body portion100. For example, cover portion114may snap onto main body portion100or otherwise attach to main body portion, including, by glue, welding, or other adhesives. Cover portion114may include one or more protruding portions250. Protruding portions may interact with components of device10(e.g., steering block120or other components) to position, support, activate, or secure the components. Cover portion114may include a port housing mating portion252, which may have a complementary shape to port housing42and/or port40. For example, port housing mating portion252may include a rounded indentation254with a same or similar radius of curvature as port40so that rounded indentation254fits around port40and secures port40. Cover portion114may form a portion port housing42, such as a portion of port housing42on first side14of operation portion10. Cover portion114may also include features such as a cover neck portion260that may have the same shape as or a complementary shape to neck portion140and that may align with neck portion140when cover portion114is secured to main body portion100. Cover neck portion260may have a ridge262that may have any of the properties of ridge142and may interact with groove262. Cover neck portion260may have a ridge264that may have any of the properties of ridge150and a shoulder266that may have any of the properties of shoulder152. As with neck portion140, stress relief portion may fit over cover neck portion260. Together, neck portion140and cover neck portion260may have a circular cross-section and/or may form a tubular shape. FIGS.4,8, and9pertain to a second side16of operation portion12.FIG.4shows a second, opposite side106of main body portion100from that shown inFIG.3.FIG.8shows second side16of operation portion12with a second side cover portion300(seeFIG.9) removed. Removal of second side cover portion300exposes some of the components that may be installed in operation portion10.FIG.8does not show all components that may be installed in operation portion10and should not be construed as limiting the components that could be installed or would be installed. Second side106of operation main body portion100is also visible underlying the components and toward a distal portion of main body portion100. A portion of main body portion100that may be covered by cover portion300may form a second chamber304for housing components of operation portion12. An interior surface of second chamber304(that is, an outward facing surface of main body portion100that may be covered by cover portion300) may be an opposite surface or side of wall118. In other words, wall118may form or define an exterior of a first side104of a main body portion100and may form or define an interior of second chamber304on second side106of main body portion100. An outer surface of second side16of operation portion12may be formed partially by cover portion300and partially by a wall306of main body portion100. An inner surface of wall306may define at least a portion of an interior of first chamber116. In other words, wall306may form or define an exterior of a second side106of main body portion100and may form or define an interior of first chamber116on first side104of main body portion100. While first side cover portion114covers a more distal portion of main body portion100, second side cover portion300covers a more proximal portion of body portion100. The areas covered by first side cover portion114and second side cover portion300may or may not overlap on the opposite sides of body portion100. In other words, a proximal portion of first chamber116and a distal portion of second chamber304may or may not overlap on opposite sides of body portion100. As can be seen inFIG.4, second side106of operation main body100may include negatives of features from first side114of operation main body100. For example, recessed portion160and further recessed portion170may form protrusions310and312on second side106of operation main body100. Thus, structures from opposite sides of main body100may form structures from one another and may serve complementary or different functions on each side to provide structure within operation portion10in order to house components of device10. Alternatively, a negative of a structure from one side may not serve a function on the other side. Such negatives may be formed because a surface of an exterior wall118forms an interior of second chamber304, and a surface of an exterior wall306forms an interior of first chamber116. Alternatively, interiors of first chamber116and second chamber304may have a shared wall. Main body100may include features such as curved concave portions320and322in walls of main body100that have complementary shapes to bodies of valves52and54. Outer surfaces of bodies of valves52and54may have a same or similar radius of curvature as concave portions320and322. Main body100may include a further curved support portion324for supporting a body of valve52. Support portion324may be shaped to be complementary to an outer surface of a body of valve52so as to support, position, or otherwise interact with a body of valve52. For example, support portion324may protrude from adjacent surfaces of main body100and may have a radius of curvature similar to that of a portion of a body of valve52that will align with support portion324. Valve52may be positioned and oriented in a manner such that it is ergonomic and constrained from movement that could cause damage to tubing within main body portion100(such as the tubing discussed below). Main body portion100may also include features, such as protruding support portions330,332, and/or334, for engaging an electronic component, such as a circuit board340. Support portions330,332, and/or334may be shaped so as to engage edges of a circuit board340and/or otherwise support circuit board340. Circuit board340may provide functionality to components such as lighting and camera components at a distal end of insertion portion20. Circuit board340may be connected via wires to umbilicus24and insertion portion20. Wires are not shown inFIG.8for clarity of illustration. Support portions330,332, and334may be formed integrally from the material forming main body portion100. The presence of support portions330,332, and334may eliminate or limit a need for separate structural support components for supporting circuit board340. Main body portion100may include a hole or cavity342that may be used for securing circuit board340to main body portion100. For example, a screw344may pass through a hole in circuit board340and into cavity342. Cavity342may have any of the properties of cavities124, described above. A button350may be accessible from an exterior of operation portion12. Button350may be operatively coupled to circuit board340and may be used to activate functionality of electronic components of device10. For example, button350may be operative, when pressed, to capture a still image picture from a camera at a distal end of insertion portion20. As shown inFIG.4, main body portion may include a slot352for receiving a base of button350. A top inner side of slot352may include an indentation354for receiving a connector for connecting button350to circuit board340. Thus, features of main body portion100may eliminate or limit a need for separate components to house and support button350and connections thereof or connecting thereto. One or more features such as dividing portions360,362(seeFIG.8) may protrude into second chamber304for purposes of maintaining certain components in certain areas of main body portion100. For example, tubing, such as air/water and suction tubing, may pass between dividing portion360and an external wall formed by main body portion100and/or cover portion300. Main body portion100may also include a proximal neck portion370. Proximal neck portion370may include one or more ridges372and one or more grooves374. Ridges372and grooves374may mate with complementary portions of a sleeve380. For example, sleeve380may have one or more grooves382that may mate with ridges372of neck portion370and may have one or more ridges384that mate with grooves374of neck portion370. Stress relief portion26may fit over neck portion370(and, therefore, sleeve380). Sleeve380may serve to channel components such as wires, tubing, etc. from an operation portion12to umbilicus24. FIG.9shows a second side cover portion300that has been removed from a second side16of operation portion12, shown inFIG.8. Cover portion300may be connectable to a second side106of main body portion100by holes or recesses381in body portion100and holes or recesses382in cover portion300. Cover portion300may fit over second chamber304and may fully or partially enclose second chamber304from an exterior of main body portion100. A mechanism such as a screw, pin, bolt, or other connector may be used to join holes or recesses381to holes or recesses382. Additionally or alternatively, other mechanisms may be used for joining cover portion300to main body portion100. For example, cover portion300may snap onto main body portion100or otherwise attach to main body portion, including, for example, by glue, welding, or other adhesives. Cover portion300may include one or more protruding support portions390,392, which may provide support to circuit board340. Support portions390,392, together with support portions330,332of main body portion100, may keep a circuit board340in an intended location and may prevent or minimize unintended movement of circuit board340. A wall of cover portion300may include curved concave portions394and396that have complementary shapes to curved concave portions320,322of main body portion100and/or bodies of valves52and54. Bodies of valves52and54may have a same or similar radius of curvature as concave portions394and396. Together, curved concave portions320and396may form a secure casing around valve52, and curved concave portions322and394may form a secure casing around valve54. Cover portion300may also include a cover neck portion400that may have the same shape as or a complementary shape to a neck portion370and that may align with neck portion370when cover portion300is secured to main body portion100. Cover neck portion300may have one or more ridges402that may have any of the properties of ridges372and may interact with groove382. Cover neck portion300may also include one or more grooves404that may have any of the properties of grooves374and that may interact with ridges384. As with neck portion370, stress relief portion26may fit over cover neck portion400. Together, neck portion370and cover neck portion400may have a circular cross-section and/or may form a tubular shape. As can be seen by referring toFIGS.5and8, certain components of operation portion12of device10may pass from second chamber304into first chamber116, and vice versa. For example, wires or tubes for passing suction, air, and/or water may pass from second chamber304into first chamber116. For example, suction tube410may pass from second chamber304into first chamber116. Although other tubes are not shown inFIG.5for purposes of clarity of illustration, air and/or water tubes may also pass into first chamber116. First chamber116and second chamber304may be in fluid communication with one another. Features such as dividing portions360,362may assist in aligning components such as tubes or wires to pass from second chamber304to first chamber116in a desired location. For example, dividing portions360,262may constrain a tube or wire to a desired position. Dividing portions360,362may be disposed at an opening between first chamber116and second chamber304. The aspects described herein may provide numerous benefits. For example, manufacturing efficiencies may result from a reduced number or complexity of parts, as well as a decreased cost of materials. Furthermore, the structure of main body portion100may enable streamlining of manufacture by allowing assembly of a first side14and a second side16of operation portion12to proceed separately. For example, components may first be placed in one of first side14or second side16and then in the other of first side14or second side16. It may be preferable to first install components in second side16. After components are installed for a given side14,16, respective first cover portion or second cover portion300may be secured. Main body portion100, in conjunction with the other aspects of device10described above, may also serve to segregate components of device10that could interfere with one another. For example, features of main body portion may prevent liquids or other fluids from interfering with electronic components. Features of main body portion100may also maintain wires such as articulation wires130in a desired location and prevent interference between components such as articulation wires130, pull wire134, tubing, or other wires. Such components may need to be kept separate from one another in order to avoid impairment of functions of those components and/or of device10. While principles of the present disclosure are described herein with reference to illustrative examples for particular applications, it should be understood that the disclosure is not limited thereto. Those having ordinary skill in the art and access to the teachings provided herein will recognize additional modifications, applications, and substitution of equivalents all fall within the scope of the examples described herein. Accordingly, the invention is not to be considered as limited by the foregoing description.

11857162

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT(S) Hereinafter, description will be made by taking one aspect of an endoscope as an example. Note that each of the drawings based on each embodiment is a pattern diagram, and care should be taken to the fact that the relationship between the thicknesses and widths of the respective members, a ratio of the thickness of a certain member to that of another member, and the like are different from the actual ones, and there is a case where the respective drawings include parts in which the relationships and ratios among the dimensions are different. In addition, the endoscope in the configuration description below will be described by taking, what is called, a flexible endoscope as an example. Such a flexible endoscope has a flexible insertion portion for allowing insertion into an upper digestive tract, a lower digestive tract, and the like in a living body. However, the present invention is not limited to such an endoscope. The present invention provides a technique applicable to, what is called, a rigid endoscope having a rigid insertion portion to be used for surgery. First Embodiment Hereinafter, an endoscope according to one aspect of the present invention will be described with reference to drawings. Note thatFIG.1is a side view illustrating a configuration of the endoscope,FIG.2is a perspective view illustrating a configuration of a distal end portion of an insertion portion of the endoscope,FIG.3is a perspective view illustrating the configuration of the distal end portion from which a distal end cover is removed,FIG.4is a cross-sectional view of the distal end portion as viewed from above,FIG.5is an enlarged cross-sectional view of the part indicated by the circle V inFIG.4,FIG.6is a cross-sectional view of the distal end portion as viewed from a lateral side,FIG.7is an enlarged cross-sectional view of the part indicated by the circle VII inFIG.6,FIG.8is a cross-sectional view schematically illustrating an inside of the endoscope,FIG.9is a cross-sectional view schematically illustrating the inside of the endoscope from which the distal end cover and a flexible tube are removed and to which a cleaning tube is connected, andFIG.10is a top view illustrating the distal end portion from which the distal end cover is removed and the flexible tube is detached. An endoscope2according to the present embodiment includes an insertion portion5, an operation portion6, and a universal cable7, as illustrated inFIG.1. The insertion portion5is an elongated member configured to be inserted into an observation target from the distal end side in the longitudinal axis direction. The insertion portion5includes, in a linked manner, a distal end portion8, a bending portion9, and a flexible tube portion10. The distal end portion8incorporates an illumination optical system including a light guide and an image pickup optical system including an image pickup apparatus, and includes, on the distal end surface thereof, a nozzle, and a suction port which serves both as and a treatment instrument lead-out port (none of these are illustrated here). The distal end portion8includes an observation window and an illumination window that are formed so as to have a predetermined angle with respect to an insertion direction of the insertion portion5. The distal end portion8also includes a raising base (forceps elevator)42which is a movable portion. The raising base is a direction changing portion configured to raise the treatment instrument to change a direction of the treatment instrument in an observation direction. The raising base42is connected to a raising base operation wire (hereinafter, shortly referred to as a wire)41which is a pulling and relaxing member. The wire41is a long member inserted into the insertion portion5and the operation portion6. The wire41is pulled and relaxed, to thereby cause the raising base42to be raised and lowered. Note that the wire41is pulled and relaxed by operating a raising base operation lever16. The bending portion9is configured to be bendable in four directions, i.e., up, down, left, and right directions, for example. The flexible tube portion10is a long and flexible tubular member. The operation portion6includes a grasping portion6a. The grasping portion6ais connected to the proximal end portion of the insertion portion5, and a treatment instrument insertion port6bis disposed on the grasping portion6a. The operation portion6is provided with a bending operation portion11, an air/water feeding button13, a suction button14, a cleaning tube connector15, and the like. In addition, the operation portion6is provided with the raising base operation lever16as an operation member. The bending operation portion11includes a bending operation knob11afor performing bending operation of the bending portion9of the insertion portion5and a lock lever11bfor locking the bending operation knob11aat a desired rotation position. The universal cable7is extended from a side surface of the operation portion6. The universal cord7includes, at an end portion thereof, an endoscope connector30configured to be connected to a light source apparatus as an external device. A signal transmission cable33is extended from a side portion of the endoscope connector30. At the extending end side of the signal transmission cable33, an electrical connector34configured to be connected to a video processor is provided. As illustrated inFIGS.2and3, at the distal end portion8of the insertion portion5, a distal-end constituting portion21made of metal such as stainless steel is provided. In the distal-end constituting portion21, the raising base42, which is made of metal such as stainless steel, is pivotally disposed. The distal-end constituting portion21includes, on one side surface thereof, an observation window22and an illumination window23. The one side surface is orthogonal to an insertion axis X illustrated inFIG.2. In addition, the distal-end constituting portion21includes a nozzle24for feeding air and water toward the observation window22and the illumination window23. The raising base42is disposed so as to be pivotable, and is pivotally supported to the distal-end constituting portion21by a pivot shaft27. The wire41is detachably connected to the raising base42in the distal end portion8. The wire41is inserted through a flexible tube51which is made of silicone rubber or the like and which is pliable and stretchable. The wire41is pulled and relaxed, to thereby cause the raising stand42to be raised and lowered around the pivot shaft27. A distal end cover61made of synthetic resin such as plastic is detachably mounted on the distal end constituting portion21. The distal end cover61includes a rubber ring62disposed in the circumferential direction on the proximal end side of the distal end cover. In addition, the distal end cover61includes an opening portion63that allows exposure of the observation window22and the illumination window23and allows a treatment instrument100, which is raised and lowered by the raising base42, to be led out. The distal end cover61is mounted so as to cover the distal-end constituting portion21. When the distal end cover61is mounted on the distal-end constituting portion21, a regulating projection portion64provided on the inner circumferential surface of the distal end cover61is engaged in a regulating recessed portion25formed on the distal-end constituting portion21. Such a configuration defines the mounting direction of the distal end cover61to the distal-end constituting portion21. Then, the distal end cover61is mounted to be fixed to the distal-end constituting portion21by a locking recessed portion29formed on the inner circumferential portion of the distal end cover61is engaged with a locking pin26provided so as to protrude from the side portion of the distal-end constituting portion21. As illustrated inFIG.4, the distal end portion8is configured such that a rigid tubular member68is fitted to the proximal end part of the distal-end constituting portion21. The tubular member68is provided at the distal-most of the bending pieces, not illustrated, provided in the bending portion9. On the outer circumference of the tubular member68, a tubular bending rubber69is provided. The bending rubber69integrally covers the proximal end outer circumferential portion of the distal-end constituting portion21. The distal end part of the bending rubber69is fixed and adhered by a thread-wound adhering portion69a. The nozzle24has a middle part inserted through the distal-end constituting portion21, and has the proximal end part to which an air/liquid feeding tube65is connected. In addition, a wire covering tube67, which is a coil tube, for example, and which covers the wire41disposed in the insertion portion5, is connected to a pipe sleeve66fitted to the distal-end constituting portion21. Note that the wire41is inserted from the distal-end constituting portion21into the flexible tube51to be connected to the raising base42. A wire terminal member43having a substantially columnar outer shape is provided at the distal end of the wire41, as illustrated inFIG.5. The wire terminal member43is a connecting body configured to be attachable to and detachable from the raising base42. The wire terminal member43has a through hole43apierced in the direction orthogonal to the longitudinal axis of the wire41to be connected to the raising base42. The flexible tube51covering the wire41in the distal end portion8includes a projection portion53formed in a circumferential direction on the distal end inner circumferential portion of the tube main body52of the flexible tube51. In addition, a distal end pipe sleeve member54made of metal such as stainless steel is provided on the distal end outer circumferential portion of the tube main body52. Note that the projection portion53of the tube main body52is brought into close contact with the outer circumferential surface of the wire terminal member43provided at the distal end of the wire41, to retain water-tightness. In addition, the distal end pipe sleeve member54prevents the deformation of the distal end part of the tube main body52due to bulging of the distal end part in the outer diameter direction. A wire attaching member44, which is a wire connecting portion, is fitted to the raising base42such that the wire attaching member44protrudes from the side portion in the transverse direction of the raising base42. The transverse direction is orthogonal to the longitudinal direction of the wire41. The wire attaching member44includes, at the end portion thereof, a protrusion44ahaving a small diameter. The protrusion44ais inserted into and extracted from the through hole43aof the wire terminal member43, to thereby cause the wire terminal member43to be attached to and detached from the raising base42. Such a configuration enables the wire41to be attached to and detached from the raising base42. Note that the connecting part between the wire41and the raising base42is configured such that, when the distal end cover61is mounted on the distal-end constituting portion21, the movement of the wire terminal member43in the direction of the arrow R is regulated by the inner side surface of the distal end cover61, to thereby prevent the wire terminal member43from falling off from the protrusion44aof the wire attaching member44. Such a configuration prevents the wire41from being detached from the raising base42, to thereby prevent the flexible tube51from coming off from the wire41. As illustrated inFIG.6, the distal-end constituting portion21includes a connecting tube71fitted to the proximal end part thereof. A treatment instrument channel72which is a tubular body is connected to the connecting tube71. Note that a treatment instrument (not illustrated) inserted through the treatment instrument channel72is introduced to reach the distal end portion8, and the leading-out direction of the treatment instrument is changed by the raising base42being raised and lowered. As illustrated inFIG.7, an outward flange55serving as a proximal end seal portion is formed at the proximal end part of the flexible tube51. Note that the proximal end part of the flexible tube51is engaged with the distal-end constituting portion21, and when the distal end cover61is mounted on the distal-end constituting portion21, a part of the proximal end surface61aof the distal end cover61is brought into contact with the end surface on the distal end side of the outward flange55. As a result, the outward flange55is pressed toward the proximal end side indicated by the arrow B. This causes the outward flange55of the flexible tube51to fit in a recessed engaging portion for engaging the distal-end constituting portion21and the flexible tube51, to be pressed toward the proximal end side. As a result, water-tightness of the connecting part between the flexible tube51and the distal-end constituting portion21is retained. As illustrated inFIG.8, an endoscope1includes, in the operation portion6, a cleaning conduit101communicating with the cleaning tube connector15. The cleaning conduit101is connected to a cylinder102. The cylinder102includes inside thereof a wire shaft103, which is a piston, so as to be movable forward and backward. The wire shaft103includes an O-ring104for retaining water-tightness and a link member105. The O-ring104is provided at the middle part of the outer circumferential portion of the wire shaft103, and the link member105is pivotally connected to the proximal end of the wire shaft103. The link member105is pivotally connected to the raising base operation lever16. The cylinder102communicates with the wire covering tube67as a wire insertion conduit. In the endoscope1configured as described above, as illustrated inFIG.9, at the time of cleaning and disinfecting, the cleaning tube110is connected to the cleaning tube connector15and liquids such as a cleaning solution, a disinfectant solution, alcohol, and the like are sent through the cleaning tube110, to thereby perform cleaning, disinfecting and flushing processing on the inside of the wire covering tube67. At this time, the distal end cover61of the distal end portion8is removed from the distal-end constituting portion21, and the flexible tube51is pulled out from the wire41. Specifically, after the distal end cover61is removed from the distal-end constituting portion21, as illustrated inFIG.10, the wire terminal member43provided at the distal end of the wire41is pulled out from the wire attaching member44of the raising base42toward the lateral side to be detached. Then, the flexible tube51is pulled out from the wire41toward the distal end side. Thus, in the endoscope1, the distal end cover61of the distal end portion8is removed, to thereby enable the flexible tube51provided in the distal end portion8to be easily removed from the wire41. As a result, the distal-end constituting portion21is open, and also the distal end part of the wire41is brought into a completely exposed state. In this state, the endoscope1allows the outer surface of the distal-end constituting portion21having a complicated shape to be subjected to cleaning, disinfecting, and flushing processing easily. In addition, liquids such as a cleaning solution, a disinfectant solution, and alcohol are sent into the wire covering tube67, to thereby enable the inside of the wire covering tube67and the wire41to be cleaned, disinfected, and flushed easily. Furthermore, in the endo scope1, even in a case where the flexible tube51through which the wire41is inserted and which is provided in the distal end portion8is damaged by the treatment instrument raised and lowered by the raising base42contacting the flexible tube51, replacement of the flexible tube51can be easily performed by removing the distal end cover61from the distal-end constituting portion21. Note that the distal end cover61and the flexible tube51, which have been removed from the distal end portion8, can be easily cleaned, disinfected, and flushed. The distal end cover61and the flexible tube51may be disposable so as to be disposed after each use. As described above, the endoscope1is configured such that the flexible tube51provided in the distal end portion8can be easily removed, to thereby be capable of reducing the efforts at the time of performing cleaning, disinfecting and flushing processing. That is, such a configuration contributes to a time reduction in these processes and a reduction in the burden of the cleaning and disinfecting workers who are medical workers. As described above, the endoscope1has a configuration which enables easy replacement, cleaning, disinfecting, flushing and the like of the flexible tube51covering the wire41that drives the raising base42which is a movable portion provided in the distal end portion8of the insertion portion5, which leads to a reduction in the burden of the medical workers. (First Modification) FIG.11is a cross-sectional view illustrating a configuration of a flexible tube to which a tag is attached, according to the first modification. The flexible tube51may be attached with a tag106indicating that the flexible tube is unused or has been cleaned and disinfected. The tag106may be cut off immediately before the endoscopic examination. Attaching the tag106prevents a use of the contaminated flexible tube51, forgetting to clean and disinfect the used flexible tube51, and the like. Note that the tag106preferably has a size and a length which are enough to be noticeable or a size and a length for allowing the tag to be reflected in an endoscopic image. (Second Modification) FIG.12is a cross-sectional view of a distal end portion of the second modification as viewed from above, andFIG.13is a cross-sectional view illustrating a configuration of a flexible tube according to the second modification. As illustrated inFIGS.12and13, the flexible tube51may include, at the proximal end part thereof, a proximal end pipe sleeve56made of metal such as stainless steel, or made of rigid resin. Note that, as illustrated inFIG.13, the proximal end pipe sleeve56is provided with an outward flange57and an O-ring58for retaining water-tightness. The O-ring58is provided on the outer circumferential portion of the proximal end pipe sleeve56so as to be located on the proximal end side with respect to the outward flange57. Note that the flexible tube51in the present modification does not include the distal end pipe sleeve member54at the distal end part of the tube main body52. (Third Modification) FIG.14is a cross-sectional view of a distal end portion of the third modification as viewed from above, andFIG.15is a cross-sectional view illustrating a configuration of a flexible tube according to the third modification. As illustrated inFIGS.14and15, the flexible tube51includes, at the proximal end part thereof, a proximal end pipe sleeve56made of metal such as stainless steel, or made of rigid resin, similarly as in the second modification. However, the O-ring58is not provided to the proximal end pipe sleeve56. In addition, the flexible tube51includes neither the distal end pipe sleeve member54nor the projection portion53for retaining water-tightness at the distal end part of the tube main body52. Such a configuration enables the flexible tube51to be manufactured at a low cost. The configuration is effective especially in the case where the flexible tube51is a disposable type. Furthermore, as illustrated inFIG.14, the wire attaching member44and the protrusion44amay be formed integrally with the raising base42. (Fourth Modification) FIG.16is a cross-sectional view of a distal end portion of the fourth modification as viewed from the lateral side,FIG.17is a cross-sectional view illustrating a configuration of a distal end part of a raising base operation wire inserted through a flexible tube according to the fourth modification, andFIG.18is a cross-sectional view illustrating a connecting state between a wire and a raising base, according to the fourth modification. The connecting configuration between the wire41and the raising base42may be the one illustrated inFIGS.16to18. That is, the wire terminal member43provided at the distal end of the wire41may include recessed portions43bformed in point symmetry, and the wire attaching member44of the raising base42may include two protrusions44bfor engaging the end portion of the wire attaching member44with the two recessed portions43bof the wire terminal member43. (Fifth Modification) FIG.19is a cross-sectional view of a distal end portion of the fifth modification as viewed from above, andFIG.20is a top view of the distal end portion of the fifth modification. The connecting configuration between the wire41and the raising base42may be the one illustrated inFIGS.19and20. That is, the raising base42may include a hole portion42athat opens on the side surface of the raising base42, and the wire attaching member44may include a bar portion45which is configured to be pivotable around a pivot shaft46and to be inserted into the hole portion42a. Note that when the bar portion45is brought into a linear state in accordance with the axis of the wire attaching member44, the flexible tube51can be pulled out from the wire41. (Sixth Modification) FIG.21is a cross-sectional view of a distal end portion of the sixth modification as viewed from the lateral side,FIG.22is a cross-sectional view illustrating a connecting state between a wire and a raising base, according to the sixth modification,FIG.23is a cross-sectional view of the distal end portion of the sixth modification in a state where a flexible tube is compressed, as viewed from a lateral side,FIG.24is a cross-sectional view illustrating a connecting state between the wire and the raising base in a state where the flexible tube is compressed, according to the sixth modification,FIG.25is a perspective view illustrating a configuration of the distal end portion from which a distal end cover is removed, according to the sixth modification,FIG.26is a perspective view illustrating the configuration of the distal end portion from which the distal end cover is removed and which is in a state where the flexible tube is compressed, according to the sixth modification, andFIG.27is a side view of the distal end portion from which the distal end cover is removed, according to the sixth modification. As illustrated inFIGS.21and22, the wire attaching member44of the raising base42may include a recessed locking groove44cwith which the distal end of the distal end pipe sleeve member54of the flexible tube51is engaged. Specifically, the locking groove44cis formed in a recessed shape on the proximal end part of the outer circumference of the wire attaching member44, and a part of the distal end of the distal end pipe sleeve member54having a tubular shape is engaged with the locking groove44cby a biasing force of the tube main body52of the flexible tube51to return to the equilibrium length. In this state, the connection between the wire41and the raising base42is locked, with the protrusion44aof the wire attaching member44being inserted into the through hole43aof the wire terminal member43provided at the distal end of the wire41. In addition, as illustrated inFIGS.23and24, when the flexible tube51is compressed along the longitudinal axis direction, the tube main body52is contracted, to thereby release the engagement between the locking groove44cof the wire attaching member44and the distal end pipe sleeve member54. As a result, the wire terminal member43can be removed from the wire attaching member44. Then, the flexible tube51can be pulled out from the wire41. That is, as illustrated inFIG.25, the flexible tube51is set to have a predetermined equilibrium length L1at which a part of the distal end of the distal end pipe sleeve member54having a tubular shape is engaged with the locking groove44cby the biasing force of the tube main body52. As illustrated inFIG.26, when the flexible tube51is compressed in the proximal end direction to contract the tube main body52to a length L2, the engagement between the locking groove44cof the wire attaching member44and the distal end pipe sleeve member54is released. In this state, the wire terminal member43can be removed from the wire attaching member44. With such a configuration, even if the distal end cover61is removed from the distal-end constituting portion21, the connecting state between the wire41and the raising base42is maintained, to thereby prevent the wire41from coming off naturally from the raising base42. Note that, in the state where the distal end cover61is attached to the distal-end constituting portion21as illustrated inFIG.21, by removing the distal end cover61from the distal-end constituting portion21, the raising base42may be allowed to further pivot from the tilted position as illustrated inFIG.27(in the clockwise direction viewed toward the paper surface of the figure), and thereby the raising base42may be tilted to the maximum. That is, the raising base42is set so as to be slightly raised by contacting the distal end cover61when the distal end cover61is attached to the distal-end constituting portion21. In addition, the flexible tube51is set to have the predetermined equilibrium length L1at which a part of the distal end of the distal end pipe sleeve member54is engaged with the locking groove44c. With such a configuration, when the distal end cover61is removed from the distal-end constituting portion21and the raising base42is tilted to the maximum, the distal end pipe sleeve member54comes off naturally from the locking groove44cof the wire attaching member44. As a result, the wire terminal member43can be removed from the wire attaching member44. Such a configuration eliminates a need for the operation of compressing the flexible tube51to contract the tube main body52when the wire41is detached from the raising base42. (Seventh Modification) FIG.28is an exploded perspective view illustrating a distal end portion of an endoscope, a visual field direction of which is a front-viewing direction, according to a seventh modification, andFIG.29is a perspective view illustrating the distal end portion of the endoscope, the visual field direction of which is the front-viewing direction, according to the seventh modification. In the technique described above, the configuration of the endoscope1in which the field of view direction is side-viewing direction or oblique-viewing direction has been described as an example. However, the present invention is not limited to the example, but may be applicable to an endoscope having a configuration in which the field of view direction is a front-viewing direction, the distal end cover61is configured to be mounted to and removed from the distal-end constituting portion21, and the raising base42as a movable portion is provided in the distal end portion8, as illustrated inFIGS.28and29. Reference Example FIG.30is a plan view illustrating a cleaning device for an endoscope according to a reference example. Hereinafter, description will be made on an example of a cleaning device200for cleaning and disinfecting the endoscope1as illustrated inFIG.30. The cleaning device200includes a cleaning tank201in which the endoscope1is housed, and a liquid storage tank202in which a liquid such as a cleaning solution, a disinfectant solution, or the like is stored. In addition, the cleaning device200includes a cleaning tube110to be connected to the cleaning tube connector15of the endoscope1, a cleaning device main body203configured to be mounted to the distal end portion8from which the distal end cover61and the flexible tube51are removed, and a first liquid feeding tube111and a second liquid feeding tube112, each have one end portion connected to the cleaning device main body203. In addition, the cleaning tube110is connected to a three-way stopcock206provided at the halfway of the first liquid feeding tube111. The first liquid feeding tube111is configured such that a first syringe204is connected to the halfway part thereof located on the liquid storage tank202side with respect to the three-way stopcock206. The other end portion of the first liquid feeding tube111is put in the liquid storage tank202. The second liquid feeding tube112is configured such that a second syringe205is connected to the halfway part thereof, and the other end portion of the second liquid feeding tube112is put in the liquid storage tank202. The cleaning device200configured as described above is capable of cleaning and disinfecting the endoscope1by supplying the liquids such as a cleaning solution and a disinfectant solution stored in the liquid storage tank202to the endoscope1by the first syringe204and the second syringe205. Note that the user switches the conduits of the three-way stopcock206, to thereby switch the liquid feeding path by the first syringe204between the cleaning tube110and the first liquid feeding tube111, and performs cleaning and disinfecting on the wire covering tube67in the endoscope1and the part around the raising base42in the distal end portion8housed in the cleaning device main body203. At this time, in the cleaning device200, the liquid such as the cleaning solution, the disinfectant solution, or the like is fed to one of the cleaning tube110and the first liquid feeding tube111by the three-way stopcock206. Such a configuration enables a large amount of liquid to be fed with a great force to the wire covering tube67or the part around the raising base42in the distal end portion8, which enables the cleaning and disinfecting of the endoscope1to be easily performed. Note that, in the above-described endoscope1, the configuration including the raising base42for raising and lowering the treatment instrument has been described as an example. However, the present invention is not limited to the example, but the endoscope1may have a configuration in which a swinging base, as a movable portion, for swinging the treatment instrument and the like is provided instead of the raising base42. The configurations recited in the above-described embodiment and the modifications may be combined with each other, and various modifications are possible at the practical stage in a range without departing from the gist of the invention. Furthermore, each of the above embodiments includes the inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent elements. For example, even if some of the components are removed from all the components shown in the above embodiment and modifications, a configuration from which the components are eliminated can be extracted as an invention insofar as the recited problem can be solved and the recited effects of the invention can be obtained. The present invention is capable of providing an endoscope which enables easy replacement/repair and cleaning/disinfecting of the tube covering the wire configured to drive the movable portion provided in the distal end portion of the insertion portion, and which reduces a burden of the medical workers at the time of cleaning and disinfecting the endoscope.

11857163

DESCRIPTION OF EMBODIMENTS Hereinafter, an endoscope according to an embodiment will be described with reference to the drawings.FIG.1shows the overall configuration of an ultrasonic endoscope10that is one embodiment.FIGS.2to12show the ultrasonic endoscope10according to a first embodiment, andFIG.13shows a second embodiment in which a portion of the configuration of the first embodiment has been modified. As shown inFIG.1, the ultrasonic endoscope10has a narrow-diameter insertion portion11for insertion into the body of a patient, an operation portion12that is connected to a base portion of the insertion portion11, and a universal tube13that extends from the operation portion12. The universal tube13is provided with a video connector and an ultrasonic signal connector that are not shown in the drawings, the video connector being for connection to a video processor (not shown), and the ultrasonic signal connector being for connection to an ultrasound observation device (not shown). The insertion portion11is a portion for insertion into the patient's body, and has, in order from the forward side in the insertion direction, a distal end portion15, a bending portion16that is bent by a remote operation from the operation portion12, and a flexible tube17that is flexible. The operation portion12is provided with a curvature operation knob18for bending the bending portion16, an instrument insertion opening19for insertion of a flexible wire-like instrument such as a puncture needle or forceps, a suction control valve20for performing suction in the distal end portion15, an air/water feeding valve21for performing air/water feeding in the distal end portion15, and multiple operation buttons22for inputting signals for performing image capture and the like. As shown inFIGS.2and3, an ultrasonic probe23is provided at the tip of the distal end portion15of the insertion portion11. An ultrasonic signal cable23a(seeFIG.6) is connected to the ultrasonic probe23, is guided from the insertion portion11to the universal tube13via the operation portion12, and is connected to an ultrasound observation device via the ultrasonic signal connector. The ultrasonic probe23has an acoustic lens23bthat has a curved convex surface, and when ultrasonic echography or treatment is performed, the acoustic lens23bis brought into contact with a target site, ultrasonic waves are emitted, and an ultrasonogram is obtained. As shown inFIG.2, a housing recession portion24is provided rearward of the ultrasonic probe23in the distal end portion15, and inclined end faces25, which are inclined relative to the lengthwise direction of the insertion portion11, are formed on respective sides of the housing recession portion24. An objective window26, an illumination window27, and an air/water nozzle28are provided on one of the inclined end faces25of the housing recession portion24. The lengthwise direction is the direction in which the insertion portion11shown inFIG.1extends from the flexible tube17toward the distal end portion15, that is to say from left to right. An objective lens constituting an observation optical system is provided in the objective window26, and an image sensor unit30(seeFIG.4) is provided rearward of the observation optical system. The image sensor unit30is connected to an image signal cable (not shown). The illumination window27is connected to light guide fibers (not shown). The image signal cable and the light guide fibers are guided from the insertion portion11to the universal tube13via the operation portion12, the image signal cable is connected to a video processor via the video connector, and the light guide fibers are connected to a light source apparatus that supplies illumination light. An image of an observation target is obtained via the objective window26and the observation optical system, and the image sensor unit performs photoelectric conversion on the obtained image to generate an image signal, and transmits the image signal to the video processor via the image signal cable. The video processor displays images on a monitor and/or records images. Illumination light emitted by the light source apparatus is guided by the light guide fibers and emitted from the illumination window27. The leading end of an air/water feeding tube31(seeFIGS.4and6), which is arranged inside the distal end portion15, is connected to the air/water nozzle28. The air/water feeding tube31branches into an air feeding tube and a water feeding tube inside the insertion portion11, and the air feeding tube and the water feeding tube extend to the operation portion12and are connected to a cylinder that supports the air/water feeding valve21. Tubes that extend from an air source and a water source are connected to the cylinder, and the air/water feeding valve21can be operated such that air is fed from the air source to the air/water nozzle28and water is fed from the water source to the air/water nozzle28. The air/water nozzle28has an opening that faces the objective window26and the illumination window27, and by feeding water and air to the air/water nozzle28, it is possible to clean the objective window26and the illumination window27and remove foreign material that is affixed to the objective window26and the illumination window27. As shown inFIG.2, the leading end of an instrument channel32is connected to a rear end portion of the housing recession portion24. The instrument channel32extends to the operation portion12and is connected to the instrument insertion opening19. When a flexible wire-like instrument (e.g., forceps, a puncture needle, or a contrast tube) is to be used, the flexible wire-like instrument is inserted into the instrument channel32through the instrument insertion opening19, and protrudes from the housing recession portion24. An elevator35is provided in the housing recession portion24and is capable of changing the protruding direction of the flexible wire-like instrument. A V-shaped support groove35ais formed in the elevator35, and this groove is deeper in the central portion than at the two sides in the width direction. As shown inFIG.5A, the support groove35ahas a bottom face that is inclined relative to the lengthwise direction of the insertion portion11, and when the flexible wire-like instrument is inserted through the instrument insertion opening19and reaches the housing recession portion24, it is then supported by the support groove35a, thus defining the direction of protrusion from the housing recession portion24. The elevator35is supported via a shaft member36supported inside the distal end portion15, and is capable of swinging in a direction indicated by a double-headed arrow A1inFIG.5A. An axis36xof the shaft member36extends in a direction that is substantially orthogonal to the ultrasonic scanning plane of the ultrasonic probe23, and the axis36xis the center of rotation when the elevator35swings. InFIG.5A, the axis36xextends in a direction perpendicular to the paper surface. In the state shown by solid lines inFIG.5A, the elevator35is at an initial angle of being reclined on the bottom portion side of the housing recession portion24, and the elevator35can be swung from this initial angle to a standing state shown by dashed double-dotted lines inFIG.5A.FIG.5Bis a diagram showing change in the protruding direction of forceps100when the forceps100are placed on the elevator35as the instrument. The protruding direction of the forceps100is changed by swinging of the elevator35as shown inFIG.5. The structure of the elevator35and members in the periphery thereof will be described in detail below. The distal end portion15has a main body40that is made of a hard material. The main body40is called the main body portion along with a later-described lid member50, and is also called a first member that constitutes the main body portion. The main body40has an approximately cylindrical outer face that is centered about an axis that extends in the lengthwise direction of the insertion portion11, the ultrasonic probe23is connected to an end face of the cylindrical main body40, and the inclined end faces25are formed at the boundary portions between the end face and the outer peripheral face of the main body40. The housing recession portion24is formed as a groove-shaped portion that has a predetermined depth in the radial direction from the outer peripheral surface of the main body40. As shown inFIG.4, a first opposing wall24aand a second opposing wall24b, which are substantially parallel surfaces that oppose each other and are separated in a direction along the axis36xof the shaft member36, are formed inside the housing recession portion24. As shown inFIG.2, the front portion of the housing recession portion24, that is to say the portion on the ultrasonic probe23side, has a substantially constant width, with the first opposing wall24aand the second opposing wall24bextending to the bottom portion, whereas a rearward portion of the housing recession portion24has a narrow portion at an intermediate position in the depth direction from the outer peripheral surface opening of the housing recession portion24toward the bottom portion. As shown inFIG.4, the first opposing wall24ahas a flat shape extending from the outer peripheral surface of the main body40to the bottom portion of the housing recession portion24, without a change in the shape of the wall surface even in the narrow portion. On the other hand, the second opposing wall24bextends from the outer peripheral surface of the main body40to an intermediate position in the depth direction of the housing recession portion24. A step portion24cthat extends in a direction of approaching the first opposing wall24ais formed extending from the second opposing wall24bat the intermediate position in the depth direction of the housing recession portion24. Furthermore, a third opposing wall24dthat extends to the bottom portion of the housing recession portion24is formed extending from the step portion24c. The third opposing wall24dis flat and substantially parallel with the first opposing wall24aand the second opposing wall24b, and the constant-width narrow portion of the housing recession portion24is formed by the first opposing wall24aand the third opposing wall24d. As shown inFIG.4, a link housing space41is formed to one side of the housing recession portion24in the main body40, and a shaft support hole42that puts the housing recession portion24and the link housing space41into communication with each other is formed so as to pass below the step portion24d. The link housing space41is a space for disposing a link45, which is a drive member for swinging the elevator35. The shaft support hole42is a first circular cross-section hole that constitutes a first bearing of the shaft member35. The link housing space41is a space that has a predetermined length along the lengthwise direction of the insertion portion11(seeFIG.6). As walls that define the link housing space41, the main body40has a first support wall41athat is located on the rear side of the second opposing wall24bof the housing recession portion24, and a second support wall41bthat opposes the first support wall41a. The shaft support hole42has a circular cross-sectional shape with a substantially cylindrical inner circumferential surface, has one end opening that is formed in the third opposing wall24dof the housing recession portion24, and has another end opening that is formed in the first support wall41aof the link housing space41. Furthermore, a lid insertion space43that puts the link housing space41and the outer space surrounding the insertion portion11(outer space) into communication is formed in the main body40so as to oppose the shaft support hole42across the link housing space41. The lid insertion space43has a small-diameter hole portion43awith a smaller opening diameter and a large-diameter hole portion43bwith a larger opening diameter, the small-diameter hole portion43ahas an opening in the second support wall41bof the link housing space41, and the large-diameter hole portion43bhas an opening in the outer peripheral surface of the main body40. The small-diameter hole portion43aand the large-diameter hole portion43bare in communication with each other. The small-diameter hole portion43aand the large-diameter hole portion43beach have a cylindrical inner circumferential surface, and are arranged such that the central axes of the small-diameter hole portion43aand the large-diameter hole portion43bare coaxial with the central axis of the shaft support hole42, which has a circular cross-section. As shown inFIG.4, the shaft member36has the axis36x, and has a first non-circular cross-section portion36a, a first circular cross-section portion36b, a second non-circular cross-section portion36c, and a second circular cross-section portion36d, in this order from one end in a direction along the axis36x. The first non-circular cross-section portion36aforms an end portion that supports the elevator35, the first circular cross-section portion36bconstitutes a first bearing along with the main body40, and the second circular cross-section portion36dconstitutes a second bearing along with the main body40. In other words, the shaft member36has the axis36x, the elevator35is provided in an end portion on one side in the axial direction along the axis36x, the elevator35is supported from one side in the axis36xdirection, and the shaft member36can rotate integrally with the elevator35about the axis36x. In this structure, the elevator35is supported to the main body40by the shaft member36, and is not supported thereto by any other member. According to one embodiment, the first non-circular cross-section portion36aand the second non-circular cross-section portion36ceach have a quadrangular cross-sectional shape with four sides surrounding the axis36xas outer faces (seeFIGS.5and6). The first circular cross-section portion36band the second circular cross-section portion36deach have a circular cross-sectional shape with a cylindrical surface centered about the axis36xas the outer circumferential surface (seeFIGS.5and6). According to one embodiment, two annular grooves36e, which are shaped as rings centered about the axis36x, are provided in the outer surface of the first circular cross-section portion36b(seeFIG.4). The orientation of the shaft member36is defined such that the first non-circular cross-section portion36aprotrudes into the narrow portion that is sandwiched between the first opposing wall24aand the third opposing wall24dof the housing recession portion24, and the first circular cross-section portion36bis inserted into the shaft support hole42and supported in the main body40. The outer diameter size of the first circular cross-section portion36band the inner diameter size of the shaft support holes42are approximately the same, and the first circular cross-section portion36bis supported in the shaft support hole42so as to be capable of rotating about the axis36x. An O ring44is supported in each of the two annular grooves36e. The spaces between the first circular cross-section portion36band the shaft support hole42are closed in a liquid-tight manner by the compressed O rings44, thus preventing liquids from intruding into the link housing space41through the housing recession portion24. In other words, the O rings44are annular sealing members. Note that the O rings44are shown in an uncompressed and non-deformed initial state inFIG.4. As shown inFIG.4, the elevator35has a narrow portion35bthat can be inserted into the narrow portion between the first opposing wall24aand the third opposing wall24dof the housing recession portion24, and a shaft fitting hole35cis formed in this narrow portion35b. As shown inFIG.5A, the shaft fitting hole35cis a hole that has a quadrangular shape for fitting with the first non-circular cross-section portion36aof the shaft member36. Due to this fitting, the elevator35is prevented from rotating relative to the shaft member36, and therefore rotates integrally with the shaft member36about the axis36x. As shown inFIG.4, the leading end of the first non-circular cross-section portion36adoes not protrude beyond the side face of the narrow portion35b, and the leading end of the first non-circular cross-section portion36ais substantially flush with the side face of the narrow portion35b. For this reason, the first opposing wall24aof the housing recession portion24can be made a substantially flat surface that does not have a hole or recession for insertion of the shaft member36. As shown inFIG.4, the second non-circular cross-section portion36cof the shaft member36is located inside the link housing space41. The second non-circular cross-section portion36chas a portion that is wider than the first circular cross-section portion36b, and the position of the shaft member36in the direction along the axis36xis determined by the side face of the second non-circular cross-section portion36cabutting against the first support wall41aof the link housing space41. The shaft support hole42is a hole that has a circular cross-section and has an opening in the first support wall41a. The outer diameter of the second non-circular cross-section portion36cat the end on the open side is larger than the inner diameter at the opening of the shaft support hole42. This therefore restricts movement of the shaft member36leftward of the arrangement position of the shaft member36shown inFIG.4, that is to say restricts movement of the shaft member36to the first bearing side. The link45is disposed inside the link housing space41. The link45is a drive member for swinging the elevator. The link45is a drive member that is fixed to the shaft member36, or more specifically is located at an intermediate position in the length direction of the shaft member36in the direction along the axis36x, and transmits, to the shaft member36, operation force that is applied to an action point that is eccentric from the axis36x, and the link45is configured to input, to the shaft member36, rotation force for rotation of the shaft member36about the axis36x. As shown inFIG.4, the link45is provided at a position extending along the first support wall41ain the link housing space41, and a gap is formed between the link45and the second support wall41b. As shown inFIG.6, the link45has a shaft fitting hole45a, which is a non-circular cross-section hole (e.g., a quadrangular hole) that fits with the second non-circular cross-section portion36cof the shaft member36, and due to this fitting, the link45is prevented from rotating relative to the shaft member36, and therefore the link45rotates integrally with the shaft member36about the axis36x. A wire end portion46aprovided at the leading end of the operation wire46is connected to a connection portion45bprovided at a position that is eccentric from the shaft fitting hole45aof the link45. The operation wire46extends from the insertion portion11to the operation portion12, and can cause the operation wire46to become tense or loose by an operation performed on a tilting operation mechanism (not shown) provided in the operation portion12. As shown inFIG.4, in the side portion of the second non-circular cross-section portion36cof the shaft member36, the side portion on the side opposite to the side in contact with the first support wall41ais substantially flush with the side face of the link45. The second circular cross-section portion36dprotrudes from this side face of the second non-circular cross-section portion36c. The second circular cross-section portion36dis in communication with the opening of the second support wall41bof the link housing space41, and is located in the lid insertion space43. The lid member50is inserted into the lid insertion space43from the outer peripheral surface side of the main body40. The lid member50is called the main body portion along with the main body40, and the lid member50is also called a second member that constitutes the main body portion. The lid member50is made of a hard material, similarly to the main body40. As shown inFIGS.9and10, the lid member50is constituted by connecting a small diameter portion51, a large diameter portion52, and a head portion53, each of which have a cylindrical outer circumferential surface, side-by-side and coaxially with each other, and the outer diameters of the small diameter portion51, the large diameter portion52, and the head portion53increase in this order. The small diameter portion51is configured to have a protruding portion that protrudes into the link housing space41, which is in communication with the lid insertion space43, when the lid member50is inserted into the lid insertion space43. A shaft support hole54is formed in the lid member50. The shaft support hole54is a second circular cross-section hole, and constitutes the second bearing along with the second circular cross-section portion36dof the shaft member36. The shaft support hole54is a hole that has a cylindrical inner circumferential surface, has one end opening in substantially the center of the end face of the small diameter portion51, and has another end that is closed by the head portion53. Two fitting grooves55that extend in the circumferential direction of the small diameter portion51are formed in the outer circumferential surface of the small diameter portion51. The two fitting grooves55are at positions that are substantially symmetrical about the shaft support hole54, and bottom faces55athereof are flat faces that are substantially parallel with each other (seeFIGS.4and7). As shown inFIG.4, the lid member50is inserted into the lid insertion space43beginning with the small diameter portion51side. The lid member50is inserted until the leading end of the large diameter portion52abuts against the step portion between the small-diameter hole portion43aand the large-diameter hole portion43bof the lid insertion space43. When the lid member50is inserted in this way, the outer circumferential surface of the small diameter portion51is in contact with the inner circumferential surface of the small-diameter hole portion43aof the lid insertion space43, and the outer circumferential surface of the head portion33is in contact with the inner circumferential surface of the large-diameter hole portion43bof the lid insertion space43, thus restricting movement of the shaft member36in a direction orthogonal to the axis36xof the shaft member36. Also, the small diameter portion51of the inserted lid member50protrudes from the lid insertion space43into the link housing space41, and the end face of the small diameter portion51is near the side face of the second non-circular cross-section portion36cof the shaft member36. Accordingly, the shaft member36and the lid member50are configured such that when the step portion between the large diameter portion52and the small diameter portion51of the lid member50abuts against the step face between the small-diameter hole portion43aand the large-diameter hole portion43bof the main body40, the end face of the small diameter portion51is near the side wall of the second non-circular cross-section portion36c, and the second non-circular cross-section portion36cis arranged between the end face of the small diameter portion51and the opening of the shaft support hole42in the first support wall41a. The term “near” refers to the case where, for example, the distance between the end face of the small diameter portion51and the end face of the second non-circular cross-section portion36cis less than or equal to 0.1 mm. This suppresses rattling caused by movement in the direction along the axis36xof the shaft member36, thus making it possible for the elevator35to also swing without undergoing lateral movement. Also, the step portion between the small diameter portion51and the large diameter portion52of the lid member50abuts against the step face between the small-diameter hole portion43aand the large-diameter hole portion43b, thus restricting movement of the lid member50in the direction of the axis36xof the shaft member36. Furthermore, the two fitting grooves55provided in the small diameter portion51are located in the link housing space41, and side faces of the fitting grooves55on one side are substantially flush with the second support wall41bof the link housing space41. As shown inFIGS.2and4, the head portion53of the lid member50has an end face that is curved so as to be substantially flush with the outer circumferential surface of the main body40when the large diameter portion52of the lid member50is inserted into the lid insertion space43. An O ring56is inserted, as an annular sealing member, between the outer circumferential surface of the large diameter portion52of the lid member50and the inner circumferential surface of the large-diameter hole portion43bof the lid insertion space43. The O ring56makes the space between the lid member50and the lid insertion space43liquid-tight, closes off the link housing space41from the space outside the lid insertion space43, and prevents the intrusion of liquids into the link housing space41from the space outside of the lid insertion space43. The lid member50is attached to the main body40in the state where the shaft member36has been inserted into the shaft support hole42and the link housing space41. At this time, the second circular cross-section portion36dof the shaft member36is inserted into the shaft support hole54of the lid member50(seeFIG.4). The outer diameter size of the second circular cross-section portion36dand the inner diameter size of the shaft support hole54are approximately the same, and the second circular cross-section portion36dis supported in the shaft support hole54so as to be capable of rotating about the axis36x. Also, the end face of the small diameter portion51of the lid member50opposes the side face of the second non-circular cross-section portion36cof the shaft member36, and movement of the shaft member36toward the lid insertion space43is restricted by the lid member50. The lid member50is fixed in and held in the link housing space41of the main body40by the fitting/holding member60. As shown inFIGS.11and12, the fitting/holding member60is elongated in one direction, and the fitting/holding member60is provided in the wall of the link housing space41such that the extended shape conforms to the lengthwise direction of the insertion portion11. The fitting/holding member60has a plate-shaped portion61with a fitting recession portion62at a leading end, and a base portion63having a larger wall thickness than the plate-shaped portion61. On one side of the fitting/holding member60, side faces of the plate-shaped portion61and the side face of the base portion63are substantially flush and form a flat face60a. The fitting recession portion62has a pair of opposing faces62athat are substantially parallel with each other, and a connection face62bthat connects the pair of opposing faces62a. The base portion63is provided with, as a mechanical fixing mechanism, a coil support hole64that extends in the lengthwise direction of the fitting/holding member60, and a threaded hole65that faces a direction along the thickness direction of the fitting/holding member60. The wall surface of the coil support hole64is shaped as a cylindrical inner circumferential surface with an open portion on one lateral side, and the two ends of the coil support hole64are open. The inner diameter size of the opening on the front end side of the coil support hole64is set smaller, and an annular coil abutting face64athat faces the interior of the coil support hole64is formed around this opening. The rear end of the base portion63has a wide shape with a pair of flanges66that protrude outward. As shown inFIG.7, the fitting/holding member60inserted into the link housing space41along the lengthwise direction of the insertion portion11such that the fitting recession portion62faces the leading end side, which is the ultrasonic probe23side (rightward inFIG.7), that is to say from the bending portion16toward the distal end15. More specifically, the fitting/holding member60is inserted into the portion between the link45and the second support wall41bin the link housing space41, while aligning the flat face60awith the second support wall41b. This insertion direction of the fitting/holding member60is a direction that is different from the protruding direction in which the small diameter portion51, which protrudes into the link housing space41, protrudes from the lid insertion space43of the lid member50. According to one embodiment, it is preferable that, as shown inFIG.7, this insertion direction is a direction that transverses the protruding direction of the protruding portion of the lid member50. Also, according to one embodiment, it is preferable that it is a direction that is substantially orthogonal to the protruding direction of the small diameter portion51. When the fitting/holding member60is inserted, the bottom faces55aof the two fitting grooves55of the lid member50are sandwiched by the opposing faces62aof the fitting recession portion62(seeFIGS.4and7), and the plate-shaped portion61is fitted into the fitting grooves55. As shown inFIG.4, the thickness of the plate-shaped portion61is substantially the same as the groove width of the fitting grooves55. Accordingly, the plate-shaped portion61is fitted into the fitting grooves55without rattling. Also, due to the flat face60aof the fitting/holding member60abutting against the second support wall41bof the link housing space41, movement of the fitting/holding member60toward the lid insertion space43is restricted (seeFIG.4). As a result, when fitted to the fitting/holding member60, the lid member50is prevented from separating from the lid insertion space43, and is fixed to the second support wall41bin the link housing space41as shown inFIG.4. The position of insertion of the fitting/holding member60into the link housing space41is determined by the flange66abutting against the rear end portion of the main body40(seeFIGS.6and7). As shown inFIG.8, a threaded passage hole47, which is in communication with the threaded hole65of the fitting/holding member60in this state, is formed in the main body40as a mechanical fixing mechanism. A shaft portion67aof a fixing screw67, which is a mechanical fixing mechanism, is inserted into the threaded passage hole47and screwed into the threaded hole65, thus fastening and fixing the fitting/holding member60to the main body40. The opening portion of the threaded passage hole47is a countersink portion47a, and the head portion of the fixing screw67has a conical surface67bfor abutting against the countersink portion47a. In this configuration, when the fitting/holding member60is fixed as shown inFIG.8, the head portion of the fixing screw67sinks into the threaded passage hole47. As shown inFIG.6, the threaded hole65for screwing the fixing screw67is located inward of the connection portion70that connects the distal end portion15and the bending portion16. In the connection portion70, the outer side of the main body40is covered by a covering member71that is insulating. For this reason, when the ultrasonic endoscope10is in the completed state, the threaded passage hole47and the fixing screw67therein are not exposed to the outer surface of the insertion portion11, and the liquid-tightness and insulation of the fixing portion achieved by the fixing screw67is kept by the covering member71. As shown inFIGS.6and8, a stay coil68is inserted into the coil support hole64of the fitting/holding member60. The leading end of the stay coil68is arranged inside the insertion portion11while abutting against the coil abutting face64a, and the operation wire46is inserted into the stay coil68. The operation wire46passes through the inward opening portion of the coil abutting face64aand extends to the forward side of the fitting/holding member60, and the wire end portion46ais connected to the connection portion45bof the link45. As previously described, the operation wire46extends from the insertion portion11to the operation portion12, and is connected to a tilting operation mechanism (not shown) provided in the operation portion12. The stay coil68supports the operation wire46so as to be capable of moving forward and rearward therein. According to this configuration, when the tilting operation means is operated, operation force is transmitted to the link45via the operation wire46. Because the link housing space41has a liquid-tight structure, contaminants from the outside do not adhere to the link45, the operation wire46, the coil support hole64, and the stay coil68, and maintenance can be performed on the mechanism for driving the elevator35without trouble. The distal end portion15is assembled as follows. The O rings44are inserted into the annular grooves36e, and then the shaft member36is inserted through the lid insertion space43into the main body40, with the first non-circular cross-section portion36aon the leading side. At this stage, the elevator35is provisionally arranged inside the housing recession portion24, the link45is provisionally arranged inside the link housing space41, and the first non-circular cross-section portion36aand the second non-circular cross-section portion36cof the inserted shaft member36are respectively fitted into the shaft fitting hole35cof the elevator35and the shaft fitting hole45aof the link45. Also, the first circular cross-section portion36bof the shaft member36is rotatably supported in the shaft support hole42in the main body40. Next, the O ring56is mounted to the outer side of the large diameter portion52, the lid member50is inserted into the lid insertion space43with the small diameter portion51on the leading side, and the second circular cross-section portion36dof the shaft member36is inserted into the shaft support hole54of the lid member50, and thus the shaft member36is rotatably supported in the shaft support hole54. After the lid member50is attached, the fitting/holding member60is then attached, and separation of the lid member50is prevented by the plate-shaped portion61fitting into the fitting grooves55, and the fitting/holding member60is fixed with use of the fixing screw67. When the fitting/holding member60is to be attached, the stay coil68is inserted into the coil support hole64, and the operation wire46, which has the wire end portion46athat is connected to the connection portion45bof the link45, is inserted into the stay coil68. Attaching the members in this way achieves a liquid-tight state in the link housing space41in which the intrusion of a liquid from the outside is prevented by the O rings44and the O ring56, and contaminants do not adhere to the link45supported in the link housing space41and peripheral portions. According to the structure described above, the shaft member36is supported to the main body40so as to be capable of rotating about the axis36x, via the first bearing that is located between the narrow portion35bof the elevator35and the link45and is constituted by the first circular cross-section portion36band the shaft support hole42, and the second bearing that is located on the side opposite to the elevator35relative to the link45and is constituted by the second circular cross-section portion36dand the shaft support hole54. More specifically, the first bearing and the second bearing that axially support the shaft member36are provided on respective sides of a perpendicular line PP (seeFIG.4) that extends along the axis36xfrom an action point PA (seeFIGS.4and6) at which operation force is applied when rotating the elevator35. In other words, the first bearing and the second bearing rotatably support the shaft member36on respective sides, with respect to a direction along the axis36x, of the position at which the shaft member36is subjected to rotation force. As shown inFIG.4, the first circular cross-section portion36b, which constitutes the first bearing, has a larger diameter than the second circular cross-section portion36dthat constitutes the second bearing, thus making it possible to ensure rigidity while also having the two annular grooves36ethat support the O rings44. Also, the second circular cross-section portion36dthat constitutes the second bearing is located at the end portion on the side opposite to the first non-circular cross-section portion36ain the direction along the axis36x, thus making it possible to reliably prevent inclination of the shaft member36and allow smooth rotation. Accordingly, it is possible to support the elevator35at one end of the shaft member36, while also supporting the elevator35so as to be capable of rotating with high support strength and excellent stability. Also, when the operation wire46connected to the action point PA location is made tense or loose, the link45moves (swings) within the range indicated by a double-headed arrow A2inFIG.6, and the elevator35, which rotates integrally with the link45due to the shaft member36, moves in conjunction. When the elevator35is at the initial angle indicated by solid lines inFIGS.5A and5B, the link45is at the location indicated by solid lines inFIG.6. When the link45is pulled by the operation wire46and rotates to the position indicated by dashed double-dotted lines inFIG.6, the elevator35rotates to the standing state indicated by dashed double-dotted line inFIGS.5A and5B. According to one embodiment, it is preferable that the rotation angle of the elevator35from the initial angle to the standing state (and the rotation angle of the link45that rotates along with the elevator35) is approximately 40 degrees. When the operation wire46is no longer pulled, the elevator35and the link45both return to the initial angle. As shown inFIG.4, the elevator35is supported by the first non-circular cross-section portion36aprovided at one end of the shaft member36, the elevator35is rotatably supported by the first bearing and the second bearing, and the support is concentrated on one side (the right side inFIG.4) in the direction along the axis36xrelative to the narrow portion35bof the elevator35. For this reason, a structure for axial support, such as a shaft receiving hole, does not exist on the opposite side of the elevator35(the left side inFIG.4), and the above embodiment is superior in terms of space usage efficiency on side of the elevator35. Specifically, as shown inFIG.4, the image sensor unit30and the air/water feeding tube31are arranged in the region to one side of the elevator35and the first non-circular cross-section portion36a. Furthermore, although not shown, an illumination light guide cable (optical fiber bundle) for emitting light from the distal end portion15is also provided. Also, the ultrasonic signal cable23ais provided below the recession portion24for housing the elevator35, as shown inFIG.6. For this reason, the arrangement positions of the image sensor unit30, the air/water feeding tube31, and the light guide cable are restricted so as to not increase the outer diameter of the distal end portion15. If the shaft member36has an extending portion that extends leftward inFIG.4beyond the first non-circular cross-section portion36aunlike the embodiment shown inFIG.4, there is a risk that this extending portion of the shaft member36, or a portion of the main body40that supports it, interferes with the image sensor unit30and the air/water feeding tube31. If the positions of the image sensor unit30and the air/water feeding tube31are shifted in order to avoid interference, the outer diameter of the distal end portion15increases. In contrast, with the configuration of the embodiment shown inFIG.4, the positions of the image sensor unit30and the air/water feeding tube31are not restricted, and the elevator35can be axially supported to the main body40so as to be capable of swinging via the shaft member36, while also reducing the diameter of the distal end portion15. In the present embodiment, the shaft member35has a structure in which the elevator36is fixed at one end portion of the shaft member35, and therefore rattling tends to easily occur when the elevator36swings, but the shaft member35is supported by two bearings, thus making it possible to prevent the occurrence of rattling. Moreover, the link45for transmitting action force or inputting rotation force is provided between the two bearings, thus making it possible to smoothly transmit action force or input rotation force with little rattling in the portion of the shaft member35that is subjected to the action force or rotation force. The shaft member35is inserted into support holes of the main body40and the lid member50and supported to the main body40and the lid member50by the first bearing and the second bearing, and therefore the elevator36can be reliably swingably arranged at a predetermined position in the main body40. The shaft member36is configured so as to not protrude laterally from one side of the elevator35, and therefore the first opposing wall24aof the housing recession portion24that opposes the leading end of the first non-circular cross-section portion36acan have a flat shape that does not have recessions/protrusions. Contaminants are not likely to adhere to this flat first opposing wall24awhen the ultrasonic endoscope10is used, and even if contaminants become adhered, cleaning can also be performed easily. As described above, the shaft member36is rotatably supported by two bearings that are located on respective sides of the link45(perpendicular line PP), and therefore it is possible to achieve a configuration in which the elevator35is supported at one end of the shaft member36, while also achieving superior support strength and support stability for the elevator35. The shaft support hole42and the shaft support hole54that constitute the two bearings are separately provided in the main body40and the lid member50, and therefore by inserting the shaft member36and the lid member50into the main body40in this order, it is possible to easily assemble the structure in which the shaft member36is rotatably supported on two sides of the link45(perpendicular line PP). Furthermore, in the above embodiment, liquid-tightness in the link housing space41can be easily and reliably obtained by the O rings44and the O ring56that are attached to the outer sides of the shaft member36and the lid member50, which are inserted into the main body40in order. The O rings44prevent outside liquids from flowing from the elevator35side toward the lid member50along the shaft member36, thus making it possible to prevent the intrusion of liquids into the link housing space41. The O ring56prevents outside liquids from flowing from the lid member50side toward the elevator35along the shaft member36, thus making it possible to prevent the intrusion of liquids into the link housing space41. The link45includes the shaft fitting hole45a, which is a non-circular cross-section hole for insertion of the second non-circular cross-section portion36cof the shaft member36, and therefore the link45can transmit operation force or input rotation force to the shaft member36without loss. The second bearing is constituted by the lid member50that is provided at one end of the main body40, and therefore the size of the distal end portion15can be reduced while also ensure sufficient housing space for arrangement of the link45. The outer diameter of the second non-circular cross-section portion36cof the shaft member36at the end on the opening side that opposes the shaft support hole42is larger than the inner diameter of the opening of the shaft support hole42, and therefore the second non-circular cross-section portion36cof the shaft member36is prevented from moving to the side on the first bearing. For this reason, the elevator35, which is fixed to the end of the shaft member36, can be swung while preventing lateral movement along the axis36x. As shown inFIG.4, when the step portion between the large diameter portion52and the small diameter portion51of the lid member50abuts against the step face between the small-diameter hole portion43aand the large-diameter hole portion43bof the main body40, the second non-circular cross-section portion36cis arranged between the end face of the small diameter portion51and the opening of the shaft support hole42in the first support wall41a. In this configuration, the end face of the small diameter portion51is near the side wall of the second non-circular cross-section portion36c. For this reason, the second non-circular cross-section portion36cis prevented from moving toward the two sides in the axis36xdirection in the link housing space41, and it is possible to swing the elevator35while preventing lateral movement toward the two sides in the axis36xdirection. Also, by unscrewing the fitting/holding member60, the lid member50and the shaft member36can be easily removed, and the ultrasonic endoscope10is superior in terms of ease of maintenance after production. Also, the lid insertion space43, which puts the link housing space41into communication with the outside, is closed in a liquid-tight manner with respect to the outside by the lid member50having the large diameter portion52to which the O ring56is attached, and separation of the lid member50from the lid insertion space43is prevented by the fitting/holding member60that is mechanically fitted to the lid member50. The fitting/holding member60can be easily fixed to the main body40with use of the fixing screw67. According to this configuration, liquid-tightness in the link housing space41can be obtained without depending on adhesion, and a decrease in liquid-tightness is not caused by the uneven application of an adhesive or degradation of the adhesive. Also, the lid member50for positioning the shaft member36in the main body40can be fixed to the main body40by the fitting/holding member60, thus making it possible to easily remove the lid member50and the fitting/holding member60after assembly performed without adhesion, and superior ease of maintenance is achieved. The fitting of the fitting/holding member60to the lid member50is achieved by the fitting/holding member60being inserted in a direction that is different from the protruding direction of the protruding portion of the lid member50, which in one embodiment is a direction that transverses the protruding direction. In other words, the lid member50and the fitting/holding member60can each be easily attached to the main body40. The plate-shaped portion61of the fitting/holding member60is fitted into the fitting grooves55of the lid member50and abuts against the second support wall41bof the link housing space41, and therefore movement of the lid member50in the direction of separation can be easily prevented with a simple configuration. At this time, the side faces of the fitting grooves55are flush with the face of the second support wall41bthat surrounds the portion of the lid member50that protrudes into the link housing space41, and therefore the fitting/holding member60can be reliably fixed to the second support wall41b. Furthermore, the portion of the lid member50that protrudes into the link housing space41at this time has the pair of fitting grooves55athat have bottom faces that are substantially parallel with each other, and the plate-shaped portion61of the fitting/holding member60has the fitting recession portion62that has inner surfaces that sandwich the bottom faces of the55aof the fitting grooves55, and therefore the fitting/holding member60can be easily fitted into the fitting grooves55by inserting the fitting/holding member60into the link housing space41along the second support wall41b. When the lid member50is held inside the link housing space41via the fitting/holding member60, the outer surface of the lid member50is substantially flush with the outer surface of the main body40that surrounds the lid member50, and therefore there are no recession portions where liquids can accumulate in this portion. This therefore prevents a situation in which a liquid accumulates in a recession portion and intrudes toward the link housing space41through a gap between the lid member50and the main body40. The fitting/holding member60holds the lid member50, and by the stay coil68being inserted into the coil support hole64, the fitting/holding member60also functions as a member for supporting and guiding the operation wire46in the link housing space41. For this reason, there is no need to separately form a member for supporting and guiding the operation wire46in the link housing space41, and the configuration can be simplified by reducing the number of components, and this further contributes to a reduction in the size of the distal end portion15. A fitting/holding member160according to an embodiment shown inFIG.13has a pin insertion hole75instead of the threaded hole65in the fitting/holding member60according to the embodiment shown inFIG.8. The pin insertion hole75has a conical inner circumferential surface75aaccording to which the inner diameter gradually decreases while extending from the side corresponding to the second support wall41bof the link housing space41to the first support wall41aside. With the exception of the pin insertion hole75, the fitting/holding member160has the same configuration as the fitting/holding member60, and is inserted into the link housing space41similarly to the fitting/holding member60shown inFIGS.6and7. The main body40is provided with a pin passage hole76that is in communication with the pin insertion hole75of the fitting/holding member160when inserted into the link housing space41. A fixing pin77serving as a mechanical fixing mechanism is inserted into the pin passage hole76and the pin insertion hole75in the direction indicated by arrow B inFIG.13. A shaft portion77aof the fixing pin77has a cylindrical outer circumferential surface with a substantially constant outer diameter. At an intermediate position in the pin insertion hole75in the direction from the second support wall41bside, which is the front side in the shaft portion77ainsertion direction, to the first support wall41aside, which is the rear side, the inner diameter of the inner circumferential surface75abecomes smaller than the outer diameter of the shaft portion77a, and the shaft portion77aof the fixing pin77is press-fitted into the pin insertion hole75. The opening portion of the pin passage hole76is a countersink portion76a, and the head portion of the fixing pin77has a conical surface77bthat corresponds to the shape of the countersink portion76a. When the fixing pin77is inserted to a position at which the conical surface77babuts against the bottom face of the countersink portion76a, the fixing pin77is prevented from moving relative to the main body40. As a result, the fitting/holding member160is fastened and fixed to the main body40via the press-fitted fixing pin77. When this fitting/holding member160is fixed, the head portion of the fixing pin77sinks into the pin passage hole76and does not protrude outward from the main body40. Note that according to one embodiment, the outer circumferential surface of the shaft portion77aof the fixing pin77may be preferably press-fitted into the pin insertion hole75even if instead of having a cylindrical shape with a substantially constant outer diameter, it has a conical shape with a taper angle that is smaller than the inner circumferential surface75aof the pin insertion hole75. Although a description has been given above based on the illustrated embodiments, the present invention is not limited to these embodiments. For example, although the illustrated embodiments are applied to an ultrasonic endoscope, the present invention is also applicable to an endoscope other than an ultrasonic endoscope, as long as it has an elevator. As previously described, from the view point of ease of assembly and disassembly, it is preferable that the shaft support hole54is provided in the lid member50, which is separate from the main body40, but according to one embodiment, a configuration is preferable in which the shaft support holes that are circular cross-section holes constituting the first bearing and the second bearing are provided in one member. Also, from the viewpoint of ease in assembly and disassembly, it is preferable that the shaft member36and the link54are separate members as in the illustrated embodiments, but according to one embodiment, it is preferable that the operation wire is connected to a portion of the shaft member that protrudes radially outward, that is to say, the shaft member36and the link54are constituted as a single member, and the shaft member itself has the action point. In the illustrated embodiments, the image sensor unit30and the air/water feeding tube31are arranged in the space formed to one side of the elevator35, but according to one embodiment, it is preferable that other elements are arranged near the side of the elevator at the distal end of the insertion portion. REFERENCE SIGNS LIST 10ultrasonic endoscope11insertion portion12operation portion15distal end portion16bending portion19instrument insertion opening23ultrasonic probe24housing recession portion24afirst opposing wall24bsecond opposing wall24cstep portion24dthird opposing wall26objective window27illumination window28air/water nozzle30image sensor unit31air/water feeding tube32instrument channel35elevator35asupport groove35bnarrow portion35cshaft fitting hole36shaft member36xaxis36afirst non-circular cross-section portion36bfirst circular cross-section portion36csecond non-circular cross-section portion36dsecond circular cross-section portion36eannular groove40main body41link housing space41afirst support wall41bsecond support wall42shaft support hole43lid insertion space43asmall-diameter hole portion43blarge-diameter hole portion44O ring45link45ashaft fitting hole45bconnection portion46operation wire46awire end portion47threaded passage hole50lid member51small diameter portion52large diameter portion53head portion54shaft support hole55fitting groove55abottom face56O ring60,160fitting/holding member60aflat face61plate-shaped portion62fitting recession portion62aopposing face62bconnection face63base portion64coil support hole64acoil abutting face65threaded hole66flange67fixing screw68stay coil70connection portion71covering member75pin insertion hole75ainner circumferential surface76pin passage hole76acountersink portion77fixing pin77ashaft portion77bconical surface

11857164

DETAILED DESCRIPTION OF THE INVENTION First, the invention is described with reference toFIGS.1and2. FIG.1shows a schematic representation of a medical observation device1, such as a microscope or an endoscope. Only by way of example, a microscope shown with a camera system2, in particular, a multi- or hyperspectral camera, which is directed onto an object4. The camera system2captures a field of view6and records electronically coded still images that form the basis of a time series8of input frames10. An input frame10may result from a combination of more than one electronically coded still images or from a single such image. A combination of several images can be used to increase contrast or the depth of the field of view6, e.g. by combining pictures of different layers of the object4as in z-stacking. Additional or alternative combinations may comprise stitching neighboring images, combining images recorded at different wavelengths, such as a visible-light image and an NIR-image, or joining images that have been filtered differently. The object4may in particular be live tissue. The object4has been provided with a bolus of at least one fluorophore12which, after application, starts to spread across the object4. The fluorophore12may be degradable. An illumination system13illuminates at least the field of view6and includes fluorescence excitation wavelengths14that excite fluorescence of the fluorophore12. The fluorescence of the at least one fluorophore12is emitted in fluorescence emission wavelengths15that are recorded by the camera system2preferably in addition to light in the visible-light range. If more than one fluorophore12is used, at least the emission wavelengths15should not overlap, so that the fluorophores12can be distinguished by their color. The time series8of input frames10represents the interaction of the fluorophore12with the object4over time. In live tissue, the fluorophore12will reach the field of view6after a specific time. The intensity of the fluorescent light emitted by the fluorophore12will peak and then decay. The times of arrival of the fluorophore12, of its peak and of its decay are representative for different types of tissue. Typically, three types of blood compartments, namely arterial tissue16, capillary tissue18and venous tissue20may be differentiated. In other applications, a different number of tissues may be needed to be distinguished. Each input frame10contains at least one observation area22which may be a single pixel23or a preferably connected assembly of pixels. Across the input frames10of a time series8, the observation area22is preferably fixed in location with respect to the input frame10. Depending on the type of tissue16,18,20which is mapped onto the observation area22of the input frames10, the fluorescent light intensity exhibits a different variation over time. This is schematically shown by the circular and rectangular areas in the input frames10ofFIG.1. Over time t, different areas become more visible at different times and then decay. If there is more than one observation area22in the input frames10, the observation areas22preferably do not overlap. It is preferred that each input frame10consists of observation areas22that are tiled to cover the complete input frame10. The time series8is analyzed by an image processor26which is part of the medical observation device1or may be used for upgrading an existing medical observation device1. The image processor26is connected to the camera system2via a data transmission line28which may be wired, wireless, or a combination of both. The data transmission line28may be connected to an input section30of the image processor26. The input section30is configured to receive the time series8. The image processor26further comprises a memory section32, in which a set34of component signals36is stored. The set34may comprise e.g. between 10 and 200 component signals, depending on the object, the fluorophore, the lighting conditions and the computational power available. Each component signal36is a discrete or analytic time curve representing the development of fluorescent light intensity I over time tin a specific type of tissue. At least one of time t and intensity I may be a dimensionless and/or normalized quantity. Each component signal36represents the reaction of a different type of tissue to the bolus of the at least one fluorophore12administered at time t0. The different component signals36represent e.g. arterial tissue having arteries of different diameters, venous tissue having veins of different diameters and capillary tissue with capillaries of different diameters. The diameter of the respective vessels, the amount of vessels, and the flow cross section of the tissue in a specific compartment will determine the shape of the component signal36, i.e. the time when the fluorophore12arrives and thus fluorescent light intensity increases, and the rate with which the fluorophore12is washed out from the tissue, i.e. fluorescent light intensity decreases. Each component signal36may have been empirically determined by previous measurements. Different sets34may be used for different fluorophores and/or for different objects4, such as different types of organs. For example, a different set34may be used for brain tissue and for muscle tissue. The image processor26further comprises a computing section38. The computing section38is configured to determine, for each observation area22, the fluorescent light intensity I in one, current, input frame10of the time series8. The fluorescent light intensity I is determined over at least one fluorescence emission wavelength15of the fluorophore12in the observation area22. If, for example, indocyanine green is used as a fluorophore, the fluorescence wavelengths are located between 750 nm and 950 nm. The fluorescent light intensity may be determined in any part of this region and preferably includes the wavelengths between 780 nm and 850 nm where fluorescence is strongest. The fluorescent light intensity I may be computed by summing or integrating the fluorescent light intensity over several emission wavelengths15. As a result, a fluorescent light intensity I1is obtained for the input frame10at time t1. This fluorescent light intensity is also shown inFIG.2although it is not part of the set34. Further, the computing section38is configured to join the fluorescent light intensity, here I1, of the current input frame10with the fluorescent light intensities Inof at least the previous input frames10of the times series8. The fluorescent light intensities Inof the previous frames as well as the frames at a later time are also shown inFIG.2as dots, although, again, they are not part of the set34. The fluorescent light intensities Inof the previous frames are surrounded by a phantom line40for easier identification. The computing section38is adapted to generate a time sequence40by logically joining the fluorescent light intensity I1to the previously determined fluorescent light intensities Inin the observation area22. The computing section38is further configured to decompose the time sequence40into a preferably linear combination of the component signals36in the set34. Thus, the computing section38determines those component signals36which make up the time sequence40in the observation area22. These component signals36are indicative of the type 16, 18, 20 of tissue which is located in the observation area22. The computing section38is further configured to compose a new set34of component signals36from at least a subset of the component signals36in the combination which results in the time sequence40. These steps are then repeated for each observation area22before work is started on the next input frame10using the new set of component signals36. Each observation area22may be assigned a separate set34or a single set34may be used for the complete input frame10. Alternatively, a set34may be shared among a group of observation areas22, wherein each input frame10may comprise a plurality of such groups. At the end of this iterative process, when fluorescence has decayed in the object, a final set42ideally comprises only those component signals36which are indicative of the type 16, 18, 20 of tissue in the respective observation area22. The weight of the component signals36of the final42set needed to build the time sequence40at a particular observation area22is indicative of the prevalence of the respective type 16, 18, 20 of tissue in the respective observation area22. The image processor26further comprises an image generator section44which is configured to generate an output frame46from at least one input frame10of the time series8, preferably the input frame10which has just been analyzed by the computing section38, and from the observation area22. A pseudocolor is assigned by the image generator section44to the observation area22, the pseudocolor depending on the combination of component signals36in the respective observation area22, or of their weight respectively. For example, using an RGB-color space, the color red may be used for the component signal designating arterial issue, the color green for the component signal designating capillary tissue and the color blue for the component signal designating venous tissue. The color of the observation area is then determined by the mixture of red, green and blue which corresponds to the respective weights of the three component signals. Finally, the image processor26may comprise an output section for outputting the output frame46. The medical observation device1may comprise a display50, which is connected to the output section48and in which the output frame46may be displayed. In the output frame46in the display50, the different pseudocolors of the type 16, 18, 20 of tissue are schematically depicted as a different filling and hatching. InFIG.3, the steps that may be carried out by the various elements of the medical observation device1are shown. In a first step54, the set34of component signals36is provided. The set34of component signals36may be generated before or during carrying out the method and may be preferentially stored. Next, in step56, the time series8of input frames10is accessed sequentially. This access may be performed in real time, as explained above. In step58, the fluorescent light intensity I in the observation area22is determined. The process may, in one configuration, only proceed to the next step60if the fluorescent light intensity I in the observation area22in the current input frame10exceeds a lower fluorescence threshold IT1(FIG.2) and/or is below an upper fluorescence intensity threshold IT2(FIG.2). Once this criterion is met, the observation area22may undergo the iterative process until the fluorescent light intensity I in the observation area22falls below a decay threshold IT2The decay threshold IT2may be the same as or be higher or lower than the lower intensity threshold IT1. A threshold may be assumed to have been passed if the intensity exceeds or falls below the threshold in a single input frame, in a predetermined number of preferably subsequent previous input frames and/or if the average fluorescent light intensity I in the observation area computed over a predetermined number of input frames falls below or exceeds the respective threshold. If the threshold criterion with regard to IT1and IT2is met, the fluorescent light intensity I1in the current input frame10is joined with the fluorescent light intensities Inin the observation area22of the preceding input frames10so that the time sequence40is generated. The time sequence40may, in step62, undergo post processing, e.g. the time sequence40may be smoothed, a curve-fit may be computed, normalization and/or a band- or low-pass filtering may be carried out. In the next iterative process step64, the time sequence40is decomposed into the best-fitting combination of component signals36of the set34. The best fit may be computed for example using an RMS algorithm. Steps54to64may, in one variant, be repeated for all or several observation areas22in the input frames10, before the next step is performed. Alternatively, the process first goes to the next step66before working on another observation area22of the input frame10. In the next step66, the combination of component signals36in one of the observation areas22, some observation areas or all observation areas of the input frame10is analyzed. A new set34is composed only of those component signals36which are strongest in the particular combination of a single observation area22or in the combinations of a plurality of observation areas22. For example, only those component signals are retained of which the weight exceeds a weight threshold. If more than one observation area is used, the average weight across a plurality of observation areas may be used. The average may also be computed over time from previous input frames. Cumulatively or alternatively, only a predefined number of the strongest component signals may be retained. Further, only those component signals36may be retained in the new set, of which the frequency of occurrence P, across a plurality of observation areas22, preferably all observation areas22, exceeds a prevalence threshold T (FIG.1). The aim in this step is to reduce the number of component signals in the set34for the next input frame. In this step, it is assumed that component signals that are weak and/or do not occur frequently result from noise and errors. The weight of each component signal36in at least the latest combination of component signals36of the new set34may be stored, e.g. in the memory section. The set34which has been provided at step54is then replaced by the new set34and the process starts again with the next input frame or the next observation area22in the current input frame10. As already stated above, the method allows to maintain different sets34for different fluorophores12and/or observation areas22. If a single set34is maintained for all the observation areas22in an input frame10, then the number of component signals36will be high, as it can be expected that a variety of tissues is contained in an input frame10. As each component signal36represents a different type of tissue, a larger number of component signals36is needed to represent the part of the object4which is mapped onto the input frames10. In this case, it is the weight of the various component signals36in a single observation area22that is indicative for the type of tissue prevalent in this observation area22. The computational effort needed for this method is comparatively low as there is only a single set34. However, due to the large number of component signals36in the set34, there is the risk that in some observation areas22, the wrong combination of component signals36is computed. This source of error can be avoided at the expense of computational effort if a plurality of sets34is maintained for the input frames10. In the extreme, every observation area22may have its own set34. In this case, the component signals36in the set34are indicative of the tissue types 16, 18, 20 in the respective observation area22and the weight of the respective component signal36in the combination is indicative of the prevalence of the tissue in the observation area22. In a balanced approach, a set of observation areas22may share a common set34. Such groups of observation areas22may be e.g. classified by the time when the fluorescence intensity threshold IT1(FIG.2) has been exceeded. By defining two or more time intervals, these groups may be easily identified. As a further measure, a break-off or cut-off criterion may be defined for each observation area22. When this criterion is met, the iterative process is stopped for this particular observation area22and the latest weights of the component signals36of the new set in the last combination of component signals is stored for later analysis. Further, the output frame46may be generated in a step68and, in step70, displayed in the display50. The steps68and70need not to be carried out every time the iterative process steps58to66have been computed, i.e. for every input frame10of the time series8, but can be performed at predetermined time intervals. Preferably, however, the iterative process steps58to66are carried out in real time, i.e. at the same rate as the input frames10are received. The access to the input frames10at step56preferably occurs at a frame rate which is faster than the flicker frame rate, i.e. the frame rate which is required for a smooth rendition of a video sequence for the human eye. Typically, the flicker frame rate is faster than 26 Hz. The output frames46are preferably also generated in the same frequency as the frame rate. Of course, the process described above may also run as a batch process on a recorded video sequence. FIG.4illustrates the decomposing of a time sequence40into two or more component signals36which are shown as discrete-time functions g(t), h(t), x(t), y(t), z(t). The time sequence40can be expressed as a combination72of these functions. For the functional decomposition of the time sequence40, the closest approximation of f(t) is computed such that f(t)≈a·g(t)+b·h(t)+c·x(t)+d·y(t)+e·z(t) holds. As the time sequence40consists of a plurality of sample points52, the weights a to e can be accurately determined by various standard algorithms such as an RMS approximation. In the left-hand part ofFIG.4, the time sequence40is shown to have been successfully decomposed in two component signals g(t) and h(t), each having the same normalized weight e.g. a=b=1. The functions for component signals g(t) and z(t) do not contribute to the time sequence, d=e=0. the function x(t) has only a very small weight which is below a weight threshold W, c<W, and thus will be considered as resulting from noise. In the middle part ofFIG.4, the weight of the function g(t) is half of the weight of the function h(t) in order to best approximate the function f(t). This situation is reversed in the right-hand part ofFIG.4, where the weight of the function h(t) is only half the weight of the function g(t). REFERENCE NUMERALS 1medical observation device2camera system4object6field of view8time series10input frame12fluorophore13illumination system14fluorescence excitation wavelengths15fluorescence emission wavelengths16arterial tissue18capillary tissue20venous tissue22observation area23pixel26image processor28data transmission line30input section32memory section34set of component signals36component signal38computing section40time sequence42final set of input sections44image generator section46output frame48output section50display52sample points54,56,58,60,62,64,66,68,70process steps72combination of component signalsa,b,c,d,e weightsf,g,h,x,z,y discrete time functionsI fluorescent light intensityI1fluorescent light intensities at time t1in a specific observation areaIT1, IT2, IT3thresholds for the fluorescent light intensityIntime sequence of fluorescent light intensities in a specific observation area over timeP frequency of occurrence of component signalT prevalence thresholdt timet0time of application of fluorophore to objectt1specific timeW weight threshold

11857165

DETAILED DESCRIPTION In the drawings, the same or similar elements and/or parts are provided with the same reference numbers in each case; a reintroduction will therefore always be omitted. FIG.1is a schematic representation of an endoscopic imaging system10in an operation situation. An examination in which a structure6having a predefined characteristic is discovered, for example an intestinal polyp, bleeding, a perfused blood vessel, etc., is carried out by means of a video endoscope20in a body cavity4of a body2of a patient. The video endoscope20comprises an endoscope shaft22on a handle28, on the distal end of which shaft22a CMOS image sensor26is arranged behind an entry lens24and an optical system not shown here. Alternatively, the video endoscope20may also be configured as a combination of a conventional endoscope with a camera head having the CMOS sensor attached to a proximal portion of the handle28. The video endoscope20is connected to a light source unit30, which may also be part of the video endoscope20or, alternatively, part of a control device of the endoscopic imaging system10. The light source unit30, having various light sources and filter units, is configured to generate white light and special light alternately according to one or more special light illumination procedures, which light is directed through the video endoscope20into the body cavity4and illuminates the examination surroundings. The imaging system10further comprises an image evaluation unit40and a control unit50, which are also connected to the light source unit30and to the video endoscope20, as well as a display device60, which is connected to the image evaluation unit40. The various components, such as, the image evaluation unit40and the control unit50, are configured to carry out the method for endoscopic imaging. For this purpose, they are equipped with program code that perform the image evaluation and control. The evaluation unit40and control unit50, although shown separately in the Figures, may be configured from a single controller. FIG.2shows the imaging concept in schematic form. The imaging and image acquisition are based on the capture of white light images42that are subjected to evaluation by means of the image evaluation unit40. A white light image42of this kind may for example have a HD resolution and is generated from the light source unit30under white light illumination. If the white light image42comprises a structure6having a predefined characteristic, for example the characteristic of a perfused vessel, bleeding, an intestinal polyp, etc., the image evaluation unit40identifies the subregion44of the white light image42that contains the structure6. Because a structure6was detected, special light illumination for special light imaging is set for the following image and the CMOS sensor26is read out only in the subregion44. A representation, such as, false-color representation, of the read-out subregion44is superimposed at the correct position on the white light image42as a special light image46, producing a composite image48that is displayed to the treating physician on the display device60. The composite image48may be part of a video stream in the special light imaging mode, in which in each case pairs of white light images and special light images are captured and combined or used as an individual image for closer examination and for documentation. In the case of a video stream in the special light imaging mode, each white light image can be analyzed and the subregion44can be redetermined, since the video endoscope20and the structure6can move relative to one another. The selection of the specific special light imaging mode can be done either a priori by the doctor, who is for example carrying out a specific examination, for example a colonoscopy, in which only one special light imaging mode is relevant, or an image evaluation algorithm in the image evaluation unit40can decide which special light imaging mode is selected based on the structure6found. A selection algorithm of this kind may for example be based on neural networks that have been trained using previously captured white light images having the corresponding structures in order to identify and classify the corresponding structures and the respectively optimal special light imaging modes. FIG.3is an exemplary flow diagram for a method for endoscopic imaging It begins with the capture of a white light image42(method step100), which is then analyzed to check for the presence of a structure6having a predefined characteristic (method step102). If no structure6is found, the white light image42is displayed as such (method step104) and a new white light image42is captured (method step100). If a structure6is in fact found in the white light image42, the subregion44in which the structure6is located in the white light image42is identified. Subsequently, a preset or suitable special light imaging mode with corresponding special light illumination is set (method step106), an image is captured under the special light illumination that has been set and the image data of the CMOS image sensor26are read out only in the subregion44and further processed as a special light image46(method step108). The special light image46is then superimposed on the white light image42and displayed as a composite image48(method step110). The process is repeated from method step100until the examination is complete or until the examination mode is terminated. While there has been shown and described what is considered to be preferred embodiments of the invention, it will, of course, be understood that various modifications and changes in form or detail could readily be made without departing from the spirit of the invention. It is therefore intended that the invention be not limited to the exact forms described and illustrated, but should be constructed to cover all modifications that may fall within the scope of the appended claims LIST OF REFERENCE NUMBERS 2Body4Body cavity6Structure10Endoscopic imaging system20Video endoscope22Endoscope shaft24Entry lens26CMOS image sensor28Handle30Light source unit40Image evaluation unit42White light image44Subregion46Special light image48Composite image50Control unit60Display device100Capture of the white light image102Analysis of the white light image104Display of the white light image106Setting of a special light imaging mode108Capture of a special light image110Generation and display of a composite image

11857166

DETAILED DESCRIPTION Hereinafter, as modes for carrying out the present disclosure (hereinafter, referred to as an “embodiment”), an endoscope system including an imaging unit will be described. The present disclosure is not limited by the embodiment below. Further, in description of the drawings, the same components are denoted by the same reference symbols. Furthermore, it is necessary to note that the drawings are schematic, and relations between thicknesses and widths of the components, ratios among the components, and the like may be different from actual ones. Moreover, the drawings may include portions that have different dimensional relations or ratios. FIG.1is a diagram schematically illustrating an overall configuration of an endoscope system1according to an embodiment. As illustrated inFIG.1, the endoscope system1according to the embodiment includes an endoscope2that is inserted into a subject, that captures an in-vivo image of the subject, and that generates an image signal inside the subject, an information processing device3that performs predetermined image processing on the image signal captured by the endoscope2and controls each of components of the endoscope system1, a light source device4that generates illumination light of the endoscope2, and a display device5that displays an image of the image signal that has been subjected to the image processing by the information processing device3. The endoscope2includes an insertion portion6that is to be inserted into the subject, operating unit7that is arranged on a proximal end portion side of the insertion portion6and that is gripped by an operator, and a flexible universal cord8that is extended from the operating unit7. The insertion portion6is realized by an illumination fiber (light guide cable), an electrical cable, an optical fiber, and the like. The insertion portion6includes a distal end portion6ain which an imaging unit (to be described later) is incorporated, a bending portion6bthat is configured with a plurality of bending pieces and that is freely bendable, and a flexible tube portion6cthat is arranged on a proximal end portion side of the bending portion6b. In the distal end portion6a, illumination channels, which are communicated with illumination fibers for illuminating the inside of the subject via an illumination lens, and a treatment tool channel, in which a treatment tool is inserted, are arranged. The operating unit7includes a bending knob7athat causes the bending portion6bto bend in the vertical direction and in the horizontal direction, a treatment tool insertion portion7bthrough which a treatment tool, such as a biopsy forceps or a laser scalpel, is inserted into a body cavity of the subject, and a plurality of switch portions7cfor performing operation on peripheral devices, such as the information processing device3, the light source device4, an air supply device, a water supply device, and a gas supply device. The treatment tool inserted through the treatment tool insertion portion7bis exposed from an opening at a distal end of the insertion portion6via the treatment tool channel that is arranged inside the insertion portion6. The universal cord8is configured with an illumination fiber, a cable, and the like. The universal cord8is branched at a proximal end thereof such that an end portion of one branch serves as a connector8aand a proximal end of the other branch serves as a connector8b. The connector8ais freely attachable to and detachable from a connector of the information processing device3. The connector8bis freely attachable to and detachable from the light source device4. The universal cord8propagates illumination light emitted by the light source device4to the distal end portion6avia the connector8band the illumination fiber. Further, the universal cord8transmits an image signal captured by the imaging unit (to be described later) to the information processing device3via a cable and the connector8a. The information processing device3performs predetermined image processing on the image signal output from the connector8aand controls the entire endoscope system1. The light source device4is configured with a light source that emits light, a condenser lens, and the like. The light source device4emits light from the light source and supplies the light as illumination light for illuminating the inside of the subject as an imaging object to the endoscope2that is connected via the connector8band the illumination fiber in the universal cord8, under the control of the information processing device3. The display device5is configured with a display or the like made with liquid crystal or organic electro luminescence (EL). The display device5displays, via a video cable5a, various kinds of information including an image that is subjected to the predetermined image processing by the information processing device3. Therefore, an operator is able to observe a desired position inside the subject and determine symptoms at the position by operating the endoscope2while viewing the image (in-vivo image) displayed by the display device5. An imaging unit100used in the endoscope system1will be described in detail below.FIG.2is a perspective view of the imaging unit100that is arranged in the distal end portion6aof the endoscope2illustrated inFIG.1.FIG.3is an exploded perspective view of the imaging unit100illustrated inFIG.2. In the present specification, a side at the distal end portion6aof the endoscope2will be referred to as a distal end side, and a side at which cables50are extended will be referred to as a proximal end side. The imaging unit100includes an optical system10that includes a plurality of lenses10ato10c, a semiconductor package20that includes, on a front surface thereof, an imaging element configured to convert an optical image formed by the optical system10to an image signal and includes, on a back surface thereof, four connection terminals23ato23dto which a power supply function, a grounding function, a first communication function, and a second communication function are respectively assigned, a rigid substrate30that includes, on a front surface thereof, four connection lands31ato31d(seeFIG.5, where31band31dare not illustrated) respectively connected to the four connection terminals23ato23dand includes, on a back surface thereof, an electronic component mount region R1in which two second connection lands33aand33bfor mounting a capacitor60are formed and an inner lead mount region R2in which four third connection lands34ato34dare formed, and a flexible printed board40that includes four inner leads41ato41d, which are extended from one end of the flexible printed board40in a bent manner and respectively connected to the third connection lands34ato34din the inner lead mount region R2, includes four cable connection lands42ato42d, which are arranged on the other end of the flexible printed board40and respectively connected to the four inner leads41ato41d, and extends in an optical axis direction of the imaging element. The lenses10ato10chave rectangular outer shapes that are approximately the same as a shape of the semiconductor package20(to be described later), and are bonded together with optical adhesive or held by a lens frame (not illustrated). The semiconductor package20is configured such that a cover glass22is attached to an imaging element21. Light that has entered the objective optical system10enters the front surface (light receiving surface) of the imaging element21via the cover glass22. The connection terminals23ato23dand bump24formed with solder or the like are formed on a back surface of the light receiving surface of the imaging element21. It is preferable that the semiconductor package20is a chip scale package (CSP) that is obtained by performing wiring, electrode formation, resin sealing, and dicing on an imaging element chip at a wafer level such that the resulting size of the imaging element chip is the same as the size of the semiconductor package20. The optical system10and the semiconductor package20are bonded together with optical adhesive or held and fixed via a lens barrel (not illustrated). The power supply function, the grounding function, the first communication function, and the second communication function are respectively assigned to the connection terminals23a,23b,23c, and23d. The connection terminals23aand23bhaving the power supply function and the grounding function are arranged side by side. As illustrated inFIG.3, in the embodiment, the connection terminal23ain the upper left of the back surface of the semiconductor package20is used as a power supply terminal, the connection terminal23bin the upper right is used as a ground terminal, the connection terminal23cin the lower left is used as a first communication terminal, and the connection terminal23din the lower right is used as a second communication terminal. The first communication terminal and the second communication terminal are video signal output terminals or clock signal input terminals. The rigid substrate30has a rectangular plate shape that is approximately the same as the shape of the semiconductor package20in the optical axis direction, and is configured with a ceramic substrate or a silicon substrate. The silicon substrate may include a circuit or a capacitor. The rigid substrate30includes, on the front surface side thereof, the four first connection lands31ato31d(seeFIG.5, where31band31dare not illustrated) that are respectively connected to the four connection terminals23ato23dvia the bumps24in the semiconductor package. Further, the rigid substrate30includes, on the back surface side, the electronic component mount region R1in which the two second connection lands33aand33bfor mounting the capacitor60and the inner lead mount region R2in which the four third connection lands34ato34dare formed. The third connection lands34ato34dare arranged along one side of the rigid substrate30in the inner lead mount region R2. The second connection lands33aand33bare connected to the first connection lands31aand31bthrough vias32aand32b. As illustrated inFIG.4andFIG.5, the second connection lands33aand33bare formed just above the first connection lands31aand31b(overlapping positions in the optical axis direction), and are connected to the first connection lands31aand31bat minimum distances through the vias32aand32b. The capacitor60is connected to the connection terminals23aand23bat minimum distances through the second connection lands33aand33b, the vias32aand32b, the first connection lands31aand31b, and the bumps24, so that it is possible to stably drive the imaging element21. The third connection lands34aand34bare connected to the first connection lands31aand31bthrough the vias32aand32band wires (not illustrated). The third connection lands34cand34dare connected to the first connection lands31cand31dthrough vias32cand32d. As illustrated inFIG.4andFIG.5, the third connection lands34cand34dare formed just above the first connection lands31cand31d(overlapping positions in the optical axis direction), and connected to the first connection lands31cand31dat minimum distances through the vias32cand32d. The flexible printed board40includes the four inner leads41ato41dthat are extended in a bent manner from one end of the flexible printed board40, and the four cable connection lands42ato42darranged on the side opposite to the side where the inner leads41ato41dare extended. The flexible printed board40extends in the optical axis direction of the imaging element21. The inner leads41a,41b,41c, and41dare respectively connected to the third connection lands34a,34b,34c, and34dwith conductive materials, such as solder (not illustrated). The cable connection lands42a,42b,42c, and42dare respectively connected to the inner leads41a,41b,41c, and41dwith wires (not illustrated). Core wires51of cables50a,50b,50c, and50dare respectively connected to the cable connection lands42a,42b,42c, and42dwith conductive materials, such as solder (not illustrated). The cable50ais connected to the connection terminal23a, which serves as the power supply terminal, via the cable connection land42a, the inner lead41a, the third connection land34a, the second connection land33a, the via32a, and the first connection land31a. The cable50ais a power supply cable for supplying a power source to the capacitor60and the imaging element21. The cable50bis connected to the connection terminal23b, which serves as the ground terminal, via the cable connection land42b, the inner lead41b, the third connection land34b, the second connection land33b, the via32b, and the first connection land31b. The cable50cis connected to the connection terminal23c, which serves as the first communication terminal, via the cable connection land42c, the inner lead41c, the third connection land34c, the via32c, and the first connection land31c. The cable50cis an image signal transmission cable for transmitting the image signal generated by the imaging element21. The cable connection land42cand the inner lead41care connected to each other at a minimum distance in the flexible printed board40, and are also connected to the connection terminal23cat a minimum distance in a projection plane in the optical axis direction of the semiconductor package20; therefore, it is possible to transmit the image signal with reduced noise. The cable50dis connected to the connection terminal23d, which serves as a clock signal input terminal, via the cable connection land42d, the inner lead41d, the third connection land34d, the via32d, and the first connection land31d. The cable50dis a clock signal transmission cable for transmitting a clock signal to the imaging element21. The cable connection land42dand the inner lead41dare connected to each other at a minimum distance in the flexible printed board40, and are also connected to the connection terminal23dat a minimum distance in the projection plane in the optical axis direction of the semiconductor package20. The third connection lands34cand34dare formed just above the first connection lands31cand31d, connected to the first connection lands31cand31dat minimum distances through the vias32cand32d, and connected to the cables50cand50dby the inner leads41cand41dand the cable connection lands42cand42d. The image signal and the clock signal are transmitted at short distances, so that it is possible to obtain an image signal with reduced noise. In the imaging unit100, the inner leads41ato41dextending from an end surface of the flexible printed board40are connected in a bent manner to the third connection lands34ato34d, so that the flexible printed board40extends in the projection plane in the optical axis direction of the semiconductor package. Further, the cables50ato50dare connected to the cable connection lands42ato42don the other side of the flexible printed board40that extends in the optical axis direction, and are arranged in the projection plane in the optical axis direction of the semiconductor package. Therefore, it is possible to reduce a diameter of the imaging unit100and ensure connection areas of the cables50ato50c, so that even when stress is applied to connection portions in accordance with operation of the bent portions, it is possible to maintain connection reliability. An imaging unit according to the present disclosure is useful for an endoscope system whose diameter needs to be reduced. According to the present disclosure, it is possible to stably drive an imaging element and reduce diameters of an imaging unit and an endoscope. Additional advantages and modifications will readily occur to those skilled in the art. Therefore, the disclosure in its broader aspects is not limited to the specific details and representative embodiments shown and described herein. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

11857167

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention is described with reference to drawings. In the description made hereinafter, drawings based on the following embodiment are schematic views. Accordingly, note that a relationship between a thickness and a width of each portion, a ratio between thicknesses of respective portions and the like differ from the corresponding relationships of portions of an actual image pickup unit and an endoscope. There may be a case where portions of the actual image pickup unit and the endoscope are described with different size relationship or different ratios between the drawings. First, an endoscope according to a mode of an embodiment of the present invention is described hereinafter with reference to drawings. Although the description is made hereinafter by exemplifying a rigid endoscope where an insertion section is rigid, the present invention is not limited to such a case, and is a technique also applicable to a flexible endoscope where an insertion section is formed of a flexible tube. The endoscope according to a mode of the present invention is described. FIG.1is a perspective view showing an overall configuration of the endoscope.FIG.2is a cross-sectional view showing an inside of a distal end portion of an insertion section.FIG.3is a cross-sectional view showing a configuration of an image pickup unit.FIG.4is a perspective view of the image pickup unit as viewed from a distal end side.FIG.5is a perspective view of the image pickup unit as viewed from a proximal end side.FIG.6is a top plan view showing a configuration of the image pickup unit.FIG.7is a left side view of the configuration of the image pickup unit.FIG.8is a bottom plan view showing the configuration of the image pickup unit.FIG.9is a front view showing the configuration of the image pickup unit.FIG.10is a back view showing the configuration of the image pickup unit.FIG.11is a perspective view of a substrate barrel as viewed from a distal end side.FIG.12is a front view showing a configuration of the substrate barrel.FIG.13is a perspective view of the substrate barrel as viewed from a proximal end side.FIG.14is a back view showing the configuration of the substrate barrel.FIG.15is a partial cross-sectional view of a distal end portion on which the image pickup unit is mounted provided for describing a state where a current such as a high frequency current or static electricity is applied. As shown inFIG.1, an endoscope1mainly includes a long insertion section2, an operation section3connected to a proximal end of the insertion section2, a light guide connector4connected to a light source device not shown, and a video connector5connected to a video system center not shown. In the endoscope1, the operation section3and the light guide connector4are connected to each other via a flexible cable6as a universal cord, and the light guide connector4and the video connector5are connected to each other via a communication cable7. The insertion section2is formed by mainly connecting a distal end portion11formed of a metal member made of stainless steel or the like, a bending portion12and a rigid tube13formed of a metal tube made of stainless steel or the like in this order. The insertion section2forms a portion inserted into a body. Cables which supply a power source and allow communication using control signals such as image pickup signals, a light guide which guides an illumination light and the like are incorporated in the insertion section2. In the operation section3, an angle lever14as a bending operation member for operating the bending portion12by a remote control and various switches16which operate a light source device (not shown), a video system center (not shown) and the like are disposed. The angle lever14is bending operation means which can operate the bending portion12of the insertion section2in two directions, that is, upward and downward directions. The operation section3may include two angle levers14so that the bending portion12is bendable in four directions, that is, upward, downward, leftward, and rightward directions. The bending portion12of the insertion section2includes a bending tube not shown. The bending tube is bendably operated by bending operation wires (not shown) which are towed or slackened by the angle lever14. The bending portion12includes a bending rubber12awhich covers the bending tube as an outer skin. The distal end portion11of the insertion section2includes a distal end barrel26made of metal such as stainless steel which fits in an exterior barrel21formed using metal such as stainless steel. An image pickup unit30, and a light guide23where an illumination lens22which is an illumination optical system is disposed on a distal end of the light guide23are inserted into and fixed to the distal end barrel26. An observation window24and an illumination window25made of glass, a transparent resin or the like are disposed on a distal end surface of the exterior barrel21. The configuration of the image pickup unit30according to the embodiment is described in detail. As shown inFIG.3toFIG.10, the image pickup unit30includes: a lens hold barrel31which is disposed on a distal end side of the image pickup unit30, and is a cylindrical metal barrel formed using metal such as stainless steel; and a substrate barrel32which is connected to a proximal end of the lens hold barrel31, in which an image sensor is disposed, and which has insulation property. An objective lens group37including an objective lens36disposed on a most distal end is held in the lens hold barrel31. A plurality of spacer tubes38which adjust distances in the objective lens group37are disposed in the lens hold barrel31. The lens hold barrel31is inserted into the substrate barrel32, and fixed to the substrate barrel32by an adhesive agent or the like at an adjustment position where the image pickup unit30satisfies a predetermined optical performance. In the substrate barrel32, an image sensor61which is a tip size package (CSP) and receives an optical image is disposed. A cover glass62is disposed on a surface of the image sensor61. The image sensor61is connected to a plurality of electrodes62and a ground (GND) electrode63which are formed in the substrate barrel32in a penetrating manner. In the embodiment, the substrate barrel32is a case-shaped substrate which is formed of a molded interconnect device (MID) (also referred to as a circuit formed product, a stereoscopic circuit part). The substrate barrel32is not limited to a circuit formed product, but may be a product where wires, through holes, terminal portions and the like are mounted on an insulation barrel formed using a resin, ceramic, glass or the like. The substrate barrel32may be formed such that a cutout is formed in a portion of a side wall. The substrate barrel32includes: a cylindrical portion33to which the lens hold barrel31is bonded; a rectangular barrel portion34having a block shape formed on a proximal end of the cylindrical portion33; and a wiring portion35having a rectangular block shape formed on a proximal end of the rectangular barrel portion34. A metal PAD portion51which forms an electric conductive path is continuously formed as a pattern on the substrate barrel32covering a distal end surface33aof the cylindrical portion33, a side surface33band a proximal end surface33cforming an outer peripheral surface, and one side surface34aand a proximal end surface34bof the rectangular barrel portion34. The metal PAD portion51is formed on a surface of the substrate barrel32, and a thickness of the metal PAD portion51in an outer diameter direction is approximately a plating thickness. The metal PAD portion51is formed in a spaced-apart manner from the lens hold barrel31with a predetermined creepage distance A on the distal end surface33aof the cylindrical portion33(seeFIG.3,FIG.4,FIG.7,FIG.9and the like). In other words, the metal PAD portion51is electrically non-conductive with the lens hold barrel31made of metal. The predetermined creepage distance A is a distance which ensures insulation property between the metal PAD portion51and the lens hold barrel31, and enables discharging of a current such as a leak current or static electricity from a high frequency treatment instrument or the like used together with the endoscope1between the metal PAD portion51and the lens hold barrel31. The metal PAD portion51is electrically connected to the GND electrode63formed on the wiring portion35of the substrate barrel32(seeFIG.3). The plurality of electrodes62and the GND electrode63are formed on the wiring portion35of the substrate barrel32in an exposed manner. In the wiring portion35, a plurality of wires41and a ground wire42of the cable40are connected to the plurality of electrodes62or the GND electrode63. An adhesive agent, a resin agent or the like not shown covers a periphery of the image pickup unit30and is solidified so as to reinforce connecting portions between the wiring portion35of the substrate barrel32and the wires41and the ground wires42of the cable40. The image pickup unit30ensures mechanical durability by disposing the image sensor61in the substrate barrel32. As shown inFIG.11andFIG.12, an opening portion39having circular cross section is formed in the substrate barrel32on a distal end side of the cylindrical portion33. The lens hold barrel31is inserted into the opening portion39, is optically positioned, and is fixed. In the embodiment, in the substrate barrel32, a plurality of electrodes, i.e., five electrodes62and one GND electrode63protrude from an inner wall surface44which forms a bottom portion in the cylindrical portion33. The inner wall surface44forms a surface approximately perpendicular to a photographing optical axis. Five electrodes62and one GND electrode63which protrude from the inner wall surface44are electrically connected to terminals of the image sensor61when the image sensor61is mounted on the substrate barrel32. The image sensor61is disposed in the substrate barrel32with a predetermined insulation distance B provided between the image sensor61and the metal PAD portion51formed on an outer surface of the substrate barrel32(seeFIG.3). By providing the predetermined insulation distance B in this manner, even when a current such as a high-frequency leak current or static electricity is discharged to the metal PAD portion51, a current from the outside is not applied to the image sensor61. Further, discharging of a current from the image sensor61to the metal PAD portion51is also prevented. Five electrodes62and the GND electrode63are formed such that the electrodes penetrate into the rectangular barrel portion34through the inner wall surface44. As shown inFIG.13andFIG.14, the electrodes62and the GND electrode63extend to be exposed at four corners of the wiring portion35and at centers of upper and lower portions of the wiring portion35. As described above, the plurality of wires41and the ground wire42of the cable40are electrically connected by soldering or the like to five electrodes62and the GND electrode63exposed on the wiring portion35. The GND electrode63is disposed at the center of the upper portion of the wiring portion35, and the metal PAD portion51is electrically connected to the GND electrode63. Further, the ground wire42of the cable40is connected to the GND electrode63. The ground wire42of the cable40is connected to a patient GND. In other words, the metal PAD portion51is electrically connected to the patient GND by the ground wire42connected to the GND electrode63. In the image pickup unit30having the above-mentioned configuration, as shown inFIG.15, there may be a case where in a state where the image pickup unit30is mounted on the distal end portion11of the endoscope1, a current E from the outside such as a leak current from a high frequency treatment instrument used together with the endoscope1or static electricity is applied to the exterior barrel21made of metal, and the current E flows into the lens hold barrel31made of metal through the distal end barrel26. In this case, the current E which flows into the lens hold barrel31of the image pickup unit30is discharged to the metal PAD portion51of the substrate barrel32from the lens hold barrel31, flows into the metal PAD portion51and the GND electrode63, and eventually flows into the patient GND from the ground wire42connected to the GND electrode63. In this manner, the image pickup unit30is configured such that the metal PAD portion51which is a conductive path provided as a countermeasure for leaked electricity and static electricity is formed on an outer peripheral surface of the substrate barrel32which is formed on the lens hold barrel31made of metal by an insulation material, and the metal PAD portion51is electrically connected to the ground wire42. Accordingly, conventionally, the image pickup unit30requires a reinforcing barrel made of metal or the like around the image pickup unit30for ensuring mechanical durability. However, in this embodiment, the image pickup unit30is configured such that mechanical durability is ensured by disposing the image sensor61in the substrate barrel32, and it is possible to prevent an excessively large current E such as a leak current from a high frequency treatment instrument or the like, or static electricity from flowing into the image sensor61. With such a configuration, compared to the prior art, in the image pickup unit30, a reinforcing barrel, a jumper wire and the like become unnecessary and hence, the number of parts can be reduced whereby assembling property of the image pickup unit30can be enhanced. Further, the reduction in the number of parts enables miniaturization of the image pickup unit30. As has been described above, the image pickup unit30according to the embodiment has an advantage that the image pickup unit30contributes to the miniaturization of the distal end portion11of the insertion section2of the endoscope1. In mounting the image pickup unit30on the distal end portion11of the insertion section2, the GND electrode63mounted on the substrate barrel32is fixed to the distal end barrel26such that the predetermined insulation distance B or more (B is provided from the exterior barrel21made of metal (seeFIG.15). The image pickup unit30is mounted on the distal end portion11such that the distance between the inner surface of the exterior barrel21and the outer surface of the lens hold barrel31has a predetermined creepage distance A which ensures insulation property, and can discharge a current E such as a leak current from high frequency treatment instrument or the like or static electricity between the metal PAD portion51and the exterior barrel21. In the image pickup unit30, the substrate barrel32is formed of an insulation member and hence, the image pickup unit30can be disposed in the distal end portion11even in a state where the substrate barrel32is brought into contact with the exterior barrel21made of metal. (Modification) The endoscope1and the image pickup unit30according to the embodiment may be formed as various modifications described hereinafter. (First Modification) FIG.16is a partial cross-sectional view of a distal end portion on which an image pickup unit is mounted provided for describing a state where a current such as a high frequency current or static electricity is applied in a first modification. As shown inFIG.16, an image pickup unit30can be mounted on a distal end portion11provided that a distance between an inner surface of an exterior barrel21and a metal PAD portion51formed on a substrate barrel32is a predetermined creepage distance A or more (A) which ensures insulation property, and by which a current E such as a leak current from high frequency treatment instrument or the like or static electricity between the metal PAD portion51and the exterior barrel21can be discharged. (Second Modification) FIG.17is a partial cross-sectional view of a distal end portion on which an image pickup unit is mounted provided for describing a state where a current such as a high frequency current or static electricity is applied in a second modification. FIG.17shows a case where a hold tube27made of metal such as stainless steel which holds an illumination lens22and a light guide23is disposed on a distal end portion11of an endoscope1. In this case, an image pickup unit30can be mounted on the distal end portion11such that a distance between an outer surface of the hold tube27and a metal PAD portion51formed on a substrate barrel32is a predetermined creepage distance A which ensures insulation property, and can discharge a current E such as a leak current from high frequency treatment instrument or the like or static electricity between the metal PAD portion51and the exterior barrel21. (Third Modification) FIG.18is a top plan view showing a configuration of an image pickup unit according to a third modification. As shown inFIG.18, in an image pickup unit30, a plurality of metal PAD portions may be formed in a substrate barrel32in a split manner. In the modification, two metal PAD portions51a,51bare formed. The two metal PAD portions51a,51bare formed in the substrate barrel32such that a spaced-apart distance between the two metal PAD portions51a,51bforms a predetermined creepage distance A by which a current E such as a leak current from high frequency treatment instrument or the like or static electricity can be discharged. In the configuration of the image pickup unit30according to the modification, an end portion of a lens hold barrel31and an end portion of the metal PAD portion51amay be separated from each other by a predetermined creepage distance A or may be in contact with each other. (Fourth Modification) FIG.19is a top plan view showing a configuration of an image pickup unit according to a fourth modification. As shown inFIG.19, in the modification, in an image pickup unit30, a lens hold barrel31has a convex portion31aextending toward a proximal end side, and the lens hold barrel31is fitted on a substrate barrel32. In the substrate barrel32, the convex portion31aof the lens hold barrel31is disposed on an outer surface, and a metal PAD portion51chaving a predetermined width (length) W is formed in an extending direction of the convex portion31a. The convex portion31aand the metal PAD portion are formed such that a spaced-apart distance between the convex portion31aand the metal PAD portion forms a predetermined creepage distance A by which a current E such as a leak current from high frequency treatment instrument or the like or static electricity can be discharged. The lens hold barrel31is moved with respect to the substrate barrel32in a longitudinal direction, and is fixed to the substrate barrel32at front and rear positions at which a predetermined optical performance (focus) is satisfied. Accordingly, the metal PAD portion51cis formed such that the metal PAD portion51chas a predetermined width W which is equal to or more than a range (focusing adjustment amount) within which the position of the lens hold barrel31is adjusted so as to make the convex portion31anever fail to overlap with the metal PAD portion51c. (Fifth Modification) FIG.20is a perspective view of a substrate barrel according to a fifth modification as viewed from a distal end side.FIG.21is a front view showing a configuration of the substrate barrel according to the fifth modification. As shown inFIG.20andFIG.21, a substrate barrel32may be miniaturized by forming a flat surface32aon both respective side portions of a cylindrical portion33. Provided that the substrate barrel32can maintain a strength, the flat surface32amay be formed on the cylindrical portion33at a plurality of places so as to further miniaturize the substrate barrel32. The inventions described in the above-mentioned embodiment are not limited to the embodiment and the modifications, and various modifications can be carried out without departing from the gist of the present invention in a stage where the various modifications are carried out. Further, the above-mentioned embodiment contains the inventions in various stages, and various inventions can be extracted by suitably combining the plurality of components disclosed in the embodiment and the modifications. For example, even when several components are deleted from the entire components described in the embodiment, in a case where stated tasks can be carried out and stated advantageous effects can be acquired, the configuration from which such components are deleted can be extracted as the invention. According to the present invention, it is possible to provide an endoscope whose image pickup unit and distal end portion can be miniaturized while ensuring electric resistance from the outside.

11857168

DETAILED DESCRIPTION Hereinafter, embodiments of the present invention will be described with reference to drawings. In the drawings showing embodiments of the invention, in order for the respective components to be of understandable size in the drawings, the dimensions and the proportions of the components are modified as needed compared with the real components. Endoscope100 FIGS.1and2are views showing a relevant part of an endoscope100according to one or more embodiments of the present invention and are cross-sectional views showing a configuration of an imaging module10. Particularly,FIG.1is a cross-sectional view as seen in the Y-direction, andFIG.2is a cross-sectional view as seen in the X-direction. In the following explanation, in the Z-direction, the direction from a connector30to the solid-state image sensing device20(left side inFIG.1) may be referred to as “forward” or “front side”. The direction from the connector30to coaxial cables40(right side inFIG.1) may be referred to as “rear” or “back side”. Imaging Module10 The imaging module10includes: the solid-state image sensing device20(image sensor); the connector30, two coaxial cables40(first coaxial cable40F and second coaxial cable40S); a capacitor50(electronic component); a lens unit60; an insulating tube70; a light-emitting diode80; and a light-shielding member (i.e., light shield)90. Solid-State Image Sensing Device20 The solid-state image sensing device20is provided in front of the connector30. The solid-state image sensing device20includes: a light-receiving face21located on an upper face of the solid-state image sensing device20; and four image-sensing terminals22(22A,22B,22C,22D) which are provided on a lower face of the solid-state image sensing device20. The lens unit60is mounted on the light-receiving face21. The image-sensing terminals22is a terminal connected to mounting pads (described below) provided on an upper face31tof the connector30. As the solid-state image sensing device20, for example, a CMOS (complementary metal oxide semiconductor) may be used. In the imaging module10, the solid-state image sensing device20is electrically connected to the two coaxial cables40via the connector30. Connector30 The connector30is located between the solid-state image sensing device20and the coaxial cables40. The connector30includes: a main body31formed of an insulating member (i.e., insulator); and implanted conductors33A and33C (first implanted conductor) and implanted conductors33B and33D (second implanted conductor) which are provided inside the main body31. Grooves that are partially removed from the connector30are formed on a side face of the main body31. The implanted conductors33A and33C at which side-face terminals32A and32C (first side-face terminal) are exposed, respectively, and the implanted conductors33B and33D at which side-face terminals32B and32D (second side-face terminal) are exposed, respectively, are provided inside the grooves. Lower face terminals34B and34D at which the implanted conductors33B and33D are exposed are provided on a lower face31bof the main body31. The implanted conductors33A,33B,33C, and33D are electrically connected to the image-sensing terminals22A,22B,22C, and22D, respectively, via mounting pads provided on the upper face31tof the connector30. The lengths (in the X-direction and the Y-direction) of one side of the upper face31tof the connector30are less than or equal to 2 mm. Coaxial Cable40 As shown inFIG.1, the imaging module10includes the two coaxial cables40(40F and40S). Each of the coaxial cables40includes: an internal conductor41(41A and41C); a coating portion42(insulator), and a sheath conductor43(43B and43D). Specifically, the coaxial cable40F includes the internal conductor41A and the sheath conductor43B. The coaxial cable40S includes the internal conductor41C and the sheath conductor43D. A length of the internal conductor41, a length of the sheath conductor43, and a length of the coating portion42located between the internal conductor41and the sheath conductor43are each 0.1 to 1.0 mm. The internal conductor41, the coating portion42, and the sheath conductor43of the coaxial cables40are disposed inside the grooves of the connector30. The internal conductor41A is electrically connected to the side-face terminal32A by soldering. The sheath conductor43B is electrically connected to the side-face terminal32B by soldering. The internal conductor41C is electrically connected to the side-face terminal32C by soldering. The sheath conductor43D is electrically connected to the side-face terminal32D by soldering. According to the aforementioned connection structure, the image-sensing terminal22A of the solid-state image sensing device20is electrically connected to the internal conductor41A via the implanted conductor33A. The image-sensing terminal22B of the solid-state image sensing device20is electrically connected to the sheath conductor43B via the implanted conductor33B. The image-sensing terminal22C of the solid-state image sensing device20is electrically connected to the internal conductor41C via the implanted conductor33C. The image-sensing terminal22D of the solid-state image sensing device20is electrically connected to the sheath conductor43D via the implanted conductor33D. Capacitor50 The capacitor50is mounded on the lower face31bof the connector30via mounting pads. External terminals of the capacitor50are connected to the lower face terminals34B and34D. Note that, a resin layer is provided on the lower face31bof the connector30and short-circuiting between the lower face terminals34B and34D is prevented. Lens Unit60 The lens unit60has a configuration in which an object lens (not shown in the drawings) is incorporated into a cylindrical lens barrel (not shown in the drawings). The optical axis of the lens unit60is positionally-fixed on the light-receiving face21of the solid-state image sensing device20. One end of the lens barrel in the axis direction is fixed to a cover member62. Light that is incident to an imaging surface61located in front of the lens unit60through the lens provided inside the lens barrel and is thereby guided is provided as an image on the light-receiving face21of the solid-state image sensing device20by the lens unit60. Insulating Tube70 The insulating tube70is a resin tube with electrical insulation. As the insulating tube70, a heat shrinkable tube is used. As a material used to form the insulating tube70, for example: polyimide resin; silicone resin; polyolefin resins such as polyethylene terephthalate (PET) resin, nylon resin, polyethylene resin, or polypropylene resin; or fluorine resins such as polytetrafluoroethylene (PTFE) resin is used. The insulating tube70coves at least one of: the connector30; and part of the coaxial cables40which are connected to the connector30. In one or more embodiments in which the capacitor50is connected to the connector30, the insulating tube70collectively covers the connector30, part of the coaxial cables40, and the capacitor50. Here, the part of the coaxial cables40means the region including: the internal conductor41, the coating portion42, and not only the region (exposed region) on which the sheath conductor43is formed but also an outer coating (the portion coating the sheath conductor43) that is located close to the connector30. As shown inFIG.1, the insulating tube70according to one or more embodiments covers the coaxial cables40so as to protrude from the end of the capacitor50toward the outside (right side). With this configuration, the insulating tube70protects the connector30, the coaxial cables40, and the capacitor50, and can achieve a high insulation property. Light-Emitting Diode80 The light-emitting diode80includes: a light emitter81(planar light emitter) configured of a flat plate having a thickness of approximately 0.25 mm; a light-emitting face82that is a flat surface located in front of the light emitter81; and light-emitter terminals83that are provided on a surface (surface on the opposite side of the light-emitting face82) located at the back side of the light emitter81. The light-emitter terminals83are electrically connected to a power supply cable85which will be described later. In one or more embodiments, for example, a surface-mounted light emitting diode is applied as the light-emitting diode80. Consequently, light having straightness can be emitted from the light-emitting face82, and it is possible to ensure sufficient illuminance. In other cases, as long as straightness of light is reliably obtained, the light emitting diode is not limited to a surface-mounted light emitting diode, and a light-emitting diode having the other configuration may be applied to one or more embodiments of the present invention. The light-emitting diode80is disposed at a rear region R which faces the capacitor50and the coaxial cables40at the rear of the connector30. More specifically, the light-emitting diode80is disposed so as to be adjacent to the coaxial cables40and so that part of the light-emitting face82of the light-emitting diode80and the capacitor50face each other. In other words, at the back side of the connector30, the light-emitting diode80is disposed at the rear region R at which the coaxial cables40are not disposed. Note that, an example in which the capacitor50is provided on the lower face31bof the connector30is explained in one or more embodiments; however, the light-emitting diode80is disposed at the rear region R so that part of the light-emitting face82faces the lower face31bin the configuration in which the capacitor50is not provided. The power supply cable85includes: an electrical wire85A; an outer coating85B that coats the electrical wire85A; and a shield member (i.e., shield)85C that coats the outer coating85B. The electrical wire85A supplies electric power to the light-emitter terminals83from a power supply which is not shown in the drawings. The outer coating85B is an insulating coating that provides insulation property to the surface of the electrical wire85A. The shield member85C coats the outer coating85B, that is, coats the outside of the electrical wire85A. The shield member85C is formed of a metal member such as a metallic mesh and inhibits noise due to the power supply to the electrical wire85A from affecting the coaxial cables40. The outer-periphery of the shield member85C is coated with an insulation material. In other cases, the power supply cable85may be an ultrafine coaxial cable. The power supply cable85is configured of two cables that apply a voltage to the light-emitting diode80. Each of the two cables includes the electrical wire85A and the outer coating85B. The shield member85C may have a configuration that coats the outer coating85B of each of the two cables or may have a configuration that collectively coats two outer coating85B of the two cables. In other cases, the shield member85C is not necessarily required to be provided, and a configuration that does not include the shield member85C may be adopted. The electrical wire85A is exposed by removing the outer coating85B of the power supply cable85, the exposed electrical wire85A is brought into contact with the light-emitter terminal83and is soldered by use of solder35. Particularly, the electrical-wire front end85AT of the electrical wire85A is brought into contact with the light-emitter terminal83, and the solder35is formed so as to coat a contact portion between the light-emitter terminal83and the electrical-wire front end85AT. On the solder35formed on the light-emitter terminal83, a curved surface F (fillet shape) may be formed on the surface of the solder35. The shape of the curved surface F can be adequately adjusted depending on an amount of the solder35that is supplied to the surface of the light-emitter terminal83. The shape of the curved surface F is not limited to the shape shown inFIG.2. Particularly, the light-emitter terminal83has a terminal outer periphery83E that is located at the end (the position apart from the electrical wire85A) of the light-emitter terminal83. The electrical wire85A has a side surface portion85AS that is located at the position apart from the electrical-wire front end85AT. The solder35coats the light-emitter terminal83and the electrical wire85A so as to form the curved surface F that extends from the terminal outer periphery83E toward the side surface portion85AS. Here, the position of the side surface portion85AS in the Z-direction shown inFIG.2is the position apart from the light-emitter terminal83and is located near a boundary K between the electrical wire85A and the outer coating85B. Alternatively, the side surface portion85AS may coat the boundary K between the electrical wire85A and the outer coating85B. The light-emitter terminal83and the power supply cable85are fixed by a cable reinforcing portion87inside a light-emitting diode insertion hole93which will be described later. On the lower face of the light-emitting diode80, the cable reinforcing portion87coats the light-emitter terminal83, the solder35, and the power supply cable85. Accordingly, connection strength between the light-emitter terminal83and the power supply cable85increases. The power supply cable85is connected to a power supply which is not shown in the drawings. Electric power output from the power supply is supplied to the light-emitting diode80via the power supply cable85. In other words, electric power is supplied to the light-emitting diode80via a cable different from the coaxial cables40. The power supply cable85is softer than optical fibers constituting the fiber bundle used in a conventional endoscope and has flexibility. Light-Shielding Member90 The light-shielding member90is provided between the solid-state image sensing device20and the light-emitting diode80and, particularly in one or more embodiments, covers the entire body constituting the imaging module10, i.e., the solid-state image sensing device20, the connector30, the coaxial cables40, the capacitor50, the lens unit60, the insulating tube70, and the light-emitting diode80. That is, the light-shielding member90holds the entire body constituting the imaging module10in an integrated manner. In an example shown inFIG.2, the length of the light-shielding member90in the Z-direction is set to the length of a rigid portion H which will be described later (rigid-portion length L). The length of the light-shielding member90is not limited to the example shown inFIG.2and may be shorter than the rigid-portion length L. Two through holes, that is, a light guiding hole91and the light-emitting diode insertion hole93are provided on the light-shielding member90. Furthermore, a step difference formed between the light-emitting diode insertion hole93and the light guiding hole91, that is, a butt joint portion94is provided inside the light-emitting diode insertion hole93. The butt joint portion94is located at the rear region R. Part of the light-emitting face82is exposed to the inside of the light guiding hole91. A light guide92extending in the Z-direction is provided inside the light guiding hole91. Light emitted from the light-emitting face82of the light-emitting diode80is guided to the outside of the imaging module10by the light guide92. The light guide92is a transparent resin which is obtained by curing liquid resin having flowability, is fixed in the inside of the light guiding hole91, and does not have bendability. Moreover, the material of the light guide92is not limited to a resin but may be an optical fiber. Particularly, the light guiding hole91and the light guide92serves as an optical path. In other cases, the inside of the light guiding hole91may be a space. That is, the light guide92may be a light guide member provided inside the light guiding hole91or may be a space. However, in order to obtain straightness of the light emitted from the light-emitting face82, the light guide92may be disposed inside the light guiding hole91. A reflection surface that reflects light may be formed on an inner surface of the light guiding hole91. Moreover, the light guiding hole91may be a metal tube such as stainless steel (SUS) which is implanted in the light-shielding member90. In this case, the metal tube serves as a light-shielding member, and the metal tube is fixed adjacent to the lens unit60, the solid-state image sensing device20, and the connector30with resin or the like. A flat plate-shaped light guide plate96is provided on the end face92T in front of the light guide92. In the Z-direction, the end face96T of the light guide plate96coincides with the imaging surface61of the lens unit60, that is, coincides with the end face10T of the imaging module10. The light guide plate96is formed of a transparent resin having a high light transparency, and is a resin plate formed of, for example, polycarbonate or the like. Alternatively, the light guide plate96may be a member which is cured after the recessed portion surrounded by part of the light guiding hole91and the end face92T is filled with liquid adhesive. The light guide plate96may serve as a protection cover (protector) that protects the light-emitting diode80. Additionally, the light guide plate96may serve as a lens (optical member) that refracts light guided by the light guide92. Moreover, the light guide plate96may serve as a light diffusion plate (optical member) that diffuses light guided by the light guide92toward the outside of the light guide plate96. In a case where the imaging module10according to one or more embodiments is applied to an endoscope for observation of a living body, the light guide plate96may serve as an adherence prevention member that prevents fluid of the living body from being attached to the imaging module10. In addition, the light guide plate96may be formed of a material with biological compatibility. The light-emitting diode insertion hole93is a hole through which the light-emitting diode80passes toward from the rear to the inside of the light-shielding member90when the light-emitting diode80is attached to the inside of the light-shielding member90. Inside the light-emitting diode insertion hole93, the light-emitting diode80comes into contact with the butt joint portion94and is fixed thereto by a known fixing member such as adhesive or the like. In the above-described fixation configuration, part of the light-emitting face82comes into contact with the butt joint portion94and is fixed thereto. Reference letter H represents the portion that does not bend in the imaging module10, that is, the rigid portion H. The rigid portion H only has to be configured of at least the light-emitting diode80, the solid-state image sensing device20, and part of the light-shielding member90. In one or more embodiments, the rigid portion H is configured of the light-emitting diode80, the lens unit60, the solid-state image sensing device20, part of the light-shielding member90, the connector30, and part of the coaxial cables40. The length of the rigid portion H, that is, the rigid-portion length L is, for example, approximately 5 mm. As the constituent material of the light-shielding member90, a known resin having light shielding property such as epoxy resin, acrylic resin, urethane resin, or the like may be adopted. Furthermore, the light-shielding member90may be formed using a material having a known resin and carbon black that is added thereto. In one or more embodiments, the light-shielding member90is provided so as to cover the solid-state image sensing device20, the lens unit60, the connector30, and the light-emitting diode80; however, the invention is not limited to a configuration of the light-shielding member90. By providing the light-shielding member90at the periphery of the solid-state image sensing device20and the lens unit60, the emitted light of the light-emitting diode80may be prevented from being incident to the solid-state image sensing device20and the lens unit60. The light-shielding member90may have not only a light-shielding function but also a function of the insulating tube70which will be described later. In this case, it is not necessary to provide the insulating tube70. Light emitted from the light-emitting diode80is emitted to the outside of the imaging module10through the light guide92. Moreover, the emitted light of the light-emitting diode80is prevented from being incident to the solid-state image sensing device20by the light-shielding member90. Next, an action of the endoscope100including the imaging module10configured described above will be described. When electric power is supplied to the light-emitting diode80via the power supply cable85, the light-emitting diode80emits light, and the light emitted from the light-emitting diode80exits to the outside the imaging module10through the light guide92. The light illuminates an illumination object to be observed by the endoscope100, and the reflected light from the illumination object (image) enters the imaging surface61of the lens unit60. The light (image) that is incident to the lens unit60is formed as an image on the light-receiving face21of the solid-state image sensing device20by the object lens. Therefore, the solid-state image sensing device20captures an image of the illumination object as an image and outputs the obtained image as electrical signals. The signals output from the solid-state image sensing device20are received by a control device provided outside the imaging module10through the coaxial cables40. In the aforementioned imaging module10according to one or more embodiments, since the power supply cable85is softer than an optical fiber and has sufficient flexibility, it is possible to achieve an imaging module having an excellent flexibility more than that of a fiber bundle configured of optical fibers. Moreover, since it is possible to emit the light emitted from the light-emitting diode80to the outside of the imaging module10, it is possible to achieve the endoscope100that can obtain sufficient illuminance. Since the power supply cable85is finer than a conventional fiber bundle, it is possible to achieve the imaging module10with a small diameter, that is, it is possible to achieve the endoscope100with a small diameter. In one or more embodiments, the coaxial cables40F and40S are connected to the side-face terminals32A,32B,32C, and32D provided inside the grooves formed on a side face of the main body31of the connector30. With this configuration, the rear region R at which the coaxial cables are not disposed can be obtained at the back side of the connector30, and the light-emitting diode80can be disposed at the rear region R. Accordingly, regarding the arrangement layout of the components constituting the imaging module10, it is possible to effectively use the rear region R as the position at which the light-emitting diode80is disposed. That is, as compared with a configuration in which a coaxial cable is disposed at the back side of the connector30, the light-emitting diode80can be disposed to be close to the coaxial cables40F and40S in the directions (in the Y-direction in the case ofFIG.2) perpendicular to the Z-direction. Consequently, the imaging module10with a small diameter can be achieved, that is, it is possible to achieve the endoscope100with a small diameter. Since a surface-mounted light emitting diode that is a flat plate having a thin thickness in the Z-direction is applied to the imaging module10as the light-emitting diode80, it is possible to shorten the rigid-portion length L. Additionally, the light guide92is fixed to the inside of the light guiding hole91in the rigid portion H, and the light guide92is prevented from being bent. Therefore, the light guide92is not damaged due to the bending. In the connection structure between the light-emitting diode80and the power supply cable85, as the power supply cable85with the electrical wire85A is applied to the surface-mounted light emitting diode, the material costs and the assembling costs can be reduced. Since the power supply cable85is finer than a fiber bundle, as a result of applying the imaging module10including the power supply cable85to an endoscope or catheter, it is possible to ensure a working channel having a sufficient size in a plane of projection. Since the power supply cable85includes the shield member85C, it is possible to inhibit noise due to the power supply to the electrical wire85A from affecting the coaxial cables40. As the curved surface F is formed on the solder35, the surface area of the solder35increases, and radiation performance of the light-emitting diode80is improved. Particularly, a coefficient of thermal conductivity of resin is approximately 0.5 W/mK, by contrast, coefficients of thermal conductivity of solder and an electrical wire are greater than or equal to 10 W/mK. In a conventional configuration in which a light-emitting diode is coated with resin or the like, heat generation from the light-emitting diode stays inside the resin, heat radiation is less likely to occur. By contrast, in the imaging module10according to one or more embodiments, as the surface area of the solder35having a coefficient of thermal conductivity higher than that of resin increases, excellent radiation performance more than a conventional case is obtained. Furthermore, since the electrical wire85A is directly connected to the light-emitter terminal83, heat radiation of the light-emitting diode80can be sufficiently carried out. Moreover, as the curved surface F is formed on the solder35, the reliability of electrical connection between the light-emitter terminal83and the electrical wire85A is improved. Since the electrical-wire front end85AT of the electrical wire85A is brought into contact with the light-emitter terminal83and the electrical wire85A is soldered to the light-emitter terminal83, the surface area of the portion to be soldered becomes small, thereby contributing to achievement of the imaging module10with a small diameter. For example, although the surface area of the portion to be soldered becomes large in the case of soldering a bent portion of a folded electrical wire to a light-emitter terminal, it is possible to reduce the surface area to be soldered in one or more embodiments. In the connection structure between the light-emitting diode80and the power supply cable85, it is necessary to check whether or not the light-emitter terminal83of the light-emitting diode80is reliably connected to the electrical wire85A of the power supply cable85(connected state). In this case, by observing the light-emitter terminal83and thereby determining whether or not the solder35has the curved surface F on the light-emitter terminal83, a connected state between the light-emitter terminal83and the electrical wire85A can be easily determined. Modified Examples Next, modified examples of the above-mentioned embodiments will be described. In the modified examples described below, identical symbols are used for the elements which are identical to those of one or more embodiments, and the explanations thereof are omitted or simplified here. Modified Example 1 Although the connector30having the configuration in which the coaxial cables40are electrically connected to the side-face terminals32A,32B,32C, and32D exposed at the grooves of the connector30is described in the above-described embodiments, the invention is not limited to the configuration of the connector30. For example, exposed terminals at which the implanted conductors33A,33B,33C, and33D are exposed are provided on the lower face31bof the connector30, and the coaxial cables40may be electrically connected to the exposed terminals. In this case, the rear region R is not formed. The light-emitting diode80is disposed so as to be adjacent to any one of the solid-state image sensing device20, the connector30, and the coaxial cables40in the X-direction or the Y-direction. In this configuration, the wiring structure inside the connector becomes simple, and it is possible to shorten the length of the connector in the Z-direction. Because of this, it is possible to shorten the rigid-portion length L of the imaging module including the light-emitting diode80. In addition, the configuration in which the connector30is omitted, that is, the configuration in which the solid-state image sensing device20are directly connected to the coaxial cables40may be adopted. In this case, the light-emitting diode80is disposed so as to be adjacent to any one of the solid-state image sensing device20and the coaxial cables40in the X-direction or the Y-direction. Similar to the above description, it is possible to shorten the rigid-portion length L of the imaging module including the light-emitting diode80. In the modified examples 2 and 3 described below, a configuration in which the light-emitting diode80is adjacent to the lens unit60in the Y-direction will be described. Modified Examples 2 and 3 FIGS.3A and3Bare views showing relevant parts of endoscopes according to modified examples of the aforementioned embodiments and are cross-sectional views showing the lens unit60, the light-emitting diode80, and the light-shielding member90which constitute the imaging module10as seen in the X-direction. The modified examples 2 and 3 show configurations in which the light-emitting diode80is disposed adjacent to the lens unit60. FIGS.3A and3Bshow the lens unit60, the light-emitting diode80, and the light-shielding member90. The other members which are shown inFIG.1and constitute the imaging module10are omitted in the modified examples. In the modified example 2 shown inFIG.3A, a butt joint portion95is provided inside the light guiding hole91of the light-shielding member90. A lower face86of the light-emitting diode80that is inserted into the inside of the light guiding hole91from the front side of the light-shielding member90is in contact with the butt joint portion95. The butt joint portion95and the light-emitting diode80are fixed by a known fixing member such as adhesive or the like. The length (in Z-direction) of the light guiding hole91according to the modified example 2 is shorter than that of the light guiding hole91according to one or more embodiments shown inFIG.2. Inside the light guiding hole91, the position of the light-emitting face82in the Z-direction is displaced from the end face10T of the imaging module10to the inside of the light guiding hole91. The light guide plate96is provided on the light-emitting face82. According to the configuration, similar to the above-mentioned modified example 1, it is possible to shorten the rigid-portion length L of the imaging module including the light-emitting diode80. Additionally, it is possible to protect the light-emitting diode80by the light guide plate96. The modified example 3 shown inFIG.3Bis different from the modified example 2 in that the light guide plate96is not used. The other configurations of the modified example 3 are the same as those of the modified example 2. In the Z-direction, the light-emitting face82coincides with the imaging surface61of the lens unit60, that is, coincides with the end face10T of the imaging module10. According to the configuration, similar to the above-mentioned modified example 1, it is possible to shorten the rigid-portion length L of the imaging module including the light-emitting diode80. Furthermore, since light is emitted from the light-emitting face82at a wide angle, it is possible to illuminate the imaging object with it. In other cases, although the modified examples 2 and 3 show the configurations in which the light-emitting diode80is disposed adjacent to the lens unit60, the light-emitting diode80may be disposed adjacent to the solid-state image sensing device20. Modified Examples 4 and 5 FIGS.4A and4Bare views showing relevant parts of endoscopes according to modified examples of the aforementioned embodiments and are plan views showing the solid-state image sensing device20and the light-emitting diode80which constitute the imaging module10as seen in the Z-direction. FIGS.4A and4Bshow the solid-state image sensing device20and the light-emitting diode80. The other members which are shown inFIG.1and constitute the imaging module10are omitted in the modified examples. Note that,FIGS.4A and4Bshows wirings WR (WR1, WR2, WR3, WR4, and WR5) connected to a plurality of light-emitting diodes and a power supply PW that supplies electric power to a plurality of light-emitting diodes. In the modified example 4 shown inFIG.4A, light-emitting diodes80A and80B are disposed at the right and the left of the solid-state image sensing device20, respectively. In other words, the two light-emitting diodes80A and80B are disposed are so as to sandwich the solid-state image sensing device20in the Y-direction. The power supply PW is connected to the first light-emitting diode80A with the wiring WR1interposed therebetween. The first light-emitting diode80A is connected to the second light-emitting diode80B with the wiring WR2interposed therebetween. The second light-emitting diode80B is connected to the power supply PW with the wiring WR3interposed therebetween. That is, the first light-emitting diode80A and the second light-emitting diode80B are series-connected to the power supply PW. With this configuration, it is possible to supply a larger amount of light to the imaging module10than that of the configuration in which one light-emitting diode80is provided in the imaging module10as shown inFIG.2. By applying this configuration to the endoscope100, it is possible to further brightly illuminate an imaging object. Moreover, since the first light-emitting diode80A and the second light-emitting diode80B are series-connected to the power supply PW, it is possible to reduce the number of wirings less than that of parallel connection. In the modified example 5 shown inFIG.4B, the light-emitting diodes80A,80B,80C, and80D are disposed at the right, left, top, and bottom of the solid-state image sensing device20. In other words, the two light-emitting diodes80A and80B are disposed are so as to sandwich the solid-state image sensing device20in the Y-direction, and the two light-emitting diodes80C and80D are disposed are so as to sandwich the solid-state image sensing device20in the X-direction. That is, the solid-state image sensing device20is surrounded by the periphery of the light-emitting diodes80A,80B,80C, and80D. The power supply PW is connected to the first light-emitting diode80A with the wiring WR1interposed therebetween. The first light-emitting diode80A is connected to the second light-emitting diode80B with the wiring WR2interposed therebetween. The second light-emitting diode80B is connected to the third light-emitting diode80C with the wiring WR3interposed therebetween. The third light-emitting diode80C is connected to the fourth light-emitting diode80D with the wiring WR4interposed therebetween. The fourth light-emitting diode80D is connected to the power supply PW with the wiring WR5interposed therebetween. That is, the light-emitting diodes80A,80B,80C, and80D are series-connected to the power supply PW. With this configuration, it is possible to supply a larger amount of light to the imaging module10than that of the configuration in which the two light-emitting diodes80A and80B are provided in the imaging module10as shown inFIG.4A. By applying this configuration to the endoscope100, it is possible to further brightly illuminate an imaging object. Additionally, since the light-emitting diodes80A,80B,80C, and80D are series-connected to the power supply PW, it is possible to reduce the number of wirings less than that of parallel connection. Modified Example 6 FIG.5is a view showing a relevant part of the endoscope according to a modified example of the aforementioned embodiments and is a cross-sectional view showing the configuration of the imaging module as seen in the X-direction. As shown inFIG.5, the imaging module10has a configuration in which the outside of the light-shielding member90is covered with a housing110. The length of the housing110in the Z-direction is shorter than that of the rigid-portion length L. As a material of the housing110, a material with biological compatibility may be selected. For example, stainless steel, aluminum, titanium, or ceramic such as alumina or zirconia may be used. Inside the housing110, the inner surface of the housing110comes into contact with the light-shielding member90and is fixed thereto. In the above-described configuration, since the housing110is used, resistance to an external force such as bending is improved. Moreover, a gap between the inner surface of the housing110and the light-shielding member90is filled with resin, and the imaging module10may be fixed by the resin. In the imaging module according to the modified example 6, the same effects as the effects obtained by the aforementioned embodiments are obtained, and it is possible to achieve the imaging module10having a high degree of strength. Catheter200 FIG.6is a perspective view showing a relevant part of a catheter200according to the one or more embodiments of the present invention. InFIG.6, identical symbols are used for the elements which are identical to those of one or more embodiments, and the explanations thereof are omitted or simplified here. The catheter200shown inFIG.6is an imaging-module-attached catheter including the above-mentioned imaging module10. The catheter200includes a tube210that is made of, for example, silicon or the like and has an insulation property. In one or more embodiments, silicon is adopted as a material used to form the tube210, a flexible material or a metal material other than silicon may be used. For example, as a flexible material, silicon, polyurethane, polyethylene, polytetrafluoroethylene (PTFE, for example, Teflon (registered trademark)), or the like is adopted. As a metal material, titanium, a titanium alloy, a stainless steel, or the like is adopted. Additionally, it is not limited to a flexible material or a metal material, and ceramic material may be used as a material used to form the tube210. The endoscope100including the above-mentioned imaging module10according to one or more embodiments and a channel220are provided inside the tube210. That is, the tube210encloses the imaging module10. At an end face200T of the catheter200, an opening220T of the channel220opens, and the end face10T of the imaging module10is exposed. That is, the end face92T of the light guide92, the end face of the light-shielding member90, and the imaging surface61of the lens unit60are exposed at the end face200T. In one or more embodiments, a realizable diameter D of the catheter200is, for example, approximately 2 mm. The channel220may be used as a lumen and may be used as a working channel. In the case of using the channel220as a lumen, for example, a solvent medium injection lumen that ejects a solvent medium toward the front of the catheter200or a vacuuming lumen that removes liquid present in front of the catheter200can be provided in the tube210. Additionally, in the case of using the channel220as the working channel, for example, a treatment tool may be inserted into the channel220. As the treatment tool, for example, various forcipes, a snare, a guide wire, a stent, a laser treatment tool, a high-frequency treatment tool, or the like is adopted. According to the above-described embodiments, since the endoscope100with a small diameter described in the above-mentioned embodiments is provided in the catheter200, the same effects as the effects obtained by the aforementioned embodiments are obtained, and it is possible to achieve the catheter200that has a small diameter and is provided with both the channel220and the imaging module. While embodiments of the invention have been described and illustrated above, it should be understood that these are exemplary of the invention and are not to be considered as limiting. Additions, omissions, substitutions, and other modifications can be made without departing from the scope of the invention. Accordingly, the invention is not to be considered as being limited by the foregoing description, and is only limited by the scope of the appended claims. Although the disclosure has been described with respect to only a limited number of embodiments, those skilled in the art, having benefit of this disclosure, will appreciate that various other embodiments may be devised without departing from the scope of the present invention. Accordingly, the scope of the invention should be limited only by the attached claims. DESCRIPTION OF REFERENCE NUMERALS 10. . . imaging module,10T . . . end face,20. . . solid-state image sensing device,21. . . light-receiving face,22,22A,22B,22C,22D . . . image-sensing terminal,30. . . connector,31. . . main body,31b. . . lower face,31t. . . upper face,32A,32B,32C,32D . . . side-face terminal,33A,33C . . . first implanted conductor (implanted conductor),33B,33D . . . second implanted conductor (implanted conductor),34B,34D . . . lower face terminal,35. . . solder,40. . . coaxial cable,40F . . . first coaxial cable (coaxial cable),40S . . . second coaxial cable (coaxial cable),41,41A,41C . . . internal conductor,42. . . coating portion,43,43B,43D . . . sheath conductor,50. . . capacitor,60. . . lens unit,61. . . imaging surface,62. . . cover member,70. . . insulating tube,80. . . light-emitting diode,80A . . . first light-emitting diode,80B . . . second light-emitting diode,80C . . . third light-emitting diode,80D . . . fourth light-emitting diode,81. . . light emitter,82. . . light-emitting face,83. . . light-emitter terminal,83E . . . terminal outer periphery,85. . . power supply cable,85A . . . electrical wire,85AT . . . electrical-wire front end,85AS . . . side surface portion,85B . . . outer coating,85C . . . shield member (shield),86. . . lower face,87. . . cable reinforcing portion,90. . . light-shielding member (light shield),91. . . light guiding hole,92. . . light guide,92T . . . end face,93. . . light-emitting diode insertion hole,94,95. . . butt joint portion,96. . . light guide plate,96T . . . end face,100. . . endoscope,110. . . housing,200. . . catheter,200T . . . end face,210. . . tube,220. . . channel,220T . . . opening, F . . . curved surface, H . . . rigid portion, K . . . boundary, L . . . rigid-portion length, PW . . . power supply, R . . . rear region, WR, WR1, WR2, WR3, WR4, and WR5. . . wiring

11857169

DETAILED DESCRIPTION For the purpose of promoting an understanding of the principles of the present disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same. It will, nevertheless, be understood that no limitation of the scope of the disclosure is thereby intended; any alterations and further modifications of the described or illustrated embodiments, and any further applications of the principles of the disclosure as illustrated therein are contemplated as would normally occur to one skilled in the art to which the disclosure relates. As will be understood and appreciated, the accompanying drawings represent merely one approach or embodiment of the present disclosure, and other aspects are used according to various embodiments of the present disclosure. As will be understood by one having ordinary skill in the art, the steps and processes disclosed herein may operate concurrently and continuously, are generally asynchronous and independent, and are not necessarily performed in the order disclosed. All limitations of scope should be determined in accordance with and as expressed in the claims. Whether a term is capitalized is not considered definitive or limiting of the meaning of a term. As used in this document, a capitalized term shall have the same meaning as an uncapitalized term, unless the context of the usage specifically indicates that a more restrictive meaning for the capitalized term is intended. However, the capitalization or lack thereof within the remainder of this document is not intended to be necessarily limiting unless the context clearly indicates that such limitation is intended. Overview Aspects of the present disclosure generally relate to rapid diagnostics and simple sample collection kits that are noninvasive and only require a small sample of a bodily fluid, such as urine, to be effective. In various embodiments, the collection kit/device comprises a dry fluid collection vessel containing a collapsible, 3-D, open, continuous net of tethered affinity capture moieties (also referred to herein as an “affinity net”), useful for separating analytes from a fluid sample. The affinity net, when inserted into a collection vessel, generally fills the 3-D volume of the dry fluid collection vessel (e.g., a collection vessel volume of one to 100 mL), yet may occupy only approximately one percent of the total volume of the container. The collection kit generally eliminates the requirement to handle, mail, ship, or refrigerate the fluid volume portion containing a diagnostic analyte in any type of body fluid sample (e.g., blood, urine, saliva, etc.). In one embodiment, the dry fluid collection vessel comprises a collapsible collection container, made from a water-resistant and foldable material, that can be used at home or in a clinic to separate a desired analyte from the urine in one step by pouring out the fluid sample and collapsing the container flat. The collapsed container generally retains, in the affinity net, substantially all of the analytes distributed throughout the full volume of the fluid and may be simply mailed in a standard envelope to a lab, doctors-office, or clinic for analysis. Alternatively, the analyte(s) retained in the collapsed container, in one embodiment, may be eluted for measurement on site by a point of care assay device. The elution buffer may be contained within the collapsible device or in a lid, in various embodiments, such that when the emptied container is collapsed, the elution buffer will be discharged to re-wet and elute the analytes from the collapsed affinity capture net. The affinity net, in various embodiments, does not absorb fluids and has no significant wicking, imbibing, or capillary fluid retention properties, which generally distinguishes the material from a bibulous paper or other porous material that, in contrast, retain and hold a fluid sample. The lack of bibulous properties of the affinity net generally permits the complete collapse of the affinity net material so that the total content of the analytes in the entire fluid volume may be collapsed into a volume that is less than the original fluid volume (e.g., 1%, 5%, 10%, 25%, etc.). In another embodiment, the affinity net comprises a high affinity moiety, such as a dye, organic dye, ligand, nucleic acid, protein, antibodies, aptamers, enzyme substrates, metal, drug, affinity tag recognizing material, etc., that is tethered to the net material or integral with the net structure or integral within pores or cavities within the structure of the net strands. The affinity moiety generally captures the analyte, preserves the analyte, and pulls it out of solution phase. In yet another embodiment, the high affinity moiety is shielded within an open porous material (e.g., hydrogel, etc.), which generally prevents direct strand to strand adherence or obstruction of access to the dye, thereby permitting rapid free exchange of the analyte from the fluid to the solid state of the affinity moiety. The shielding may also be employed to exclude unwanted molecules. In a particular embodiment, Nanotraps® particles from Ceres Nanosciences are packaged into porous colloidal hydrogel particles that float buoyant in solution for optimal exchange with the solvent. In one specific embodiment, the affinity net comprises spun glass silica polymer strands of a diameter less than 10 microns (e.g., 8, 5, 2.5, etc.). The surface of the continuous silica strands generally is studded with affinity molecule containing hydrogel particles generally less than 1 micron in size or coated with an approximately 500-nM layer of porous hydrogel containing affinity dye molecules. The porosity of the hydrogel, in one embodiment, permits rapid exchange of the analytes of interest into the hydrogel where the analytes are captured by the affinity moiety. In another embodiment, the affinity moiety is a dye that binds the analyte with high on rate or low off rate, thereby rapidly sequestering the analyte out of solution so that the analyte becomes tethered to the net. In yet another embodiment, the affinity net comprises fixed distributed affinity particles with a central core containing an affinity ligand and a porous shell that permits entry of the analyte. The collection device, in various embodiments, may be used to gather any analyte suspended or dissolved in any fluid. In one non-limiting example, for one type of body fluid testing, the collection kit is used for urine collection from a subject. The subject generally uses the collection kit by: 1) urinating into the collection vessel; 2) dumping out and discarding the urine fluid from the container leaving the captured analyte tethered to the net; and 3) at this instance, either collapsing the container and placing the container into a mailing envelop for delivery to the lab or puncturing/releasing a solution to liberate the analyte of interest from the affinity net, wherein the remaining solution contains the analyte of interest and may be applied to any immunological diagnostic tool or any other analytical method such as Mass Spectrometry or Immunochromatography. Generally, the collection device improves body fluid diagnostics in the field, at home, in school, in rural settings, or in clinics. In various embodiments, the concentration factor afforded by the collection device may comprise 100×-1,000×, or more, thereby dramatically enhancing the analytical sensitivity of body fluid diagnostic tests; the preservation of the analyte in a solid state out of solution obviates the need for freezing or transport of hazardous liquid body fluid, thereby improving the ease of use and cost of body fluid diagnostic tests. A disinfectant chemical, metal salt, natural antibacterial substance, or any moiety that retards infectious pathogen survival, in one embodiment, may be incorporated into the container or the affinity net material so long as it does not interfere with the diagnostic analyte of interest. Exemplary Embodiments In one embodiment, the present disclosure describes aspects of a collection kit that collects a large volume of body fluid and then substantially separates the biomarker content of the fluid while discarding the fluid liquid portion of the sample resulting to thereby concentrate the biomarker content while permitting the collection container to be collapsed. The disclosed collection kit further preserves and amplifies the sensitivity of low abundance biomarkers, regardless of where the sample is collected. In one embodiment, the disclosed collection kit does not require technical manipulations such as magnets, centrifugation, filtration, chromatography, or electrical or chemical steps, treatments or manipulations. In the present disclosure, the collection and concentration is achieved by simply dumping the fluid volume out of the container that is then manually folded flat. Traditional sample collection systems can only collect small volumes of the sample of interest, yet fail to additionally concentrate and preserve targeted biomarkers for analytical techniques. The present disclosure relates to a collection kit that collects biological fluid samples, wherein the collection kit comprises a collapsible container that holds a porous affinity capture net to simultaneously reduce the volume of specimen bodily fluid while concentrating and capturing the desired molecules for biologically relevant markers. Use of the disclosed collection kit is straightforward and requires no advanced equipment to allow for untrained individuals to test/analyze their sample or ship their preserved biomarkers to an external lab. In various embodiments, the disclosed collection kit may facilitate detection of tuberculosis (e.g.,Mycobacterium tuberculosisantigens, etc.), Chagas disease, tick-borne diseases, pregnancy, communicable/infectious diseases, malaria, human growth hormone, cancer, cardiac markers, etc. In one embodiment, the disclosed collection kit may enable environmental and geological monitoring and analysis. Referring now to the figures, for the purposes of example and explanation of the present disclosure, reference is made toFIG.1, which illustrates an exemplary collapsible container/kit100, according to one embodiment of the present disclosure. In various embodiments, the container100comprises a collapsible/foldable vessel102and an affinity net104. Generally, the vessel102permits collection of a fluid (e.g., urine, blood, saliva, sweat, water, etc.). Thus, in various embodiments, the vessel102may comprise a viewing window106so that the individual filling up the vessel102may tell when the vessel102is getting full. Similarly, not shown inFIG.1, the vessel102may comprise a fill line or other indicator of the appropriate amount of fluid to place in the vessel102. In various embodiments, the collapsible vessel102is constructed from a waterproof material (e.g., wax-coated paper, plastic, metal, etc.) that is folded into the desired container shape (e.g., cone, box, cylinder, pyramid, etc.). Generally, the affinity net104comprises a collapsible, 3-D, open, continuous net of tethered affinity capture moieties, useful for separating analytes from a fluid sample. In various embodiments, the affinity net104comprises a fibrous, strand/yarn like nets or scaffold materials as the backbone. For example, plastic polymers, cellulose, animal or insect derived polymers or strand materials, glass wool, etc. In one embodiment, the affinity net104may comprise activated nitrocellulose fibers (NC). For example, a 1M sulfuric acid solution is mixed with potassium nitrate, and cellulose fibers are fully immersed into this solution for 2 hours. The fibers, in one embodiment, are rinsed until the pH of the solution is neutral. These fibers are mixed with Reactive Blue 221 (RB221) dyed Nanoparticles (NPs). Compared to the affinity strand alone, the increased surface area of the NPs/NC affinity matrix yields a better depletion and stronger (10×) elution of the sample. In another embodiment of the affinity net104, nylon 66 fibers may be incubated overnight with RB221 NPs. After subsequent washing of excess NPs, the fibers may be incubated in 100 ng/mL and 0 ng/mL solutions of HCG hormone. After 30 minute incubation, the supernatants are tested. The 100 ng/mL supernatant demonstrates visible depletion. Now referring toFIG.2(consisting ofFIGS.2A and2B), a side view200A and a top view200B of an exemplary collapsible container/kit100filled with fluid are shown according to one embodiment of the present disclosure. Generally, the fluid is indicated by a dotted line inFIG.2. In various embodiments, the container100is filled until the affinity net104is fully submerged in the fluid. Referring now toFIG.3, an exemplary diagnostic tool300is shown according to one embodiment of the present disclosure. Generally, the tool300may be used to analyze specific panel biomarkers in the affinity net104. In one embodiment, the tool comprises a tip302for pushing and compressing the affinity net104, a handle304for gripping the tool300, and an optional diagnostic strip306that permits the measurement of analytes in the affinity net104. Generally, the diagnostic strip(s)306may be designed to measure analytes contained within the affinity net104with or without introduction of an elution buffer. Now referring toFIG.4, an exemplary diagnostic tool300is shown in use with an exemplary collapsible container/kit100, according to one embodiment of the present disclosure. Generally, the tip302may be used to push the affinity net104into the bottom of the container100such that the analytes contained within it are concentrated for ease of introduction of an elution buffer. Exemplary Methods of Use In various embodiments, the disclosed container100may be used to collect body fluids (e.g., urine, blood, saliva, vomit, semen, vaginal discharge, fecal matter, mucus, water, alcohol, sweat, etc.) for subsequent analysis. In one non-limiting example: the sample fluid is introduced into the container (e.g., in one embodiment, the subject urinates into the container such that the affinity net106is submerged in the sample fluid—indicated by the dotted line inFIG.2), wherein the analytes of interest are captured by the affinity net. In one embodiment, the affinity net may be allowed to soak in the sample fluid for a predetermined period of time (e.g., 1 second, 5 seconds, 10 seconds, 30 seconds, 1 minute, 2 minutes, 5 minutes, 10 minutes, etc.); then, the sample fluid is removed from the container (e.g., in one embodiment, the subject pours the urine out of the container) and the container is collapsed into a two-dimensional, flat state. In one embodiment wherein analysis occurs at a different location, the container may then be sealed shut (e.g., using tape, an adhesive strip, etc.), placed in a biohazard bag or other receptacle, and mailed (in another envelope or in the biohazard bag) to a laboratory for further analysis. In one embodiment, the container is open such that the sample fluid is filtered through the affinity net and flows out of the container, instead of being captured by the container. Generally, to achieve a substantial removal of the fluid and maximum concentration factor, only the target analyte is preserved within the affinity net that is substantially fluid-free. When an elution buffer is applied, either immediately after collection or at a later point, to the affinity net and the captured analytes generally flow out of the container or dissociate from the affinity net. In various embodiments, the eluted capture material is processed via chemical detection, immunoassay, mass spectrometry, electrical detection system with an electrical output, enzymatic detection system with an electrical output, or magnetic detection system with an electrical output. The analyte is generally preserved by capture or exogenous components. In one embodiment, the analyte is analyzed while still attached to the affinity net. In one embodiment, the diagnostic tool300may be used to compress the affinity net106within the container100(as shown inFIG.4) to achieve a higher concentration of target analyte in a smaller volume such that less elution buffer is needed to come into contact with the entirety of the affinity net. Exemplary Methods of Manufacture In various embodiments, to manufacture the affinity net106, a standard weight of glass wool (e.g., 10 g, 20 g, 50 g, 100 g, 200 g, 500 g, 1 kg, 2 kg, 10 kg, etc.) is acid treated (salinization chemicals are sprayed on the fibers) to enable nanoparticle attachment. After the glass wool has dried from acid treatment, in one embodiment, Reactive Blue 221 dyed nanoparticles (e.g., 3 mL, 10 mL, 20 mL, 50 mL, 100 mL, 500 mL, 1,000 L, etc.) are incubated with the glass wool for about 1 hour. The dyed glass wool is then, in one embodiment, dried in an oven at about 85° C. for approximately 15 minutes. Washes are generally performed to remove excess nanoparticles. Additionally, the affinity net may be prepared with Toluene to further adhere the nanoparticles onto the glass wool. In one embodiment, the fibers may be cut to a certain length (e.g., 6 inches, 12 inches, 24 inches, etc.)/weight (e.g., 10 g, 20 g, 50 g, 100 g, 200 g, etc.) and freeze dried. In another particular embodiment to manufacture the affinity net, a standard weight of glass wool will be treated with 3-aminopropyltriethoxysilane and 4,4′-Azobis (4-cyanovaleric acid) will be used to covalently attach amine containing nanoparticles. The nanoparticles will be covalently bound to the glass fibers by reversible cross linkers that are detachable using heat (e.g., approximately 80° C., greater than 50° C., 60° C., 70° C., 80° C., 90° C., 100° C., etc.). Generally, the container100may be manufactured by cutting/scoring a plastic sheet into a predetermined shape. Then, the plastic sheet may be laminated with a plastic sheet. After creasing and folding the plastic sheet into a particular shape, the container may be heat sealed or adhered to complete manufacture of the shape. The present disclosure places no limitations on the types of methods that may be used to manufacture the container100(e.g., by hand, by machine, etc.). To manufacture the collection kit, the nanoparticle incorporated glass wool may be placed inside the waterproof container (e.g.,FIG.1) and instructions for use may be provided therewith. The container is then generally compressed and ready for use. Exemplary Test Results A scanning electron microscope analysis of the glass wool with and without nanoparticle incorporation was investigated. Glass without nanoparticles generally display a high surface area available for exposure to the body fluid and its contained analytes, fibrous material. After nanoparticle incorporation, the nanoparticles generally rest on or linked to the surface glass wool fibers. In one embodiment, a standard weight of glass wool was placed inside of the sample collection container. Next, in one embodiment, water was added to the container until the maximum capacity was reached, measuring to be 80 mL. The container including the glass wool and water was generally weighed. In various embodiments, the water was then dumped out and the container was compressed until all excess water was removed; then, in one embodiment, the container holding just the glass wool now was weighed. Finally, the difference between the two measurements was generally calculated. This experiment protocol was repeated five consecutive times, with results generally shown in Table 1. The average calculated weight was approximately 79.45 grams with a standard deviation of approximately 2.6, which demonstrates an increase in the concentration factor of at least 48% (e.g., Table 1). TABLE 1Exemplary test results, according to one embodimentof the present disclosure.Cone +Cone +Wool +Wool50 mL(afterWatercompression)DifferenceMEANST DEVTrial 155.905210.355245.5548.275021.484246551Trial 258.664810.473248.1916Trial 359.423710.969748.454Trial 460.204110.830249.3739Trial 560.488110.682549.8056The weight (in grams) of the sample collection container, glass wool, and water were collected and recorded. Subsequently, the container and glass wool were weighed after compression of the container and the removal of water. An exemplary silver stain analysis of the limit of detection of multiple embodiment of the affinity net was performed using known amounts of the OspA protein for Lyme Disease. Generally, the silver stain analysis was performed using Remazol-dyed nanoparticles tethered to the glass wool. The nanoparticle incorporated glass wool of the affinity net, in one embodiment, successfully depleted a solution contained 2 ng/mL of OspA protein. A western blot analysis was generally performed using Reactive Blue-dyed nanoparticles tethered to the glass wool. The nanoparticle incorporated glass wool, in one embodiment, successfully depleted a solution contained 0.25 ng/mL of ESAT-6 in phosphate-buffered saline and human urine. The eluates show signal while the supernatants do not, generally demonstrating depletion and capturing by the affinity net. A dot blot analysis was performed using Reactive Black-dyed nanoparticles tethered to the glass wool. The nanoparticle incorporated glass wool, in one embodiment, successfully captured and amplified urine samples ranging in concentration of 100 pg/mL, to 1.23 pg/mL. The affinity net's ability to be consistently reproduced, in one embodiment, was validated by the total depletion of the spike in solution in urine over three different batches. Analysis of the tethered affinity net's ability to be used for mass spectrometry analysis was performed in one embodiment. ESAT-6 protein and HCG, a marker for pregnancy, was spiked into a urine sample and incubated with the nanoparticle tethered affinity net. In one embodiment, mass spectrometric analysis of these samples produced good spectra and at minimum 2 identified peptide sequences for each protein. The present disclosure utilizes a unique capture net with tethered affinity molecules placed on their surface. Scanning electron microscope analysis has generally proven that a sample of glass wool treated with acid, dyed hydrogel nanoparticles can be attached. In various embodiments, the affinity net may successfully trap low abundance biomarkers that could not be detected before. In other embodiments, the affinity net can successfully harvest biomarkers and be analyzed for peptide sequences using mass spectrometry. The affinity net may be coupled with a unique collapsible container to form a collection kit/device. In various embodiments, the disclosed device may be used as follows: 1) the patient opens the collapsible container with the affinity net inside; 2) a bodily fluid sample is then dispersed onto the affinity net; 3) after incubation with the affinity net, the patient then pours out excess bodily fluid; and 4) the patient then collapses the container for shipment to a laboratory. Additionally, an elution buffer may be coupled to the collapsible container, wherein in one embodiment, said user can puncture to release the buffer. After the buffer has been released, the remaining solution will generally contain the analyte of interest which can be applied to any immunological diagnostic tool. The aforementioned embodiment was screened against 90 users being treated for an active tuberculosis infection in Nepal. Approximately, 88% of the patients preferred the urine collection device as a method for diagnosis compared to standard sputum collection. This demonstrates that this embodiment has been successfully field-tested and user approved. The aforementioned embodiment has been successfully validated with silver stain analysis and mass spectrometry methods. In several embodiments, the affinity net concentration/elution step has achieved a limit of detection of less than 2 picogram/mL, depending on the initial volume of the sample and the concentration factor as determined by degree of compression of the affinity net into a small volume. The enhanced sensitivity generally may be attributed to the unique double concentration factor achieved by the affinity properties of the hydrogel nanoparticles and the volume reduction of the collapsible container. Additionally, in one embodiment, the collection device may collect low abundance biomarkers for protein discovery in human sweat. In various embodiments, this method of collection has produced many unique proteins, allowing this technology to be used as a powerful non-invasive pre-processing diagnostic tool. Alternate Embodiments In various embodiments, a collection device may be a variety of shapes (e.g., cube, cone, cylinder, tube, envelope, etc.). In one embodiment, the shape of the collection device may be dependent upon the type of fluid to be collected. For example, a collection device may be shaped like a collapsible box, not shown inFIGS.1-4. After the triangular tabs at the top are pulled, the vessel generally opens into a 3-D state. The tethered affinity net, in various embodiments, may be located within the vessel. The function of this embodiment generally follows the same procedure disclosed herein. Volumetric analyses were performed for this collection vessel (e.g., Table 2). TABLE 2Exemplary test results, according to oneembodiment of the present disclosure.Filled withCompressed &WeightTrialsWater (g)Empty (g)Difference (g)180.13572.594777.541284.19282.740481.4524385.97242.401783.5707479.12222.177976.9443579.70241.960377.7421 While various aspects have been described in the context of a preferred embodiment, additional aspects, features, and methodologies of the claimed inventions will be readily discernible from the description herein, by those of ordinary skill in the art. Many embodiments and adaptations of the disclosure and claimed inventions other than those herein described, as well as many variations, modifications, and equivalent arrangements and methodologies, will be apparent from or reasonably suggested by the disclosure and the foregoing description thereof, without departing from the substance or scope of the claims. Furthermore, any sequence(s) and/or temporal order of steps of various processes described and claimed herein are those considered to be the best mode contemplated for carrying out the claimed inventions. It should also be understood that, although steps of various processes may be shown and described as being in a preferred sequence or temporal order, the steps of any such processes are not limited to being carried out in any particular sequence or order, absent a specific indication of such to achieve a particular intended result. In most cases, the steps of such processes may be carried out in a variety of different sequences and orders, while still falling within the scope of the claimed inventions. In addition, some steps may be carried out simultaneously, contemporaneously, or in synchronization with other steps. The embodiments were chosen and described in order to explain the principles of the claimed inventions and their practical application so as to enable others skilled in the art to utilize the inventions and various embodiments and with various modifications as are suited to the particular use contemplated. Alternative embodiments will become apparent to those skilled in the art to which the claimed inventions pertain without departing from their spirit and scope. Accordingly, the scope of the claimed inventions is defined by the appended claims rather than the foregoing description and the exemplary embodiments described therein.

11857170

DEFINITIONS As used herein, the term “about,” as used in reference to a value, refers to a value that is similar, in context to the referenced value. In general, those skilled in the art, familiar with the context, will appreciate the relevant degree of variance encompassed by “about” in that context. For example, in some embodiments, the term “about” may encompass a range of values that within 25%, 20%, 19%, 18%, 17%, 16%, 15%, 14%, 13%, 12%, 11%, 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, or less of the referred value. As used herein, the term “adult” refers to a human eighteen years of age or older. In some embodiments, a human adult has a weight within the range of about 90 pounds to about 250 pounds. As used herein, the term, “associated with” refers to two events or entities when presence, level and/or form of one is correlated with that of the other. For example, a particular entity (e.g., polypeptide, genetic signature, metabolite, microbe, etc.) is considered to be associated with a particular disease, disorder, or condition, if its presence, level and/or form correlates with incidence of and/or susceptibility to a disease, disorder, or condition (e.g., across a relevant population). In some embodiments, two or more entities are physically “associated” with one another if they interact, directly or indirectly, so that they are and/or remain in physical proximity with one another. In some embodiments, two or more entities that are physically associated with one another are covalently linked to one another; in some embodiments, two or more entities that are physically associated with one another are not covalently linked to one another but are non-covalently associated, for example by means of hydrogen bonds, van der Waals interaction, hydrophobic interactions, magnetism, and combinations thereof. As used herein, the term “biocompatible” refers to materials that do not cause significant harm to living tissue when placed in contact with such tissue, e.g., in vivo. In certain embodiments, materials are “biocompatible” if they are not toxic to cells. In certain embodiments, materials are “biocompatible” if their addition to cells in vitro does not result in substantial cell death, and/or their administration in vivo does not induce significant inflammation or other such adverse effects. As used herein, the term “chondrocytes” or “cartilage cells,” refers to cells that are capable of expressing biochemical markers characteristic of chondrocytes, including but not limited to type II collagen, aggrecan, chondroitin sulfate and/or keratin sulfate. In some embodiments, chondrocytes, or cartilage cells, express morphologic markers characteristic of smooth muscle cells, including but not limited to a rounded morphology in vitro. In some embodiments, chondrocytes, or cartilage cells, are able to secrete type II collagen in vitro. In some embodiments, chondrocytes, or cartilage cells, are able to secrete aggrecan in vitro. In some embodiments, chondrocytes, or cartilage calls, are able to generate tissue or matrices with hemodynamic properties of cartilage in vitro. As used herein the term “ex vivo” refers to events that occur in tissue outside of or removed from a multi-cellular organism, such as a human and a non-human animal. In the context of cell-based systems, the term may be used to refer to events that occur within an isolated tissue sample taken from an organism (as opposed to, for example, in vivo systems). As used herein, the term “extracellular” refers to a molecule, substance, or process that is situated or taking place outside of a cell or group of cells. In the context of cell-based systems, the term may be used to refer to natural biological matter found adjacent to and outside of a cell or group of cells (e.g., “extracellular matrix”). As used herein, the term “defect” refers to an abnormality or imperfection, for example, in tissue in a joint of a subject. In some embodiments, a defect is a cartilaginous defect. In some embodiments, a defect is a defect in tissue in an articulating joint, for example, a knee joint. In some embodiments, a defect is a chondral defect. In some embodiments, a defect is an osteochondral defect. In some embodiments, a defect may have a size ranging from about 0.1 to about 10 cm2. In some embodiments, a defect may have a size that is greater than 10 cm2. As used herein, the term “density” refers to an average number of a substance, for example, cells or another object, per unit area of volume. In some embodiments, density is cell density, i.e., number of cells per unit of surface area. In some embodiments, an average density is approximated by dividing a number of cells seeded by a macroscopic surface are of a surface on which they are grown. In some embodiments, a surface is two-dimensional. In some embodiments, a surface is three-dimensional. As used herein the term “in vitro” refers to events that occur in an artificial environment, e.g., in a test tube or reaction vessel, in cell culture, etc., rather than within a multi-cellular organism. As used herein the term “in vivo” refers to events that occur within a multi-cellular organism, such as a human and a non-human animal. In the context of cell-based systems, the term may be used to refer to events that occur within a living cell (as opposed to, for example, in vitro systems). As used herein, the term “medium” refers to components that support growth or maintenance of cells in culture. In some embodiments, this may include traditional liquid cell culture medium and an additional factor. In some embodiments, additional factors may include, for example, serum, antibiotics, growth factors, pharmacological agents, buffers, pH indicators and the like. In some embodiments, medium may be used in a process to isolate cells (e.g., chondrocytes and/or chondrocyte precursors) from a tissue sample (e.g., a cartilage sample). In some embodiments, tissue is mechanically disrupted (e.g., chopped, minced, blended) then combined with medium. In some embodiments, medium comprises enzymes (e.g., collagenase, protease) to digest tissue and release cells. As used herein, the term “conditioned medium” refers to medium that has been contacted with cells to allow for the composition of medium to be modified, for example by uptake or release of one or more metabolites, nutrients, or factors. As used herein, the term “patient” refers to any organism to which a provided composition is or may be administered, e.g., for experimental, diagnostic, prophylactic, cosmetic, and/or therapeutic purposes. Typical patients include animals (e.g., mammals such as mice, rats, rabbits, non-human primates, and/or humans). In some embodiments, a patient is a human. In some embodiments, a patient is suffering from or susceptible to one or more disorders or conditions. In some embodiments, a patient displays one or more symptoms of a disorder or condition. In some embodiments, a patient has been diagnosed with one or more disorders or conditions. In some embodiments, the patient is receiving or has received certain therapy to diagnose and/or to treat a disease, disorder, or condition. As used herein, the term “seeding” refers to a process or step whereby cells are brought into contact with a support matrix, and adhere (with or without an adhesive) to a support matrix (e.g., a collagen membrane) for a period of time. Seeded cells may divide and/or differentiate on a support matrix. In some embodiments, cells are seeded onto a support matrix prior to being implanted into a subject. As used herein, the term “subject” refers to an organism, typically a mammal (e.g., a human, in some embodiments including prenatal human forms). In some embodiments, a subject is suffering from a relevant disease, disorder or condition. In some embodiments, a subject is susceptible to a disease, disorder, or condition. In some embodiments, a subject displays one or more symptoms or characteristics of a disease, disorder or condition. In some embodiments, a subject does not display any symptom or characteristic of a disease, disorder, or condition. In some embodiments, a subject is someone with one or more features characteristic of susceptibility to or risk of a disease, disorder, or condition. In some embodiments, a subject is a patient. In some embodiments, a subject is an individual to whom diagnosis and/or therapy is and/or has been administered. In some embodiments, a subject is a donor of a biological sample, tissue and/or material. As used herein, the term “substantially” refers to the qualitative condition of exhibiting total or near-total extent or degree of a characteristic or property of interest. One of ordinary skill in the biological arts will understand that biological and chemical phenomena rarely, if ever, go to completion and/or proceed to completeness or achieve or avoid an absolute result. The term “substantially” is therefore used herein to capture the potential lack of completeness inherent in many biological and chemical phenomena. As used herein, the term “substantially free of endotoxin” refers to a level of endotoxin per dose of a composition that is less than is allowed by the FDA for a biologic product (i.e., total endotoxin of 5 EU/kg body weight per hour, which for an average 70 kg person is 350 EU per total dose). As used herein, the term “substantially free of mycoplasma and/or microbial contamination” refers to a negative reading for a generally accepted test of contamination known to those skilled in the art. For example, mycoplasma contamination is determined by subculturing a product sample in broth medium and distributing the culture over agar plates on days 1, 3, 7, and 14 at 37° C. with appropriate positive and negative controls. In some embodiments, mycoplasma contamination is determined using a real-time PCR method. The product sample appearance is compared microscopically at 100×, to that of a positive and negative control. Additionally, presence of mycoplasma contamination may be detected by inoculation of an indicator cell culture, which is incubated for 3 and 5 days then examined at 600× by epifluorescence microscopy using a DNA-binding fluorochrome. The composition is considered satisfactory if agar and/or broth media procedure and indicator cell culture procedure show no evidence of mycoplasma contamination. In some embodiments, an assay that may be utilized to assess a level of microbial contamination may be or comprise the U.S. Pharmacopeia (USP) Direct Transfer Method. This involves inoculating a sample into a tube containing tryptic soy broth media and fluid thioglycollate media. Tubes are observed periodically for a cloudy appearance (turbidity) during a specified period (e.g., 14 days) of incubation. A cloudy appearance on any day in either medium indicates contamination, with a clear appearance (no growth) indicating that a composition may be considered to be substantially free of contamination. In some embodiments, an approved alternative to a USP method for detection of microbial contamination is used, for example, a BacT/ALERT test using different media formulations. As used herein, the term “surface area” refers to, for example, square area, cm2, or to the macroscopic surface area of a substrate. As used herein, the term “treatment” (also “treat” or “treating”) refers to administration of a therapy that partially or completely alleviates, ameliorates, relives, inhibits, delays onset of, reduces severity of, and/or reduces incidence of one or more symptoms, features, and/or causes of a particular disease, disorder, and/or condition. In some embodiments, such treatment may be of a subject who does not exhibit signs of the relevant disease, disorder and/or condition and/or of a subject who exhibits only early signs of the disease, disorder, and/or condition. Alternatively or additionally, such treatment may be of a subject who exhibits one or more established signs of the relevant disease, disorder and/or condition. In some embodiments, treatment may be of a subject who has been diagnosed as suffering from the relevant disease, disorder, and/or condition. In some embodiments, treatment may be of a subject known to have one or more susceptibility factors that are statistically correlated with increased risk of development of the relevant disease, disorder, and/or condition. DETAILED DESCRIPTION OF CERTAIN EMBODIMENTS Injuries to joints occur frequently from physical activity, for example, including but not limited to repetitive and excessive motions, overstretching, and physical trauma. Treatments for joint injuries often include surgery. Tissue, including cartilage, in the interior of an articulating joint is often difficult to access surgically, presenting challenges to treating patients with damage to joint cartilage. Certain current therapeutic intervention strategies typically involve removing damaged or dislodged cartilage from the joint. Such treatments typically provide temporary relief from symptoms of the injury, but they do not treat the origin of the lesion or defect, and, in particular, do not prevent progressive degradation of the cartilage. The present disclosure provides improved technologies useful for treating tissue defects in articulating joints. In particular, the present disclosure provides improved matrix-induced autologous chondrocyte implantation (MACI) technologies useful for repairing a tissue defect in an articulating joint in a human subject. For example, among other things, the present disclosure provides technologies for the arthroscopic delivery of MACI implants, also known as cell-seeded support matrices. In some embodiments, provided technologies are characterized in that they achieve delivery characterized by cell number and viability comparable to those observed with non-arthroscopic delivery. Advantages of the provided methods include, for example, arthroscopic delivery that is far less invasive than open surgical strategies, e.g., which have typically been used to administer MACI implants. Provided technologies, thus, represent and embody further improvements with respect to MACI technologies for the treatment of cartilage defects. Matrix-Induced Autologous Chondrocyte Implantation (MACI) Matrix-induced autologous chondrocyte implantation (MACI) is a surgical procedure used to treat symptomatic, full-thickness chondral lesions of articulating joints. MACI® also refers to a commercial product owned by Vericel Corporation, known as autologous cultured chondrocytes on porcine collagen membrane. MACI is a registered trademark of Vericel Corporation, but is also used herein to describe a process, and thus is not always denoted with the registration symbol. The MACI procedure is performed most commonly on the knee, but can be performed on other joints. MACI improves on the limitations of previous methods to treat chondral defects using implanted chondrocytes, including the risk of uneven chondrocyte distribution at the time of implantation and graft hypertrophy. Given the compliant properties of the scaffold or matrix on which chondrocytes are seeded before delivery to a patient in need, the graft can be easily shaped to treat irregular chondral defects and applied to articular surfaces with multiplanar geometry (e.g., trochlea) (Jones & Cash, 2019, Arthroscopy Techniques,8(3), 259-266). Restorative treatment options for symptomatic, full-thickness chondral and osteochondral lesions of the knee continue to evolve with advancements in our understanding of cartilage biology and surgical techniques. Since the initial description by Brittberg et al., in 1994, autologous chondrocyte implantation (ACI) has gained widespread use, and surgical utilization in the United States has nearly doubled over the past decade. Although the long-term clinical results of first-generation techniques have demonstrated sustained functional improvement, there were significant technical challenges and adverse events related to the requisite use of a periosteal patch over the defect. A large number of patients demonstrated arthrofibrosis and graft hypertrophy, which necessitated additional surgical procedures to address these complications (Jones, K. J. & Cash, B. M,Arthrosc Tech,2019). Ultimately, the use of periosteum was largely abandoned in favor of a bioabsorbable collagen membrane cover in 2007, significantly reducing the rate of graft hypertrophy and the rates of reoperation (Jones & Cash, 2019, Arthroscopy Techniques,8(3), 259-266). More recent ACI techniques, including MACI, use cell-loaded membranes to avoid graft-related complications and simplify the surgical technique. The MACI® scaffold (Vericel Corporation, Cambridge, MA) may use a porcine type I/III collagen membrane seeded with autologous chondrocytes at a density ranging between 250,000 and 1 million cells/cm2. In a recent report of the Superiority of MACI Implant Versus Microfracture Treatment trial, clinical outcomes following the treatment of chondral defects (>3 cm2) with MACI® were clinically superior at 5 years compared with microfracture treatment (Brittberg et al., 2018, Am. J. Sports Med.,46, 1343-1351). Additional case series have reported similar mid- and long-term results (Jones & Cash, 2019, Arthroscopy Techniques,8(3), 259-266). Cells In some embodiments, the present disclosure utilizes cells from a human or non-human (xenograft) source. In some embodiments, utilized cells are human cells. In some embodiments, utilized cells are autologous in that they are obtained from the same subject to whom a cell-seeded matrix composition(s) is administered as described herein. In some embodiments, utilized cells are allogeneic in that they are isolated from tissue of a first subject, who is a different subject from that into whom cell-seeded matrix compositions may be administered. In some embodiments, cells may be obtained from tissue harvested from a living source (e.g., a living human). In some embodiments, cells may be obtained from tissue harvested from adult organism (e.g., an adult human). In some embodiments, cells may be obtained from tissue harvested from a human younger than 18 years of age. Alternatively or additionally, in some embodiments, cells may be obtained from tissue harvested from a deceased source (e.g., from a cadaver). In some embodiments, cells may be obtained from tissue harvested from a living non-human organism. In some embodiments, utilized cells comprise chondrocytes. In some embodiments, utilized cells comprise human chondrocytes. In some embodiments, a cell preparation utilized in accordance with the present disclosure may be characterized e.g., to confirm one or more features of cell identity and/or to exclude one or more contaminants or undesirable properties, etc. For example, in some embodiments, a preparation that is or comprises chondrocytes may be assessed for expression of one or more chondrocyte markers (e.g., to determine whether expression of such marker is above a predetermined threshold and/or is comparable to that observed in an appropriate reference preparation) and/or one or more fibroblast markers (e.g., to determine whether expression of such marker is below a predetermined threshold and/or is comparable to that observed in an appropriate reference preparation). In some embodiments, a chondrocyte marker may be or comprise HAPLN1, MGP, EDIL3, WISP3, AGC1, COMP, COL2A1, COL9A1, COL11A1, LECT1, 81008, CRTAC1, SOX9, and NEBL. Cells for use according to the technologies of the present disclosure may be obtained from a biological sample, such as a tissue, cell culture, or other material, that may or may not contain chondrocytes. In some embodiments, a cell culture may be grown from cells released from a cartilage biopsy. For example, cartilage cells may be cultured from a cartilage biopsy of a patient receiving an implant. Carticel® autologous chondrocyte product (Vericel Corporation, Cambridge, MA) is an example of a cultured chondrocyte product. In some embodiments, a cell culture comprises a collagen matrix loaded with chondrocytes. Such chondrocytes may be obtained from a cartilage biopsy and cultured prior to being loaded on the matrix, e.g., as used in the MACI® implant product. In some embodiments, autologous chondrocytes may be expanded in culture prior to implantation to the subject from which they were isolated. In step1, a cartilage biopsy from a patient undergoing autologous chondrocyte implantation may be shipped for processing (step2). Biopsy material is digested at step3to release and harvest chondrocytes from the cartilage. The released cells are plated in tissue culture flasks and may be expanded in primary culture at step4, and if necessary, subcultured. Once the cells reach an adequate number, they can be, optionally, cryopreserved at step5until a patient is ready to receive an implant. Once a patient is ready to receive cells, they may be thawed and plated into tissue culture flasks and grown to prepare an assembly culture {step6). For use in an autologous chondrocyte implant, if a sufficient number of cells are obtained in the assembly culture, the cells may be centrifuged to a cell pellet and resuspended in shipping medium, which is the “final product”, such as, for example, the Carticel® autologous chondrocyte product (step8). This “final product” may be subjected to a number of quality control tests, including for example, a sterility test, a cell viability test, an endotoxin test, a mycoplasma test, and/or a culture composition test (step9) to ensure that the cultured cells contain a sufficient number of chondrocytes. If the cultured cells pass all tests, they may be shipped (step10) to the patient for implantation (step11). Alternatively, when the assembly culture from step6is to be used in a MACI® implant, the cells may be resuspended in culture medium, seeded onto a collagen scaffold, and cultured for 4 days (step7). At the end of the culture period, cells may be rinsed with shipping medium to produce a final product for MACI® implants. This product may also be subjected to quality control tests. Accordingly, whether the final product is a suspension of cultured chondrocytes, such as Carticel® autologous chondrocytes, or the final product is a scaffold-seeded product for MACI® implants, evaluation of cell identity may be useful as a lot identification assay or lot release assay, to confirm the composition of a cell culture as containing chondrocytes prior to shipment of the culture. In some embodiments, RNA expression levels for genes overexpressed by chondrocytes (e.g., HAPLN1) may be measured in cultured cells. In some embodiments, RNA expression for genes overexpressed by synoviocytes (e.g., MFAP5) may be measured in cultured cells. In some embodiments, RNA expression levels may be presented as a ratio of expression of a chondrocyte marker (e.g., HAPLN1) versus expression of a synoviocyte marker (MFAP5). In some embodiments, cultured chondrocytes may demonstrate relative RNA expression levels (HAPLN1 vs. MFAP5) of about −2, about −1, about 0, about +1, about +2, about +3, about +4, about +5, about +6, about +7, about +8 about +9, about +10 or more on a log scale. In some embodiments, cultured chondrocytes may demonstrate relative RNA expression levels ranging from about −2 to about +10, about −1 to about +9, about 1 to about 10, about +3 to about +8, about +5 to about +7 or ranges therein. In some embodiments, cultured synoviocytes may demonstrate relative RNA expression levels of about less than −2 on a log scale. In some embodiments, cultured synoviocytes may demonstrate relative RNA expression levels ranging from less than −2 to −10 on a log scale. In some embodiments, chondrocytes prepared from a source cell preparation may be present in culture at a density sufficient to seed a support matrix with at least 250,000 cells/cm2. In some embodiments, chondrocytes expanded in culture may be dedifferentiated when present in a monolayer culture. In some embodiments, dedifferentiated chondrocytes may exhibit a fibroblastic phenotype. In some embodiments, dedifferentiated chondrocytes may downregulate expression of a gene encoding an extracellular matrix (ECM) protein, for example, ACAN and/or COL2A1. In some embodiments, dedifferentiated chondrocytes may produce and/or secrete a lesser amount of ECM protein, for example, collagen (e.g., type II collagen) and/or aggrecan (also known as cartilage-specific proteoglycan core protein or chondroitin sulfate proteoglycan 1). Without wishing to be bound by theory, de-differentiation may occur after removal of chondrocytes from 3-dimensional cartilage matrix and is observed during expansion of cells in monolayer culture. In some embodiments, chondrocyte preparations utilized herein comprise a sufficient number of cells to seed a support matrix. In some embodiments, chondrocyte preparations comprise at least about 3×106, 4×106, 5×106, 6×106, 7×106, 8×106, 9×106or more cells following a second passage. In some embodiments, chondrocyte preparations comprise at least about 3×106cells after a second passage. In some embodiments, chondrocyte preparations disclosed herein comprise at least about 1×107, 2×107, 3×107, 4×107, 5×107, 6×107, 7×107, 8×107, 9×107or more cells at a final passage. In some embodiments, chondrocyte preparations utilized herein comprise at least 1×107cells at a final passage. In some embodiments, chondrocyte cultures are about 50%, 60%, 70%, 80%, 90%, 95%, 98% or more confluent. In some embodiments, chondrocyte cultures are about 100% confluent. In some embodiments, chondrocyte cultures are about 50% to 90% confluent. In some embodiments, chondrocytes are seeded on a support matrix at density of at least 250,000 cells/cm2, 300,000 cells/cm2, 400,000 cells/cm2, 500,000 cells/cm2, 600,000 cells/cm2, 700,000 cells/cm2, 800,000 cells/cm2, 900,000 cells/cm2, 1,000,000 cells/cm2, or more. Among other things, the present disclosure utilizes cell preparations in which a significant percentage of cells are viable; such high viability cell preparations can materially improve, and may be required for, successful treatment of a particular lesion or defect. In some embodiments, at least 70%, 75%, 80%, 85%, 90%, 95%, 98% or more of cells present in a preparation are viable. In some embodiments, at least 90% of chondrocytes in a preparation are viable. In some embodiments, a composition of the disclosure utilized herein may be substantially free of components used during preparation of a source cell preparation and during expansion of chondrocytes (e.g., fetal bovine serum albumin, fetal bovine serum and/or horse serum). For example, in some embodiments, a composition utilized herein comprises less than 10 μg/ml, 5 μg/ml, 4 μg/ml, 3 μg/ml, 2 μg/ml, 1 μg/ml, 0.05 μg/ml fetal bovine serum albumin. In some embodiments, a cell preparation may be substantially free of mycoplasma, endotoxin, and/or microbial (e.g., aerobic microbe(s), anaerobic microbes(s) and/or fungi) contamination. In some embodiments, a cell preparation may test negative for mycoplasma, endotoxin and/or microbial contamination. Support Matrix A support matrix for use in accordance with the present disclosure may be made of a material to which relevant utilized cells adhere. In some embodiments, a support matrix comprises and/or is coated with an adhesive agent that facilitates and/or enables cell adherence. In some embodiments, a support matrix supports cell proliferation. In some embodiments, a support matrix is bioresorbable. In some such embodiments, a bioresorbable matrix may degrade over a period of hours, days, weeks or months. For example, a bioresorbable matrix may degrade within at least 24 hours, at least 7 days, at least 30 days or at least 6 months. In some embodiments, a support matrix may act as a hemostatic barrier inhibiting penetration of adjacent cells and tissues into a particular area of the body, for example, an area requiring treatment (e.g., an articular joint). In some embodiments, a support matrix may be a gel, a solid, or a semi-solid. In some embodiments, a support matrix may be impermeable, permeable or semi-permeable (e.g., comprising pores). In some embodiments, a support matrix may be comprised of a synthetic material, a natural material, or a combination thereof. In some embodiments, a support matrix may have a structure that comprises a membrane, microbead, fleece, thread, gel or combination thereof. In some embodiments, a support matrix may be or comprise biological material generated by cells; in some such embodiments, a biological material may be generated by cells in culture. Alternatively, in some such embodiments, a biological material may be generated by cells in tissue (e.g., in vivo). In some embodiments, such biological material may be generated by cells that are allogeneic to a subject who will receive treatment as described herein. In some embodiments, a support matrix may be or comprise collagen. For example, a support matrix may be or comprise type I collagen, type II collagen, type III collagen, or a combination thereof (e.g., may include a combination of type I collagen and type II collagen, or may include a combination of type I collagen and type III collagen). In some embodiments, a support matrix is comprised of primarily type I collagen on a first side and type III collagen on a second side. In some embodiments, a first side of a support matrix comprising type I collagen is a smooth surface. In some embodiments, a second side of a support matrix comprising type III collagen is a rough surface. In some embodiments, a rough surface of a support matrix is suitable for cell seeding. In some embodiments, a smooth surface of a support matrix is suitable to contact a joint surface. In some embodiments, some or all collagen in a support matrix for use in accordance with the present disclosure may be cross-linked; in some embodiments, it may be uncross-linked. In some embodiments, collagen utilized in accordance with the present disclosure may be derived from an animal such as a pig. In some embodiments, collagen may be derived from the peritoneum of a pig. In some particular embodiments as described herein, a support matrix comprises a combination of type I and type III porcine collagen. In some embodiments, cells (e.g., chondrocytes) seeded onto and/or cultured on a support matrix as described herein may produce one or more extracellular matrix proteins (e.g., collagen) that interact with and/or become incorporated into, a support matrix. In some embodiments, a support matrix may include proteins, polypeptides, hyaluronic acid) and/or polymers (e.g., elastin, fibrin, laminin, fibronectin). In some embodiments, a support matrix may be cell-free. In some embodiments, a support matrix may have a surface area, size, shape, and/or dimension appropriate for treatment of a particular chondral or osteochondral defect, lesion or injury. In some embodiments, a support matrix may be provided in a form (e.g., a sheet form) that is readily shaped (e.g., by cutting, trimming, etc.) for administration to a particular chondral or osteochondral defect. In some embodiments, a surface area of a support matrix may be at most about 10 cm2, 5 cm2, 4 cm2, 3 cm2, 2 cm2, 1 cm2or smaller. In some embodiments, a support matrix may have a surface area of about 2 cm2. In some embodiments, a support matrix may have a surface area of about 3 cm2. In some embodiments, a support matrix may have a surface area of about 4 cm2. A dimension of a support matrix may be any dimension necessary to achieve a desired surface area suitable for treating a chondral and/or osteochondral defect. For example, dimensions of a 5 cm2support matrix may be about 1 cm×5 cm, 2 cm×2.5 cm, 3 cm×1.7 cm, or 4 cm×1.3 cm. In some embodiments, a surface area of a support matrix (e.g., collagen membrane) may be about 5 cm2with dimensions of about 1 cm×5 cm. In some embodiments, a surface area of a support matrix (e.g., collagen membrane) may be about 2 cm2with dimensions of about 2×1 cm2. In some embodiments, the largest dimension of a support matrix does not exceed about 5 cm at its maximum length. In some embodiments, the largest dimension of a support matrix does not exceed about 10 cm at its maximum length. In some embodiments, the support matrix has an irregular shape. Cells Seeded on Support Matrix Among other things, the present disclosure utilizes compositions comprising cultured cells (e.g., chondrocytes) seeded onto a support matrix (e.g., collagen membrane). Typically, cells that have been cultured for a period of time (e.g., 3 days to 5 weeks) may be present on or in a support matrix. In some embodiments, cells seeded onto a support matrix may be adherent. In some embodiments, cells may be adherent to a support matrix to an extent that they do not wash off a matrix during subsequent cell culturing steps, are not displaced from a matrix during transport, and/or are not displaced from a matrix during a surgical procedure to implant a matrix. Among other things, in some embodiments, the present disclosure utilizes cell-seeded support matrices in which a significant percentage of cells are viable; such high viability of cells present on a cell-seeded matrix can materially improve, and may be required for, successful treatment of a particular lesion or defect. In some embodiments, at least 70%, 75%, 80%, 85%, 90%, 95%, 98% or more of cells present on a cell-seeded matrix are viable. In some embodiments, at least 90% of chondrocytes present on a cell seed matrix are viable. In some embodiments, cells seeded onto a cell-seeded support matrix are viable for at least about 1 day, 2 days, 3 days, 4, days, 5 days, 6 days, 7 days, 8 days, 9 days, 10 days, 11 days, 12 days, 13 days, 2 weeks, 3 weeks or more. In some embodiments, cells seeded onto a support matrix divide. In some embodiments, a cell-seeded support matrix is stored at about 4° C. to about 37° C. In some embodiments, a cell-seeded support matrix comprises at least 250,000 cells/cm2, 300,000 cells/cm2, 400,000 cells/cm2, 500,000 cells/cm2, 600,000 cells/cm2, 700,000 cells/cm2, 800,000 cells/cm2, 900,000 cells/cm2, 1,000,000 cells/cm2, or more. In some embodiments, a cell-seeded matrix comprising greater than 250,000 cells/cm2300,000 cells/cm2, 400,000 cells/cm2, 500,000 cells/cm2, 600,000 cells/cm2, 700,000 cells/cm2, 800,000 cells/cm2, 900,000 cells/cm2, 1,000,000 cells/cm2is suitable for implant into a subject. In some embodiments, a cell-seeded support matrix comprises at least 5×106, 7.5×106, 1.0×107, 1.5×107, 2.0×107, 2.5×107, 3.0×107or more cells. In some embodiments, a 20 cm2porcine type I and type III collagen membrane comprises about 1.0×107chondrocytes to about 2.0×107chondrocytes. In some embodiments, a 14.5 cm2porcine type I and type III collagen membrane comprises about 7.5×106chondrocytes to about 1.5×107chondrocytes. In some embodiments, a cell-seeded support matrix may comprise medium (e.g., DMEM) and supplements (e.g., fetal bovine serum, antibiotic). In some embodiments, medium comprises about 7%, about 8%, about 9%, about 10%, about 11% fetal bovine serum. In some embodiments, medium may be supplemented with 8.9%+/−0.2% fetal bovine serum and gentamicin. In some embodiments, a cell-seeded support matrix may have a surface area of at most about 20 cm2, 10 cm2, 5 cm2, 4 cm2, 3 cm2, 2 cm2, 1 cm2or smaller. In some embodiments, a cell-seeded support matrix may have a surface area of about 2 cm2. In some embodiments, a cell-seeded support matrix may have a surface area of about 3 cm2. In some embodiments, a cell-seeded support matrix may have a surface area of about 4 cm2. In some embodiments, a cell-seeded support matrix may have a surface area of about 5 cm2. In some embodiments, the largest dimension of a cell-seeded support matrix does not exceed about 5 cm at its maximum length. In some embodiments, the largest dimension of a cell-seeded support matrix does not exceed about 10 cm at its maximum length. In some embodiments, a cell-seeded support matrix may be trimmed, shaped, cut, molded or formed and corresponds to a shape of a defect, lesion, and/or injury in need of treatment. In some embodiments, a cell-seeded support matrix is of an irregular shape. In some embodiments, a cell-seeded support matrix may be substantially free of components used during preparation of a source cell preparation of during expansion of chondrocytes (e.g., fetal bovine serum albumin, fetal bovine serum and/or horse serum). For example, in some embodiments, a cell-seeded support matrix utilized herein comprises less than 10 μg/ml, 5 μg/ml, 4 μg/ml, 3 μg/ml, 2 μg/ml, 1 μg/ml, 0.05 μg/ml fetal bovine serum albumin. In some embodiments, a cell-seeded support matrix may be substantially free of mycoplasma, endotoxin, and/or microbial (e.g., aerobic microbe(s), anaerobic microbes(s) and/or fungi) contamination. In some embodiments, a cell-seeded support matrix composition, prepared and/or utilized in accordance with the present disclosure, comprises a biocompatible adhesive or glue. In some embodiments, a least a portion of a cell-seeded matrix may be coated with a biocompatible adhesive or glue. In some embodiments, a biocompatible adhesive or glue may form a layer over cells on a support matrix. In some embodiments, a biocompatible adhesive or glue may form a layer under cells on a support matrix. In some embodiments, a cell-seeded support matrix comprises multiple layers of biocompatible adhesive or glue and cells. In some embodiments, a biocompatible adhesive or glue may be impregnated within a support matrix. In some embodiments, the present disclosure utilizes cells and glue, and/or adhesive, combined together in a mixture of one or more alternating layers of cells and glue, and/or adhesive, on a surface or edge of a support matrix. In some embodiments, biocompatible adhesives or glues used in compositions of the disclosure may include an organic fibrin glue (e.g., Tisseel®, fibrin based adhesive available from Baxter, Austria) or a fibrin glue prepared during surgery using autologous blood. Cell Sheets Among other things, the present disclosure utilizes compositions comprising cultured cells (e.g., chondrocytes) formed into a sheet (i.e., a cell sheet). In some embodiments, a cell sheet comprises cells in their natural extracellular matrix (ECM). In some embodiments, a cell sheet comprises chondrocytes in their natural ECM. In some embodiments, a natural ECM comprises collagen, proteoglycans, hyaluronic acid, and/or chondroitin sulfate. In some embodiments, a cell sheet comprises a confluent cell monolayer, the confluent cells being in their natural extracellular matrix. Injuries and Sites In some embodiments, the present disclosure contemplates use of cells (e.g., chondrocytes) seeded and grown on a support matrix (e.g., collagen membrane) to treat/repair cartilage defects, lesions, and/or injuries in a subject. In some embodiments, cartilage defects, lesions, and/or injuries may be located in an articulating joint (for example, knee, ankle, elbow, shoulder, hip, or wrist) of a subject. In some embodiments, a defect in a medial femoral condyle, a lateral femoral condyle, a patella, or a trochlea of a subject may be treated using technologies of the present disclosure. Types of injuries that can lead to a cartilage defect treatable using the technologies of the present disclosure may include but are not limited to those caused by chronic and/or repetitive actions, prolonged strenuous physical activity, and trauma. Some examples of chronic and/or repetitive movements include but are not limited to walking, running, cycling, climbing, and other movements performed during exercise. Some examples of prolonged strenuous activity include but are not limited to lifting heavy objects and other forms of physical labor. Some examples of trauma include but are not limited to falls, collisions, and sports-related injuries. In some embodiments, a subject who may be treated is an adult human. In some embodiments, a subject who may be treated is under the age of 18. In some embodiments, a subject who may be treated is a human between 10 and 17 years of age; in some such embodiments, a subject does not have an open growth plate. In some embodiments, a subject displays symptoms of a cartilage defect. In some embodiments, symptoms of a cartilage defect may include joint pain, joint swelling, and/or changes in joint flexibility and/or movement. In some embodiments, a subject may be asymptomatic. Methods The present disclosure provides technologies for the delivery of compositions to a surgical site, the compositions comprising cells, which compositions may be useful, for example, for treatment of chondral and/or osteochondral lesions (e.g., for example, focal lesions in the load bearing region of a knee's articular cartilage). In some embodiments, the present disclosure provides technologies that permit and/or achieve treatment of clinically significant chondral and/or osteochondral lesions, defects, injuries and/or trauma. In some embodiments, treatment comprises tissue repair and/or regeneration. In some embodiments, compositions comprising chondrocytes may be implanted into a subject at or near a site of a lesion, defect, injury and/or trauma, for example, at or near an articular surface, using arthroscopic methods. Articular surfaces that may be treated using the methods and compositions of the present disclosure include articular surfaces of, for example, a knee, ankle, wrist, hip, elbow, and/or shoulder. Open Administration Traditionally, procedures involving the implantation of a cell-seeded support matrix at a site of a defect, lesion and/or injury, have been performed under open surgical conditions requiring a large incision adjacent to the site. The implantation of a cell-seeded support matrix has traditionally been performed via an arthrotomy adjacent to the site under sterile conditions. In many of these procedures, a mini-arthrotomy is used. Mini-arthrotomy to repair knee defects (e.g., lesions on the condyle and patella) generally requires an incision with a length ranging from about 6 cm to about 10 cm. Open surgical procedures such as arthrotomy are typically used because they provide surgeons the ability to visualize and measure defects, as well as to physically manipulate the implant near the defect with relative ease. The present disclosure appreciates various disadvantages of open surgical methods, including those traditionally used in the MACI procedure, when compared to minimally invasive methods such as arthroscopy. For example, the relatively large incisions required to perform many open surgical techniques, including those traditionally used in the MACI procedure, present an increased risk of infection, an increased risk of significant scarring, longer recovery times, and increased pain severity, relative to the same metrics following minimally invasive procedures such as arthroscopic implantation. In such open surgical procedures, typically, an incision may be made to allow access to a joint to be surgically treated, such that the joint and its internal tissue (e.g., cartilage) are exposed and visible to a physician performing the procedure. Typically, preparation of the surgical site may include washing the site and removing damaged cartilage from the site. Typically, a cell-seeded support matrix is placed with cells facing (e.g., in contact with) a surface to be treated. In some such procedures, a cell-seeded support matrix is implanted into, and/or over, a site of a lesion, defect and/or injury. A cell-seeded support matrix may be provided in a form (e.g., a sheet form) that is readily shaped (e.g., by folding, cutting, trimming etc.) for administration to a chondral or osteochondral defect. In some procedures, a cell-seeded support matrix is shaped into a form that uniquely fits or adheres to a chondral or osteochondral defect of a subject. The cell-seeded support matrix is typically secured in the site using a fixation method, for example, fibrin glue fixation. The site may then be closed, leaving the cell-seeded matrix remaining in the site. Arthroscopic Delivery Arthroscopy (also called arthroscopic surgery or keyhole surgery) is a minimally invasive surgical procedure on a joint in which an examination and/or treatment of damage is performed using an arthroscope, which is an endoscope that is inserted into the joint through a small incision. Arthroscopic procedures can be performed under numerous surgical scenarios, including but not limited to ACL reconstruction, meniscus reconstruction, and cartilage repair. Arthroscopic surgery has become a preferred surgical method due at least in part to its positive impact on patient health outcomes, including but not limited to minimal soft tissue trauma, low post-operative pain, fast healing times, and low infection rates. Many of the surgical repairs that benefit from MACI are at sites that are accessible using arthroscopic surgical methods. The present disclosure provides technologies that permit the MACI procedure via an arthroscopic delivery method. A critical advantage of arthroscopic surgery over traditional open surgery is that a joint does not have to be opened and fully exposed during the surgical procedure. In some arthroscopic procedures performed on the knee, only around two small incisions are made: one for the arthroscope and at least one for the surgical instruments to be used in the knee cavity. This may reduce recovery time and may increase the rate of success due to reduced trauma to connective tissue, as compared to traditional open surgical procedures. In recent years, arthroscopy has gained popularity owing at least in part to evidence of faster recovery times with less scarring, due at least in part to smaller incisions. Irrigation fluid (most commonly normal saline) may be used to distend the joint and make a surgical space. In typical arthroscopic procedures, the surgical instruments used are smaller than traditional surgical instruments. Surgeons view the joint area on a video monitor, and can diagnose and repair defects in joint tissue. It is possible to perform an arthroscopic examination of almost every joint. Arthroscopic procedures are most commonly performed on the knee, shoulder, elbow, wrist, ankle, foot, and hip. The present disclosure appreciates the source of a challenge encountered in delivery of cell-seeded matrix compositions via arthroscopic procedures. For example, among other things, the present disclosure identifies that, absent technologies described herein, it may be difficult or impossible to maintain appropriate (e.g., sufficient) levels of cell viability. Among other things, the present disclosure provides solutions. For example, the present disclosure provides technologies that are demonstrated herein to achieve arthroscopic delivery while maintaining cell viability (e.g., as assessed by one or more parameters described herein) reasonably comparable to those found with certain open surgical methods. The present disclosure describes certain surprising and unexpected results that provided technologies can achieve (e.g., see Example 5 herein), including cell viability levels that can that exceed those obtained by certain open surgical delivery methods. In some embodiments, at least two incisions may be made adjacent to the location of a defect to be treated arthroscopically. In some embodiments, incisions may have a length in a range from about 1 cm to about 3 cm. In some embodiments, at least one incision may be made to accommodate the insertion of an arthroscope. In some embodiments, at least one incision may be made to accommodate the insertion of a cannula. In some embodiments, at least 2, at least 3, or at least 4 incisions may be made. In some embodiments, at least 2 incisions may be made, each to accommodate the insertion of a cannula. In some embodiments, the size and/or shape of a defect may be determined prior to arthroscopic implantation of a cell-seeded matrix to a defect. In some embodiments, the size and/or shape of a defect may be determined by using a surgical measuring device. In the present disclosure, the surgical measuring device may be an arthroscopic probe and ruler with markings with millimeter-scale spacings. In some embodiments, a cell-seeded support matrix may be cut using a matrix cutter to form a regular shape (e.g. an oval, a circle, a rectangle, a square, etc.). In some embodiments, a cell-seeded support matrix may be implanted at a site of a defect, lesion and/or injury using an arthroscopic technique. In some embodiments, when a cell-seeded support matrix is implanted at a site of a defect, lesion, and/or injury using an arthroscopic technique, a matrix may be placed with cells facing (e.g., in contact with) a surface to be treated. In some embodiments, a cell-seeded support matrix may be arthroscopically implanted into, and/or over, a site of a lesion, defect, and/or injury. In some embodiments, a cell-seeded support matrix may be provided in a form (e.g., a sheet form) that is readily shaped (e.g., by cutting, trimming, etc.) for arthroscopic administration to a chondral or osteochondral defect. In some embodiments, a cell-seeded support matrix may be cut or shaped into a form that uniquely fits or adheres to a subject's chondral or osteochondral defect, prior to arthroscopic implantation. In some embodiments, a region of cartilage surrounding a defect or lesion is defined by pressing a sharp cutting tool (e.g., an articulated arthroscopic cutting tool) into the cartilage, and is then removed by using one or more cutting tools (e.g., a ring curette, a square curette, or a rake curette) to form a region of exposed bone of a particular shape (e.g., an oval, an ellipse, a circle, a square, a rectangle, etc.). In some embodiments, a single matrix may be utilized to treat multiple defects via arthroscopy. In some embodiments, a plurality of defects may be treated, each with a different matrix, at least some of which are delivered via arthroscopy. In some embodiments, one or more defects may be treated with a plurality of individual matrices via arthroscopy. In some embodiments, following treatment comprising arthroscopic delivery of a composition of the present disclosure, a region treated (e.g., an articular joint) may be evaluated using a screening method (e.g., magnetic resonance imaging). In some embodiments, a treated region may be evaluated for filling, repair, and/or healing of a defect, lesion, and/or injury. In some embodiments, a cell-seeded support matrix may be arthroscopically implanted at a site of a defect, lesion, and/or injury using at least one tool selected from among a cannula assembly, an articulated arthroscopic cutting tool, a ring curette, a square curette, a rake curette, a matrix shuttle delivery device, and an applicator tool. In some embodiments, a cannula may have an inner diameter of about at least 5 mm, at least 6 mm, at least 7 mm, at least 8 mm, at least 9 mm, or at least 10 mm. In some embodiments, a cannula may have an inner diameter from about 8 mm to about 9 mm. In some embodiments, a cannula may have an inner diameter greater than 10 mm. In some embodiments, a cannula may have an inner diameter from about 15 mm to about 20 mm. In some embodiments, the cannula may have a length that is about 2 cm, about 3 cm, about 4 cm, about 5 cm, about 6 cm, about 7 cm, about 8 cm, about 9 cm, or about 10 cm or longer. In some embodiments, a cannula may have a length that is in a range from about 2 cm to about 10 cm. In some embodiments, a cannula has a length that is about 4.5 cm. In some embodiments, the length of a cannula may depend on the location of the site of the defect to be treated. For example, a cannula used to treat a hip defect may have a length that is about 12 cm to about 20 cm. In some embodiments, a cannula used to treat a hip defect may have a length that is about 16.5 cm. In some embodiments, a cannula used to treat a shoulder defect may have a length that is about 12 cm to about 20 cm. In some embodiments, a cannula used to treat a shoulder defect may have a length that is about 16.5 cm. As an additional example, a cannula used to treat a knee defect may have a length that is in a range from about 2 cm to about 7 cm. In some embodiments, a cannula used to treat a knee defect may have a length that is about 4.5 cm. In some embodiments, a cannula may be composed of a material comprising plastic. In some embodiments, a cannula may be composed of a material comprising metal. In some embodiments, a cannula may be composed of a material selected from the group consisting of plastics, metals, rubber, silicone, fiberglass, and combinations thereof (for example, composite materials). In some embodiments, one end of a cannula may be truncated in a curved shape around a circumference of the cannula, and may form a curved assessment edge that may facilitate visual inspection of a curved condyle or other surface on a bone. In some embodiments, a cell-seeded support matrix may be arthroscopically delivered to a surgical site by using tweezers or other tool to place a previously cut or shaped portion of a cell-seeded support matrix onto a matrix shuttle device, pushing the shuttle device into a cannula positioned in a surgical site, pressing a plunger on the matrix shuttle device to push out deployment wings that may deliver the cell-seeded support matrix onto a surgical site. In some embodiments, a cell-seeded support matrix may traverse the entire length of a cannula. In some embodiments, after a cell-seeded support matrix is implanted into a defect, lesion, and/or injury, a covering patch may be secured using e.g., a biocompatible adhesive, sealant, or suture. In some embodiments, a covering patch may serve to cover an area to prevent infiltration of undesirable cells and/or biological factors (e.g., fibroblasts, macrophages) from surrounding tissue into an area to be treated. In some embodiments, a covering patch comprises any support matrices described herein, and/or may include hyaluronic acid, fibrin, and/or polylactic acid. In some embodiments, a covering patch may be cell-free and resorbable. In some embodiments, a covering patch may be semi-permeable. In some embodiments, biocompatible adhesives or glues used to secure a covering patch may include an organic fibrin glue or sealant (e.g., Tisseel®, fibrin-based adhesive available from Baxter, Austria) or a fibrin glue prepared during surgery using autologous blood. In some embodiments, a biocompatible adhesive or glue may be applied to a defect prior to placement of a cell-seeded support matrix over, or into, a defect. In some embodiments, a biocompatible adhesive or glue may be applied to a cell-seeded support matrix prior to placement over, or into, a defect. In some embodiments, a biocompatible adhesive or glue may be applied to a periphery of an implanted cell-seeded support matrix. FIG.1illustrates a schematic of a method10of conducting arthroscopic surgery, according to aspects of the present embodiments. The method10may generally include the steps of making an incision in a patient at an affected joint (e.g. knee, shoulder, elbow, etc.) (step12); installing a cannula in the incision (step14), using an arthroscopic measurement probe to measure a defect in the cartilage at the joint (step16); using an articulated arthroscopic cutting tool to outline and score the cartilage surrounding the defect in a particular shape (e.g. oval, circle, square, rectangle, oblong, etc.) (step18); using a cutting tool (e.g. rake curette, ring curette, square curette, etc.) to cut, remove, and debride the cartilage within the outlined shape (step20); drying the surgical site where the cartilage was removed by stopping a flow of fluids, draining, suctioning, and drying by using an applicator tool (step22); applying fibrin glue at the surgical site (step23); using a matrix cutter to cut a portion of a cell-seeded support matrix (or MACI graft or MACI implant) (step24); using a matrix shuttle delivery device to deliver and implant the cell-seeded support matrix to the prepared surgical site (step26); and applying fibrin glue (or other suitable material) to the defect site using an applicator tool (step28). FIG.2illustrates views of an exemplary arthroscopic surgery process, according to aspects of the present embodiments.FIG.2Acorresponds to step16of method10, and shows a cartilage-covered joint42. In some embodiments, this joint may be a medial femoral condyle, a lateral femoral condyle, a patella, or a trochlea, or other joint of a subject or a patient.FIG.2Aalso shows a flexible ruler44extended from a measurement tool.FIG.2Bcorresponds to step18of method10, and shows a sharp blade46attached to an articulated arm48cutting the cartilage42.FIG.2Ccorresponds to step20of method10, and shows a ring curette50removing portions of the cartilage42.FIG.2Dcorresponds to step22of method10, and shows a matrix applicator56drying the exposed bone54at the joint, with an outline52defined by cutting away the cartilage42.FIG.2Ecorresponds to step26of method10, and shows a shuttle device58delivering a portion of pre-cut cell-seeded support matrix60that matches the shape of the prepared area52, within the cartilage42.FIG.2Fcorresponds to step28of method10, and shows an applicator tool62adjusting the position of the cell-seeded support matrix60and applying fibrin glue, within the cut region52of the cartilage42. Systems/Tools/Devices Provided herein are systems, tools, devices, and instrument systems useful for practicing the methods of the invention, which will allow for the convenient practice of the methods of the invention in a surgical setting. In some embodiments, at least one custom device or tool may be used to perform methods described herein. FIG.3illustrates a schematic of a method70of using a cannula assembly during an arthroscopic surgery, according to aspects of the present embodiments. The method70may generally include the steps of inserting a cannula assembly into an incision at a joint of a patient (step72), where the cannula assembly may include an obturator and a dam seal sub-assembly. Once the cannula assembly is inserted, the method70may include pushing and twisting the cannula body clockwise to secure it at the incision site (step74); retracting the obturator and removing it from the cannula assembly (step76), to leave behind the cannula body and dam seal sub-assembly for conducting one or more arthroscopic surgery procedures (step78). The dam seal sub-assembly may be removed from the cannula body if desired by pressing on tabs on sides of the dam body to release the dam body (step80). When the arthroscopic surgery procedures are completed, the cannula body may be removed from the incision site by twisting it counterclockwise (step82). FIG.4illustrates a perspective view of a cannula assembly90, according to aspects of the present embodiments. Generally, the cannula assembly90may include an obturator92, a dam seal sub-assembly94, and a cannula body96. The dam seal sub-assembly may be coupled via dam release clips114(shown inFIG.5) that may attach releasably to tabs128on the cannula body96, such that the dam seal sub-assembly94and the cannula body96are coupled together. The obturator92may be inserted coaxially through both the cannula body96and the dam seal sub-assembly94. In general, in some embodiments, the obturator may serve as a handle used to push and twist the cannula assembly into the incision site. A plurality of slats102on a proximal handle portion100of the obturator may aid in manually holding and manipulating the obturator during insertion of the cannula assembly, and may improve certain aspects of manufacturing the obturator. FIG.5illustrates a manner in which an obturator92and a dam seal sub-assembly94fit together, according to aspects of the present embodiments. Generally, the obturator may have two or more protruding rotation tabs110on a bottom surface of the proximal handle portion100that fit into two or more corresponding indentations112in a top portion of the dam seal sub-assembly94. During the insertion of the cannula assembly, the rotation tabs110and indentations112may assist in the combined movement of the cannula assembly to enhance rotational movement of the cannula assembly while not restricting axial movement of the obturator92relative to the dam sub-assembly94. Generally, the obturator comprises a proximal handle portion100shaped like a dome to fit an operator's hand, a distal conical tip106to help push the cannula assembly into a surgical incision, and a shaft portion104that connects the handle portion100and pointed portion106. In some embodiments, a plurality of slats102on a proximal handle portion100of the obturator may aid in manually holding and manipulating the obturator during insertion of the cannula assembly, and may improve certain aspects of manufacturing the obturator. One or more concave portions180on the handle portion100may be present and may enhance manually holding and manipulating the obturator during certain methods. Certain aspects of the obturator92are also illustrated inFIG.13and described below. FIG.6andFIG.8illustrate two different perspective views andFIG.7illustrates a side view of a cannula body96, according to aspects of the present embodiments. The cannula body96may generally include a hollow cylinder120wrapped in a helical thread126along the entire length of the hollow cylinder120. In some embodiments of the present disclosure and the present arthroscopic surgical methods, the thread around the cannula body may assist with gripping the incision site and allowing the surgeon to expand the internal volume at the surgical site. The cannula body120may also include a circular lip portion122near the proximal end of the hollow cylinder120, on which two tabs128are positioned opposite each other. In some embodiments of the present disclosure, these tabs may be releasably interfaced with two corresponding dam release clips114on the dam seal sub-assembly so that the dam seal sub-assembly may be removed from or attached to the cannula body. Referring still toFIG.6andFIG.7, the distal end of the hollow cylinder120may terminate in a circumference130that is curved with respect to the plane perpendicular to the central axis of the hollow cylinder120. This curved circumference130may be further outlined in a darkened line so that it may act as a visual guide for assessing the curvature of the surgical site. Depending on the diameter of the hollow cylinder120, the degree of curvature of the curved circumference may change. Further, at least two additional visual markings132along the darkened line of the circumference may be applied at opposite locations and may assist as visual markers. In some embodiments, the visual markings132may extend proximally from the curved circumference130at the distal end of the hollow cylinder120from about 0.1 mm to about 10 mm, or from about 0.1 mm to about 0.5 mm, or from about 0.1 mm to about 1.0 mm, or from about 0.1 mm to about 0.8 mm, or from about 0.1 mm to about 0.5 mm, or from about 0.2 mm to about 1.0 mm, or from about 0.2 mm to about 0.8 mm, and/or from about 0.2 mm to about 0.5 mm. In some embodiments, the cannula body96may comprise a translucent polycarbonate material. The translucent material may improve optical viewing of a surgical site through the cannula body96during a surgical procedure. In some embodiments, the cannula body96may comprise or be composed of a plastic, polymer, metal, or composite or hybrid material. FIG.9illustrates a perspective view of a dam seal sub-assembly, according to aspects of the present embodiments. In general, the dam seal sub-assembly may include one or more dam seals154,156,158(shown inFIGS.10-12) enclosed within one or more outer pieces148,150, and may serve to form a flexible interface through which various arthroscopic surgery tools may enter into the cannula and interact at the surgical site, and which may serve to retain liquids, fluids, tissues, or other materials. The outer pieces148,150may include a dam top piece148and a dam bottom piece150, which are shown in more detail inFIG.10and described below. The damn top piece148may comprise a flat top surface146and a circular hole144, and indentations112disposed at opposite positions on the circumference of the circular hole144(for example, approximately 180 degrees apart). The indentations112may couple with rotation tabs110on the obturator92(shown above inFIG.5). FIG.10illustrates a perspective exploded view of components of a dam seal sub-assembly94, according to aspects of the present embodiments. The dam seal sub-assembly94may generally include a dam top piece148, at least one dam seal pieces158,154,156, and a dam bottom piece150. In some embodiments, all the components illustrated inFIG.10fit together coaxially, or are longitudinally or axially aligned, and stacked parallel to each other. In general, the dam top piece148and dam bottom piece150may enclose the dam seal pieces158,154,156to form a flexible dam seal assembly that may enable various arthroscopic surgical tools to be inserted into the cannula to perform surgical procedures while maintaining the fluid (e.g., sterile saline solution, sterile fluid, and other materials within the surgical site. In some embodiments, the dam top piece148and dam bottom piece150may comprise acrylonitrile butadiene styrene (ABS) or other similar polymeric or plastic materials. Referring still toFIG.10, the top dam seal piece148comprises a flat circular portion151with a circular hole in the center154. The top dam seal piece148may further include multiple legs152protruding perpendicularly down from a bottom surface of the top dam seal piece148. The legs152comprise tapered cylindrical rods. In some embodiments, the legs152are distributed evenly around the circumference of the top dam seal piece148(for example, 6 legs spaced approximately 60 degrees apart or 4 legs spaced approximately 90 degrees apart). The top dam seal piece further may include two or more indentations112positioned at the edge of the circular center hole154at opposite locations (for example, spaced 180 degrees apart), and may couple with corresponding rotation tabs110in the obturator92. FIG.11illustrates a perspective view of a dam seal with slits156,158, andFIG.12illustrates perspective view of a dam seal with hole154, according to aspects of the present embodiments. In general, one or more dam seals are stacked together coaxially to form a flexible dam seal. In some embodiments, the dam seals comprise silicone or ethylene propylene diene monomer rubber (EPDM rubber), or other flexible polymeric material. Both the dam seal with slits156,158and dam seal with hole154may also include multiple small circular holes170,174disposed near the circumference of the discs that correspond to the legs152of the top dam seal piece148. In some embodiments, the legs152may pass through the holes170,174when the dam seal pieces are stacked coaxially. Referring toFIG.11, the dam seal with slits156,158shown inFIG.11may comprise a circular disc, and may feature three or more slits cut in the disc running from the center toward the outer edge and angled equally from each other. In some embodiments, there may be three slits172separated by about 120 degrees. Referring toFIG.12, the dam seal with hole154shown inFIG.12may comprise a circular disc, and may feature a small circular hole in the center of the disc. Referring still toFIGS.9-12, each of the dam seal pieces154,156,158may include one or more slits172or zero to one central holes176disposed therethrough to allow the obturator92to be pushed through the center of each of the dam seal pieces154,156,158. The slits172bend downward (i.e., distally) as the obturator92is pushed through. As the obturator is removed from the dam assembly94, each of the slits172move back to their original positions (i.e., coplanar with the rest of the respective dam seal piece154,156,158). In the embodiment illustrated inFIG.10, two of the three dam seal pieces156,158include three slits172each, the three slits being oriented about 120 degrees apart from one another with the slits172of one of the dam seal pieces156being rotated approximately 60 degrees from the slits172of another dam seal piece158, in order to minimize leakage through the dam assembly when the obturator92is withdrawn. The third dam seal piece154may include a hole176disposed therethrough to help keep the obturator92centered within the dam assembly94. Each of the dam seal pieces154,156,158may be composed of a polymer material that has sufficient flexibility and elasticity, and that also includes a degree of shape memory. FIG.13illustrates a perspective view andFIG.14illustrates a side view of an obturator, according to aspects of the present embodiments. Generally, the obturator comprises a proximal handle portion100shaped like a dome to fit an operator's hand, a distal conical tip106to help push the cannula assembly into a surgical incision, and a shaft portion104that connects the handle portion100and pointed portion106. In some embodiments, a plurality of slats102on a proximal handle portion100of the obturator may aid in manually holding and manipulating the obturator during insertion of the cannula assembly, and may improve certain aspects of manufacturing the obturator. For example, each of the slats102and vertical members bridging the gaps between slats102may have consistent thicknesses such that they may be produced via a molding process (i.e., an injection molding process that uses coring) where the heating and cooling processes during manufacturing result in consistent thermal and/or heat treat properties throughout the obturator92(thereby reducing material property variation in the resulting part). FIG.15illustrates a view of an obturator100and a dam seal sub-assembly94positioned near a cannula body96inserted into an incision190at a joint, according to aspects of the present embodiments. The obturator100is inserted through dam seal sub-assembly94such that they can be manipulated together as a combined object. The conical distal end106of the obturator is pointed toward the opening of the cannula body96. The dam release clips164may be used to engage releasably with the corresponding tabs on the cannula body96. The cannula body96is shown inFIG.15to be made of a transparent polymeric material to facilitate improved visibility within the surgical site. In some embodiments, an adjustable arthroscopic measurement device or arthroscopic measurement probe is used to assess dimensions and shapes of at least one lesion or defect in cartilage at a surgical site. FIG.16illustrates a schematic of a method200of using an arthroscopic measurement probe210, according to aspects of the present embodiments. The method200may generally include inserting the measurement probe210into a dam seal sub-assembly94and cannula body96(step202). A flexible ruler218may be extended from the measurement probe near the lesion or defect (step204). The dimensions and shape of the lesion or defect may be measured by visual comparison to regular markings on the ruler218(step206). The adjustable nature of the measurement probe210may allow the ruler218to be rotated and extended or retracted to better align the ruler218with various features of the lesion or defect. Once the measurement is complete, the ruler218may be retracted into the measurement probe210, may be removed from the surgical site, and may be retracted out of the dam seal sub-assembly and cannula body (step208). FIGS.17and18illustrate perspective views of an arthroscopic measurement probe assembly210, according to aspects of the present embodiments. Generally, the measurement probe210may include a handle212, an adjusting knob214, a rotating plug222, a dowel pin224, a stroke arm226, a sizer tube216, and a flexible ruler218. In some embodiments, the rotating plug222, the adjusting knob214, the stroke arm226, the sizer tube216, and the flexible ruler218are all connected coaxially such that the adjusting knob214may be used to extend the ruler218and rotate the sizer tube216, and the flexible ruler218may be disposed through the interior of the sizer tube216. In some embodiments, the distal end220of the sizer tube216may be bent such that there may be a curve angled at 90 degrees, or from 85 to 95 degrees, or from 75 to 105 degrees. In some embodiments, the radius of curvature of the bend at the distal end220of the sizer tube216may have a radius of curvature of about 0.11 inches, or from about 0.05 to 0.2 inches. FIG.18illustrates a perspective exploded view of parts of an arthroscopic measurement probe assembly, according to aspects of the present embodiments. Generally, the handle212may comprise two pieces: a top shell piece211and a bottom shell piece213. An adjusting knob214may be connected to a stroke arm226by a dowel pin224which may pass through a slit236disposed in the sizer tube216. A dowel pin222may also be connected at the proximal end of the stroke arm226and adjusting knob214. In some embodiments, the arrangement and connection of these components may enable pushing of the adjusting knob214along the longitudinal axis of the measurement probe device210to extend and retract the flexible ruler218, and rotating of the adjusting knob214to rotate the sizer tube216. The overall effect of these combined movements is that the flexible ruler218may be deployed at a variety of angles and positions within the surgical site to facilitate measurement of the lesions or defects. In some embodiments, the top shell piece211and the bottom shell piece213of the handle212comprise acrylonitrile butadiene styrene (ABS) or other similar plastic or polymeric material, and may be held together via crush pins (for example, matching offset features such as a cylindrical protrusion in the top shell piece211interfacing with a corresponding octagonal sleeve in the bottom shell piece213, or vice versa) thereby holding the two pieces211,213together via friction. FIG.19illustrates a flexible ruler218for an arthroscopic measurement probe210, according to aspects of the present embodiments. Generally, the flexible ruler218comprises a cylindrical rod230comprising a flexible material that can bend and hold a shape. In some embodiments, the cylindrical rod230may comprise or be composed of one of polyether ether ketone (PEEK) or a metal wire or a polymer material or a combination of polymeric and metallic materials. The material or materials comprising the cylindrical rod230may enable a flexible ruler218that can bend through the bent opening220of the sizer tube216, and maintain a substantially straight portion when extended for ease of measurement. The flexible ruler218may also have multiple markings232distributed along a length of an exterior surface of the cylindrical rod230near the distal end of the rod. The markings232comprise thin lines perpendicular to the longitudinal axis of the cylindrical rod230and may be separated by spacings of 2.5 mm and 5.0 mm. In some embodiments, the markings232may be imprinted on the ruler218by one or more methods including laser etching, physical etching, screen printing, and/or ink marking. FIG.20illustrates a sizer tube216for an arthroscopic measurement probe210, according to aspects of the present embodiments. Generally, the sizer tube216comprises a hollow cylindrical tube234that has two slits236disposed at its proximal end at opposite locations. The sizer tube216may also include a bend238at the distal end of the tube so that the opening of the tube240points at an angle away from the longitudinal axis of the tube (to allow for measurement of surfaces that are roughly orthogonal to the axial or longitudinal direction). In some embodiments, this angle may be about 90 degrees. In some embodiments, this angle may be from about 75 degrees to about 105 degrees. In some embodiments, the radius of curvature of the bend238may be about 0.11 inches. In some embodiments, the radius of curvature of the bend238may be from about 0.05 inches to about 0.25 inches. In some embodiments, the sizer tube216may comprise at least one of stainless steel T304, stainless steel T316, or fractional hypodermic tubing. FIG.21illustrates a perspective view of an arthroscopic measurement probe210assembly with arrows indicating movements and showing an extended ruler218, according to aspects of the present embodiments. The handle212, adjusting knob214, sizer tube216, and flexible ruler218are shown, and are as described above. The adjusting knob214is shown here in its furthest extended position, closer to the distal end of the handle. Correspondingly, the ruler218is shown fully extended out of the sizer tube. The straight, double-ended arrow indicates the capability of the ruler218to be extended and retracted. The curved arrows indicate the capability of the sizer216tube to be rotated along its longitudinal axis, such that the extended ruler218may point along different directions. In the present disclosures, multiple cutting tools are described. Each of the tools may have one or more surgically sharp cutting edges, which may be machined or manufactured to have sufficiently sharp break edge to readily make sharp cuts in biological materials that may include skin, cartilage, and/or bone. For example, in some embodiments, cutting edges may include a break edge of 0.002 inches, 0.001 inches, or less than 0.001 inches, as well as various sub-ranges therebetween. FIG.22illustrates a schematic of a method250to use an articulated arthroscopic cutting tool270during an arthroscopic surgical procedure, according to aspects of the present embodiments. Generally, the method250includes choosing a size of articulated arthroscopic cutting tool270based on measurements taken using the above method200of measuring dimensions of defects or lesions in cartilage (step252); removing a dam seal sub-assembly from a cannula, stopping fluid flow, and drying a defect site (step253); inserting an articulated arthroscopic cutting tool270into a cannula96and dam seal sub-assembly94at a surgical site (step254); using a thumb slider274on a handle286of the articulated arthroscopic cutting tool270to tilt a blade278on the cutting tool to an appropriate angle and locking the angle in place; pressing the blade278into cartilage42at a surgical site surrounding defects or lesions (step258); and removing the articulated arthroscopic cutting tool270from the cannula96and dam seal sub-assembly94(step260). Once inserted into the cannula, the articulated arthroscopic cutting tool270may be rotated from zero to 360 degrees (and sub-ranges therebetween) within the cannula96(for example, with the shaft276concentrically disposed within the cannula) In some embodiments, after the method250is completed, there may remain at least one oval outline52(shown inFIG.2D) defined in cartilage corresponding to the shape of the blade278. Further methods that may take place after the method250are described by method330and illustrated byFIG.30. FIG.23illustrates a perspective view of an articulated arthroscopic cutting tool assembly270, according to aspects of the present embodiments. In general, the articulated arthroscopic cutting tool assembly270includes a handle272, a thumb slider274, a linear stator shaft276, a curved oval blade278connected by a hinged joint280to the linear stator shaft276, a linear transmission shaft292connected to the thumb slider274, and a linkage piece282connected to both the linear transmission shaft292and the curved oval blade278. In some embodiments, the linkage piece282is connected to the curved oval blade278at a joint284. In some embodiments, movement of the thumb slider274along the longitudinal axis of the handle causes the curved oval blade278to tilt about the joint280with respect to the linear stator shaft and with respect to the longitudinal axis of the articulated arthroscopic cutting tool270. In some embodiments, the curvature of the oval blade278may allow it to follow a curved surface of a joint such as a medial femoral condyle, a lateral femoral condyle, a patella, or a trochlea of a subject or a patient. FIG.24illustrates a perspective view of the distal end of the articulated arthroscopic cutting tool assembly270according to aspects of the present embodiments. In general, because the linkage piece282is connected to both the linear transmission shaft292and the curved oval blade278, movement of the thumb slider274causes the curved oval blade278to tilt about the axis at the joint280, so that the angle of the curved oval blade278changes with respect to the longitudinal axis of the articulated arthroscopic cutting tool assembly270. FIG.25illustrates a perspective exploded view of parts of an articulated arthroscopic cutting tool assembly270, according to aspects of the present embodiments. In general, the handle comprises an upper shell286and a lower shell288, which come together to form the handle. In some embodiments, the upper shell286comprises a ridged half-cylinder with a rectangular opening290that runs longitudinally along the ridged half-cylinder, while the lower shell288comprises a ridged half-cylinder. In some embodiments, when the two shells286,288are closed together to form a full cylinder, there may be a small circular opening298at the distal end of the handle. In some embodiments, the ridges on the handle on the upper and lower shells286,288run longitudinally along the length of the shells, and may provide improved gripping by a user or operator for the articulated arthroscopic cutting tool270. Still referring toFIG.25, the articulated arthroscopic cutting tool assembly may also include a thumb slider that comprises a slider button274, a slider clamp piece296, and a spring294disposed perpendicularly between the slider button274and the slider clamp piece296. The slider button274may comprise a raised top surface as the distal end of the button and a ridged top surface at the proximal end of the button. The interior surface (i.e., the underside) of the upper shell286may comprise a plurality of notches (not visible in the view ofFIG.25) disposed on either side of the rectangular opening290that may interface with a cylindrical pin275near the slider button274such that the slider button274may be locked at different positions along the rectangular opening290(i.e., by pushing down the slider button274(thereby compressing spring294), sliding the slider button274to the desired position, and releasing the slider button274such that the pin275engages with the notches in the upper shell286). This position locking mechanism may enable the curved oval blade278to be locked at different tilt angles with respect to the longitudinal axis of the articulated arthroscopic cutting tool270. FIG.26illustrates a perspective view of a handle272for an articulated arthroscopic cutting tool assembly according to aspects of the present embodiments. In general, the thumb button274protrudes slightly out of the rectangular opening290in the handle top shell286. The circular hole298formed by top and bottom shell pieces286,288of the handle272may enable the linear stator shaft276to be installed in the handle272. FIG.27illustrates a perspective view of a linear stator shaft276for an articulated arthroscopic cutting tool assembly, according to aspects of the present embodiments. In general, the linear stator shaft276comprises a cylindrical rod300, a rectangular groove302cut longitudinally along the cylindrical rod300, a portion of reduced diameter304along the cylindrical rod300near the proximal end of the cylindrical rod300, and a circular ring306protruding perpendicularly from the distal end of the cylindrical rod300. In some embodiments, the portion of reduced diameter304may facilitate clamping in the handle272(which may include corresponding internal notches to interface with the reduced diameter304, thereby preventing distal, proximal, or circumferential movement of the linear stator shat276relative to the handle272). In some embodiments, the circular ring306may form part of a hinge or attachment for the curved oval blade278. FIG.28illustrates a perspective view of the distal end of an articulated arthroscopic cutting tool assembly270, according to aspects of the present embodiments. In general, the linear stator shaft276may be connected to the curved oval blade278at a hinge formed by the circular ring306from the linear stator shaft276attached to two circular rings320extending from the curved oval blade278. FIG.29illustrates a perspective view of a curved oval blade278for an articulated arthroscopic cutting tool assembly270, according to aspects of the present embodiments. In general, the curved oval blade278may include an oval ring310and at least three crossbar pieces312,314,316spanning across a top surface of the oval ring310. In some embodiments, a circular ring318may extend perpendicularly from the first crossbar piece312, while two circular rings320may extend perpendicularly from the second crossbar piece314. The top edge of the ring310may be curved while the bottom edge of the ring may comprise a curved cutting surface that comprises a surgically sharp edge322. In some embodiments, the oval ring310may be thicker at the narrow ends of the oval ring. In some embodiments, a surgeon or user may make use of additional sterile components suitable for easy use in the surgical environment, which may include a suitable hemostatic barrier, suitable covering patch, and/or organic glue. In some embodiments, a surgeon or user may make use of a cell-free matrix material suitable for supporting autologous chondrocytes or allogeneic chondrocytes, for example that may be suitable for implanting into an articular joint surface defect. In some embodiments, a surgeon or user may make use of a suitable hemostatic barrier, which may be or include, for example, a Surgicel® hemostatic barrier. In some embodiments, a surgeon or user may make use of a suitable covering patch, which may be or include a Bio-Gide® covering patch. In some embodiments, a hemostatic barrier (e.g., a Surgicel® hemostatic barrier) and/or a covering patch (e.g., an ACI-Maix® covering patch) may include a glue, e.g., a tissue glue, which, in some embodiments, may be an organic glue (e.g., a Tisseel® organic glue). In some embodiments, glue may be applied (e.g., as a covering) so that time to resorption is increased. In some embodiments, a hemostatic barrier (e.g., a Surgicel® hemostatic barrier) and/or a covering patch (e.g., a Bio-Gide® covering patch), and in particular one treated with a glue (e.g., may include a Tisseel® organic glue) may be supplemented with aprotinin (e.g., in a manner and/or to an extent that time to resorption is increased). In some embodiments, a hemostatic barrier and covering-patch may be both a semi-permeable collagen matrix, which is treated to extend the time until resorption of the material. In some embodiments, an instrument system may include a surgical instrument or multiple surgical instruments. In some embodiments, an instrument system may include one or more cannulae (e.g., 1, 2, 3, 4, 5, or 10 or more cannulae). In some embodiments, an instrument system may include a cannula or multiple cannulae having inner diameters within a range from about 5 mm to about 20 mm, about 6 mm to about 12 mm, about 7 mm to about 11 mm, about 8 to about 9 mm, or about 10 to 25 mm. In some embodiments, cannulae may be composed of a material selected from the group consisting of plastics, metals, rubber, silicone, fiberglass, and combinations thereof (for example, composite materials). FIG.30illustrates a schematic of a method330for preparing a surgical site using at least one of a ring curette350, square curette400, or rake curette430(for example, a 3.6 mm rake curette430) during an arthroscopic surgical procedure, according to aspects of the present embodiments. Generally, the method330proceeds after the method250has been completed. Generally, the steps may include installing a dam seal sub-assembly94onto a cannula96and restarting fluid flow (step331); inserting a cutting tool, which may include a ring curette350, a square curette400, or a rake curette430, into a cannula96and dam seal sub-assembly94(step332); using the cutting tool to scrape, cut, debride, and/or remove cartilage42within an oval region52defined earlier by a curved oval blade278on an articulated arthroscopic cutting tool270(step334); removing the cutting tool from the cannula and dam seal sub-assembly94(step336); and repeating the steps332to336as needed until cartilage in the cut region of cartilage is completely removed (step338). FIG.31illustrates a ring curette assembly350, according to aspects of the present embodiments. In general, the ring curette assembly350includes a handle352, a shaft354coupled to the distal end of the handle352, and a ring curette blade356coupled to the distal end of the shaft354. In some embodiments, the shaft354may comprise a cylindrical rod with at least two bends362,364, such that the distal end of the shaft has an axis that is parallel to and eccentric from a primary longitudinal axis of the shaft. In some embodiments, the ring curette blade356may comprise at least one surgically sharp edge374. FIG.32illustrates a shaft354that may be used for a ring curette assembly350or a square curette assembly400, according to aspects of the present embodiments. In general, the shaft354comprises a cylindrical rod358; a flat portion360at the proximal end of the cylindrical rod358that may be used to facilitate attachment within the handle352; a first bend362in the cylindrical rod358near the distal end of the rod such that the rod axis is angled away from a primary longitudinal axis of the cylindrical rod; a second bend364in the cylindrical rod further toward the distal end of the rod such that the rod axis is angled parallel to and positioned eccentrically from the primary longitudinal axis of the cylindrical rod; a cylindrical portion with reduced diameter366near the distal end of the rod; and a recessed opening368at the distal end of the shaft with flat interior surfaces. FIG.33illustrates a perspective view of a ring curette blade356, according to aspects of the present embodiments. In general, the ring curette blade356may comprise a ring372in the shape of a hollow right circular conical frustum; a rounded edge370around the larger circumference of the ring372; a surgically sharp edge374around the larger circumference of the ring372; a cylindrical connection shaft376disposed pointing radially out at an outer wall of the ring372; and a cylindrical welding shaft378disposed coaxially with the connection shaft376. In some embodiments, the cylindrical welding shaft378may have a smaller diameter than the cylindrical connection shaft376, which is fitted with the recessed opening368such that the distill edge of the shaft354interfaces with the a proximal edge of the cylindrical welding shaft378, thereby allowing the two surfaces to be bonded via welding (for example, laser welding) Referring still toFIG.32andFIG.33, in some embodiments the shaft354and ring curette blade356may comprise or be composed of stainless steel type 17-4PH (630) or equivalent, UNS S17400, per ASTM A564. In some embodiments, the shaft354and ring curette blade356may comprise or be composed of one of a metal, a metallic alloy, titanium, carbon steel, stainless steel, tool steel, chrome steel, or ceramic. In some embodiments, the welding shaft378of the ring curette blade356may be disposed within the recessed opening368at the distal end of the shaft354, and may be joined by laser welding. FIG.34illustrates a handle assembly352that may be used for a ring curette350, a square curette400, or a rake curette430, according to aspects of the present embodiments. In general, the handle assembly352may comprise a cylindrical body390; a plurality of ridges392on exterior lateral and bottom surfaces of the cylindrical body390arranged perpendicular to the longitudinal axis of the cylindrical body390; a flat surface394along a top surface of the cylindrical body; and a circular opening396in the distal end of the cylindrical body390. In some embodiments, the handle assembly352may comprise or be composed of acrylonitrile butadiene styrene (ABS) or other plastic or polymeric materials or equivalent. FIG.35illustrates a square curette assembly400, according to aspects of the present embodiments. In general, the square curette assembly400may comprise a handle402; a shaft404coupled to the distal end of the handle402; and a square curette blade406coupled to the distal end of the shaft404. In some embodiments, the shaft404may comprise a cylindrical rod with at least two bends408,410, such that the end of the shaft has an axis that is parallel to and eccentric from a primary longitudinal axis of the shaft. In some embodiments, the shaft404may comprise the same structure as the shaft354illustrated inFIG.32. In some embodiments, the square curette blade406comprises at least two surgically sharp edges412,414at the distal end of the square curette blade (as shown inFIG.36). FIG.36illustrates a square curette blade406for a square curette assembly400, according to aspects of the present embodiments. In general, the square curette blade406may comprise a ring416in the shape of a hollow, rounded, rectangular prism; at least two surgically sharp edges412,414at a top and a bottom edge of the ring at the distal side of the rectangular prism; a cylindrical connection shaft422disposed pointing outward at an outer wall of the ring at a position on the ring that is opposite to the location of the two surgically sharp edges; and a cylindrical welding shaft424disposed coaxially with the connection shaft422. In some embodiments, the cylindrical welding shaft424has a smaller diameter than the connection shaft422, and may connect to the shaft404via laser weld similar to the embodiment illustrated inFIG.33. Referring still toFIG.35andFIG.36, in some embodiments the shaft404and the square curette blade406may comprise or be composed of stainless steel type 17-4PH (630) or equivalent, UNS S17400, per ASTM A564. In some embodiments, the shaft404and the square curette blade406may comprise or be composed of one of a metal, a metallic alloy, titanium, carbon steel, stainless steel, tool steel, chrome steel, or ceramic. In some embodiments, the welding shaft424of the square curette blade406may be disposed within the recessed opening368at the distal end of the shaft354, and may be joined by laser welding. FIG.37illustrates a rake curette assembly430, according to aspects of the present embodiments. In general, a rake curette assembly430may comprise a handle423; a shaft434coupled to the distal end of the handle432; and a rake head blade436coupled to the distal end of the shaft434. In some embodiments, the shaft may comprise a cylindrical rod that tapers to a smaller diameter near the distal end of the shaft434. In some embodiments, the rake head blade436may comprise a tapered wedge with at least one surgically sharp edge454. In some embodiments, the rake head blade436may be disposed such that it points perpendicularly and radially away from the longitudinal axis of the shaft434, and such that the surgically sharp edge454is disposed perpendicular to the longitudinal axis of the shaft434, and as such the rake curette comprises an adze-like tool rather than an axe-like tool. FIG.38illustrates a rake shaft434for a rake curette assembly430, according to aspects of the present embodiments. The rake shaft434comprises a cylindrical rod440; a flat portion442at the proximal end of the shaft for attachment within the handle432; a tapered portion444where a diameter of the cylindrical rod440decreases gradually toward the distal end of the shaft; and a cylindrical welding shaft446disposed coaxially within the tapered portion444of the shaft434, with a further reduced diameter. FIG.39illustrates a rake head blade436for a rake curette assembly430, according to aspects of the present embodiments. In general, the rake head blade436may comprise a wedge-shaped body450that decreases in thickness while increasing in depth; a rounded top portion456with a cylindrical opening452for laser welding, and a surgically sharp edge454at the end of the wedge-shaped body. Referring still toFIG.38andFIG.39, in some embodiments the shaft434and rake head blade436may comprise or be composed of stainless steel type 17-4PH (630) or equivalent, UNS S17400, per ASTM A564. In some embodiments, the shaft434and rake head blade436may comprise or be composed of one of a metal, a metallic alloy, titanium, carbon steel, stainless steel, tool steel, chrome steel, or ceramic. In some embodiments, the cylindrical welding shaft446of the shaft434may be inserted into the cylindrical opening452of the rake head blade436and may be joined by laser welding. FIG.40illustrates a schematic of a method460to prepare a cell-seeded matrix composition for use during an arthroscopic surgical procedure, according to aspects of the present embodiments. Generally, method460may comprise selecting a matrix cutter size to match a surgical site prepared by cutting and cleaning away cartilage surrounding a defect or lesion using surgical cutting tools in previous method330(step462); placing a cell-seeded support matrix on a cutting mat, with the cells on the matrix facing upward (step464); placing the selected matrix cutter onto the cell-seeded support matrix, with a surgically sharp edge facing downward (step466); applying downward force on a top side of the matrix cutter using at least one of a hand, a mallet, a hammer, and/or other tool (step468); and removing the matrix cutter and removing an uncut portion of the cell-seeded support matrix (step470). In some embodiments, the remaining cut portion of cell-seeded support matrix may comprise an oval shape or other shape matching the shape of the matrix cutter. FIG.41Aillustrates a view demonstrating a preparation of a cell-seeded support matrix composition, according to aspects of the present embodiments. In this view, a portion of cell-seeded support matrix482is placed cell-seeded side facing upward on a cutting mat480; a matrix cutter484is placed blade-side facing downward on top of the cell-seeded support matrix462; and an operator is holding a mallet486. FIG.41Billustrates a view demonstrating a preparation of a cell-seeded support matrix composition, according to aspects of the present embodiments. In this view, the mallet and matrix cutter484are in contact at location488, downward force is being applied through the mallet486, and a pair of tweezers490is visible nearby. FIG.41Cillustrates a view demonstrating a preparation of a cell-seeded support matrix composition, according to aspects of the present embodiments. In this view, an uncut portion of the cell-seeded support matrix482is removed from the cutting mat480, and the cut portion of matrix492is remaining, with a shape that matches the matrix cutter484. The tweezers490may be used to handle the cell-seeded support matrix pieces482,492. FIG.42illustrates a top-down perspective view of a matrix cutter500, according to aspects of the present embodiments. In general, the matrix cutter500may comprise an elliptic cylinder body502; an internal hole504shaped as a stadium aligned parallel with the semi-major axis of the elliptic cylinder body502, and longitudinally aligned parallel with the longitudinal axis of the elliptic cylinder body502; a flat top surface506of the elliptic cylinder body; at least two flat gripping notches508at opposite exterior sides of the elliptic cylinder body; and a surgically sharp edge510around a bottom circumference of the elliptic cylinder body502. In some embodiments, the matrix cutter500may comprise or be composed of stainless steel type 17-4PH (630), UNS S17400, per ASTM A564. In some embodiments, the matrix cutter500may comprise or be composed of one of a metal, a metallic alloy, titanium, carbon steel, stainless steel, tool steel, chrome steel, or ceramic. In some embodiments, dimensions or other information may be etched or printed on the flat top surface506. The internal hole504may also be shaped as an oblong or oval. FIG.43illustrates a bottom-up perspective view of a matrix cutter500, according to aspects of the present embodiments. The surgically sharp edge510is visible along a bottom circumference of the cutter body502. In some embodiments, the flat gripping notches508may be used to pick up or handle the matrix cutter500. FIG.44illustrates a schematic of a method520to implant a cell-seeded matrix composition, according to aspects of the present embodiments. Generally, the method520may comprise stopping fluid flow, removing a dam seal sub-assembly (step521), drying the surgical site where cartilage was previously cut and removed by suction, draining, and using a first applicator swab to clean and dry a surgical site (step522); using tweezers to pick up a piece of previously cut cell-seeded support matrix by grasping an edge of the matrix (step524); placing the cell-seeded support matrix across a delivery tip of a matrix shuttle device such that the matrix lies within an outline at the delivery tip and such that a cell-containing side of the matrix is facing away from the delivery tip (step526); applying fibrin glue at the surgical site using an applicator tool (step527); inserting the matrix shuttle device into a cannula at a surgical site (step528); depressing a plunger on the matrix shuttle device to extend at least one antenna from within the delivery tip of the matrix shuttle device to push the cell-seeded support matrix out and onto the surgical site (step530); removing the matrix shuttle device from the cannula (step532); using a second applicator swab to reposition the cell-seeded support matrix if needed, and using the second applicator swab to apply fibrin glue around an edge of the cell-seeded support matrix at the surgical site (step534). FIG.45illustrates a perspective view of a matrix shuttle device540with deployment wings548extended, according to aspects of the present embodiments.FIG.46illustrates a perspective view of a matrix shuttle device540with deployment wings548retracted, according to aspects of the present embodiments. Referring to bothFIG.45andFIG.46, in general the matrix shuttle device540comprises a shuttle body542; a delivery tip544at the distal end of the shuttle body542; a plunger554disposed longitudinally within the shuttle body542and protruding out of the proximal end of the shuttle body542with a flat disc portion556(e.g., a thumb rest or a flange) at the proximal end of the plunger554; at least two deployment wings548disposed inside the delivery tip544and attached to the plunger554; at least two holes550on a distal surface of the delivery tip544; a spring558(illustrated inFIG.49) disposed longitudinally inside the shuttle body542and attached to the plunger554; and one or more finger grips552disposed at the proximal end of the shuttle body542. In some embodiments, pushing the plunger554longitudinally into the shuttle body542causes the at least two deployment wings548to extend externally through the at least two holes550of the delivery tip. In some embodiments, a proximal end of the spring558may be positioned or biased against an intermediate portion of the plunger554(for example, positioned so as to be in contact with cylindrical body560). In some embodiments, a distal end of spring558may be positioned or biased against an interior surface of the shuttle body (for example, internal surfaces of shells562,564). Pushing and releasing the plunger554respectively compresses and expands the spring558along a longitudinal direction. In some embodiments, the spring causes the at least two deployment wings to retract inside the at least two holes when the plunger is released. In some embodiments, the spring558may be formed from stainless steel or type 302 stainless steel and/or other metal. In some embodiments, the spring558may be about 1.25 inches long (or between about 1 inch and 2 inches, or between about 1 inch and 1.5 inches, or between about 1.1 and 1.3 inches, or between about 1.2 and 1.4 inches long). In some embodiments, the spring may have an outer diameter (OD) of about 0.36 inches (or between about 0.3 and 0.4 inches, or between about 0.25 and 0.5 inches) and may have an inner diameter of about 0.298 inches (or between about 0.2 inches and 0.3 inches, or between about 0.2 inches and 0.4 inches, where the inner diameter is less than the inner diameter of the spring). FIG.47illustrates a side view of a delivery tip544of a matrix shuttle device540with cell-seeded support matrix492placed across the delivery tip544, according to aspects of the present embodiments. In some embodiments, the cell-seeded support matrix492may be cut using a matrix cutter following method460and may be shaped like an oval or other shape. The arrow indicates the placement of the cell-seeded support matrix492across the delivery tip544. In some embodiments, the delivery tip544may further comprise a cylindrical portion543that is connected to the shuttle body542at the proximal end of the delivery tip544; a tapered portion545that ends in a flat edge549at the distal end of the delivery tip544; and an outline ledge547across the top and distal end of the delivery tip544that comprises an elliptical or oblong shape. FIG.48illustrates a side view of a matrix shuttle device540with deployment wings548extended and a plunger554pressed to deliver a cell-seeded support matrix492, according to aspects of the present embodiments. The arrow near the plunger554indicates pushing of the plunger554into the matrix shuttle device body542. In some embodiments, the operator may use a thumb for pushing the plunger554and flat disc portion556while using one or more other fingers to pull on the finger grips552. When the plunger554is pushed, in some embodiments it may cause the deployment wings548to extend out of the holes550at the distal end of the delivery tip544. The extension of the deployment wings548, in some embodiments, may push the cell-seeded support matrix492off the delivery tip544. Referring toFIG.47andFIG.48, in some embodiments, the movements described above may allow the cell-seeded support matrix to be delivered to a surgical site as described in step530of the method520, where the surgical site may be prepared by the method330. The shape of tapered portion545at the distal end of the matrix shuttle device540allows surface area to be minimized to reduce the likelihood that the cell-seeded support matrix492will adhere to the matrix shuttle device540, and possibly be damaged in the process of being delivered from the matrix shuttle device540. FIG.49illustrates a perspective exploded view of parts of a matrix shuttle device540according to aspects of the present embodiments. In addition to the parts described above, in some embodiments the shuttle body may comprise two shells562,564. In some embodiments, the plunger554comprises: a cylindrical body560; a flat disc portion556at the proximal end of the cylindrical body560; and a recessed portion with protruding pin568at the proximal end of the cylindrical body560. In some embodiments, the protruding pin568comprises a small cylinder disposed perpendicular to the longitudinal axis of the cylindrical body560and a rounded knob with a diameter larger than that of the small cylinder. In some embodiments, the protruding pin568with the rounded knob may be inserted into a circular hole572of the deployment wings548(shown inFIG.50) in order to attach the deployment wings548to the plunger554such that the movement of the plunger may cause the deployment wings548to be actuated. Referring still toFIG.45toFIG.49, the matrix shuttle body542and plunger554may comprise or be composed of acrylonitrile butadiene styrene (ABS) or other polymeric or plastic material or equivalent. FIG.50illustrates a perspective view of deployment wings548for use with a matrix shuttle device540, according to aspects of the present embodiments. In general, the deployment wings comprise a U-shaped body (570); at least two wing arms (574) comprising cylindrical rods that extend in parallel out of the U-shaped body (570) and curve outwards away from the U-shaped body (570); at least two rounded tips (576) at the distal ends of the at least two wing arms (574); and a circular hole at the proximal bottom of the U-shaped body (572). In some embodiments, the deployment wings548may comprise or be composed of silicone or ethylene propylene diene monomer (EPDM) rubber or other polymeric, plastic, or equivalent material. The two rounded tips576help to prevent damage to the cell-seeded support matrix492(and/or cells disposed thereon) when the two wing arms574are being deployed (or extended) to push the cell-seeded support matrix492off the matrix shuttle device540. As shown inFIGS.49and50, each of the rounded tips576angles outwardly at an angle from about 1 to about 20 degrees (for example, about 5-10 degrees, about 3-20 degrees, about 5-18 degrees, about 6-12 degrees, about 15-20 degrees, about 10-15 degrees, about 2-6 degrees, about 3-30 degrees, between 1-45 degrees and other subranges therebetween) from a centerline577of the deployment wings548. In some embodiments, when the deployment wings548are stored within the shuttle body, the rounded tips576are compressed radially inwardly by interior surfaces of the shells562,564. When the deployment wings548are deploy externally, inherent elasticity in the deployment wings548pushes the rounded tips radially outwardly (for example, as shown by the arrows inFIG.48) thereby pushing the support matrix492off the distal delivery tip portion544of the matrix shuttle delivery device540. Stated otherwise, when the rounded tips576are not compressed inwardly by the interior surfaces of the shuttle device540(that is, when they are in a deployed position) they expand outwardly to their uncompressed shape (that is, the shape shown inFIG.50). By pushing the plunger554distally, the rounded tips576are deployed both distally as well as radially outwardly, thereby facilitating release of the support matrix492from the tapered portion545. In addition, the radially outward action of the rounded tips576(i.e., in addition to the distal movement of the rounded tips576) helps to spread out the support matrix492prior to application at the target site. FIG.51illustrates a perspective view of an applicator tool580, according to aspects of the present embodiments. In general, the applicator tool580may comprise a cylindrical rod582; an applicator swab584attached by adhesive to one end of the cylindrical rod582; and an applicator tip586attached by adhesive to another end of the cylindrical rod582. In some embodiments, the applicator swab584may comprise cotton or polyurethane foam or other similar soft, absorbent material. In some embodiments, the applicator tip586may comprise soft silicone or other similar compliant material. In some embodiments, the cylindrical rod582may comprise a plastic material. In some embodiments, the adhesive may include Loctite4011glue. FIG.52illustrates a schematic of an arthroscopic surgical method600to repair a cartilage defect, according to aspects of the present embodiments. Generally, the method600may include making an incision at a joint on a patient's body near the cartilage defect (step602); inserting a cannula assembly into the incision (step604); measuring the cartilage defect at the joint using an arthroscopic measurement tool inserted through the cannula (step606); preparing a cartilage area around the cartilage defect (step608); preparing and cutting a portion of cell-seeded matrix composition using a matrix cutter tool to match the shape of the prepared cartilage area (step610); placing the portion of cell-seeded matrix composition across a delivery tip of a matrix shuttle delivery device (step612); inserting the matrix shuttle delivery device through the cannula (step614); depressing a plunger on the matrix shuttle delivery device to extend at least two deployment wings from within the delivery tip to push the portion of cell-seeded matrix composition off the delivery tip and onto the prepared cartilage area (step616); and removing the matrix shuttle delivery device from the cannula (step618). In some embodiments, step608may include defining a region of cartilage surrounding the cartilage defect using a first cutting tool; and scraping, cutting, debriding and/or removing cartilage using one or more additional surgical cutting tools within the region of cartilage defined by the first cutting tool. In some embodiments, the cell-seeded matrix composition of step610may include chondrocytes seeded on one side of a bioresorbable matrix. In some embodiments, in step610the side of the cell-seeded matrix composition with chondrocytes is facing away from the delivery tip of the matrix shuttle delivery device. In some embodiments, the method600may include additional steps of applying fibrin glue to the prepared cartilage prior to delivery of the cell-seeded matrix composition; applying fibrin glue around an edge of the cell-seeded matrix composition after the cell-seeded matrix composition is delivered to the prepared cartilage; removing the cannula from the incision; and surgically closing the incision. In some embodiments, an instrument system may include cells seeded on a surface of a matrix. In some embodiments, cells may include allogeneic chondrocyte cells. In some embodiments, cells may include cells obtained from a non-human source. In some embodiments, an instrument system may include one or more tools for measuring a cartilage defect, cutting cartilage and preparing a surgical site, cutting a cell-seeded support matrix, and delivering and implanting a cell-seeded support matrix. In some embodiments, an instrument system may include custom cutters (including for example articulated arthroscopic cutting tools, ring curettes, square curettes, and rake curettes), matrix cutters, a measurement tool, and/or cutting blocks. Additional tools and materials that a surgeon or user may use during surgical materials may include scissors, razor blades, scalpels, surgical mallets, and/or cutting needles. In some embodiments, an instrument system may include a device that is or comprises a custom cannula assembly. In some embodiments, a custom cannula assembly provided in a kit may have an inner diameter in a range from about 15 mm to about 20 mm. The custom cannula assembly may comprise an obturator, a dam seal sub-assembly, and/or a cannula body. In some embodiments, an instrument system may include one or more tools for securing an implanted composition in a surgical site. In some embodiments, tools for securing an implanted composition may include one or more probes. In some embodiments, tools for securing an implanted composition may include an applicator tool. In some embodiments, additional materials and tools that a surgeon or user may use to perform the methods in this disclosure may include forceps, tweezers, Adson forceps, neurosurgical patties, sutures, sterile dishes, sterile flasks, sterile solutions, epinephrine, and/or sterile saline. It will be appreciated by persons skilled in the art that numerous variations and/or modifications may be made to the invention shown in the specific embodiments without departing form the spirit and scope of the invention as broadly described. All publications, patent applications, patents and other references mentioned herein are incorporated by reference in their entirety. In addition, the materials, methods and examples are illustrative only and not intended to be limiting. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present disclosure, suitable methods and materials are described herein. EXAMPLES Example 1: Defect Preparation The present example (Example 1) describes the preparation of a knee cartilage defect in surgical site to be treated using the technologies provided in the present disclosure. First, a surgical site may be flushed and washed with isotonic saline. A cartilage defect and the cartilage surrounding the defect may be assessed physically and visually via an arthroscopic device (e.g., arthroscopic camera) inserted into the first surgical site adjacent to the defect via a cannula96positioned in the site. Attention should be paid to discoloration, irregular surface areas, absence of normal resiliency, cartilage thinning, and/or unstable and undermined cartilage. After inspection, the size of the defect should be measured using an arthroscopic measurement probe210, which is a tool with an extensible and rotatable ruler218at its distal end that is inserted into a cannula96disposed at the surgical site. The surgeon or operator should use the markings232on the ruler218to measure the dimensions of the defect in order to select the appropriate cutting tools in the next step. After measurement of the defect, an area of the cartilage surrounding the defect may be outlined and sculpted using, for example, without limitation, a set of surgical cutting tools that are inserted into a cannula92in a second surgical site. The first tool is an articulated arthroscopic cutting tool270that has a curved oval blade278at the distal end. The size of the blade278should be selected based on the measurements so that the blade can completely surround the defect. The operator or surgeon may use a thumb slider274on the cutting tool270to adjust the tilt angle of the blade278, and then press the blade into the cartilage to form a clear outline52in the cartilage. Next, the defect should be debrided down to the subchondral bone and peripherally until vertical walls of healthy, stable cartilage52surrounds the defect site. The debriding may be done with a second, third, and/or fourth surgical cutting tool. These tools may include a ring curette350, a square curette400, and/or a rake curette430. Each of these tools can be inserted through a cannula92, have at least one surgically sharp cutting edge or blade mounted at the end of a shaft, and a handle that protrudes outside the cannula. These cutting tools may be manipulated by the user or operator to position the surgically sharp cutting edges at the defect site to cut or scrape away the cartilage. All damaged and fibrous tissue on the defect bed should be removed. Care should be taken such that removal of healthy cartilage is minimal outside the outline formed by the shape defined by the articulated arthroscopic cutting tool270. Care should also be taken to avoid penetrating the subchondral bone. The resulting exposed region of subchondral bone54and surrounding stable cartilage42may form a clearly defined shape52, such as an oval, that matches the shape of the curved blade of the articulated arthroscopic cutting tool. A knee joint may be drained of fluid through an incision or via suction, in preparation for the delivery of an implant to a defect in a surgical site. Excess fluid around the defect can also be dried using kitners (“peanuts”), in effect wicking excess fluid away from the cartilage defect. For punctate bleeding from the subchondral bone, hemostasis may be achieved by pressure with diluted epinephrine-soaked neurosurgical patties (e.g., 1 cc of 1:1000 Epinephrine diluted with 20 cc of sterile saline, etc.) or by applying fibrin sealant at the point of bleeding. Example 2: Preparation of Cell-Seeded Support Matrix The cell-seeded support matrix should be prepared prior to delivery and implantation at the surgical site by cutting it to an appropriate size and shape. In the above Example 1, a defect site was prepared by forming a clearly defined shape52of an exposed region of subchondral bone with surrounding stable cartilage. The next step is to prepare a portion of cell-seeded support matrix that matches the shape of the prepared defect site so that it may be delivered to cover the subchondral bone with minimal gaps or overlaps. A matrix cutter500with a dimension and shape that matches the prepared site may be chosen. A piece of cell-seeded support matrix482may be placed on a cutting mat480with the cells facing upward. The cutting mat may480comprise a soft or compliant material such as silicone or rubber. The cells should be facing upward and contact with the cell-seeded surface should be minimized to avoid damage to the cells. The matrix cutter500is then placed with blade side510facing downward onto the cell-seeded support matrix482. Downward force is then applied to the top surface506of the matrix cutter500using at least one of a hand, a hammer, a mallet486, and/or other tool by the user or operator. The downward force causes the blade510of the matrix cutter500to cut into the cell-seeded support matrix482in a manner similar to a cookie cutter cutting a cookie out of a sheet of dough. The matrix cutter500is then removed, and a portion of the cell-seeded support matrix cut to the same shape492as the matrix cutter500is available to be retrieved by tweezers490and/or other handling tool. Handling of the cell-seeded support matrix should be primarily be at the cut edges to minimize damage to the cells. Example 3: Delivery of Cell-Seeded Support Matrix Using Matrix Shuttle Delivery Device Following the preparation of the cell-seeded support matrix492using the matrix cutter tool500presented in Example 2 by cutting it using a matrix cutter500, the cell-seeded support matrix492may be delivered to the surgical defect site prepared in Example 1. The user or operator may pick up the prepared cell-seeded support matrix492using tweezers to gently grip one or more edges of the cell-seeded support matrix492, taking care to minimize contact with the interior of the matrix and to handle the matrix gently, in order to minimize damage to the cells. The cell-seeded support matrix492may then be carefully placed across a distal delivery tip portion544of a matrix shuttle delivery device540, with the cell-seeded side facing upward. The delivery tip portion544has an outline547imprinted as a depression so that it accommodates the shape and size of the prepared cell-seeded support matrix. Different sizes of matrix shuttle delivery devices are available to match different sizes of cell-seeded support matrix pieces. The delivery tip portion also has a narrow flat tip region549at its furthest distal end in order to minimize the contact area between the device and the cell-seeded support matrix492. The cell-seeded support matrix492remains in contact with the matrix shuttle delivery device540by capillary forces due to moisture between the shuttle and the matrix, and no further mechanism for attachment is needed. The matrix shuttle delivery device540with cell-seeded support matrix492placed on the delivery tip544is then inserted into a cannula92at a surgical site. The user or operator should then position the delivery tip544by moving and rotating the matrix shuttle delivery device540such that the cell-seeded support matrix492closely aligns with the prepared defect site52. A plunger556on the matrix shuttle delivery device540is then pushed by the user or operator into the body of the matrix shuttle delivery device540, while using the finger grips to provide opposing force. Upon pushing of the plunger556, at least two deployment wings548within the delivery tip544protrude outward from at least two holes550and push against the bottom cell-less side of the cell-seeded support matrix492. The tips576of the deployment wings548are rounded and small in radius in order to minimize contact area with the cell-seeded support matrix492. The cell-seeded support matrix492is then pushed off the delivery tip544of the matrix shuttle delivery device540and onto the prepared defect site52. The cell-seeded side of the matrix should be in contact with the exposed subchondral bone at the prepared defect site. The user or operator may use an applicator tool580to gently reposition the cell-seeded support matrix492so that it is well aligned within the prepared defect site52. Example 4: Securing a Cell-Seeded Support Matrix in a Cartilage Defect The present example (Example 4) describes a method for securing a cell-seeded support matrix492in a defect in a surgical site. A cell-seeded support matrix492may be secured using a fibrin glue fixation step that may be performed following arthroscopic delivery of a cell-seeded support matrix492to a defect in a patient. After the cell-seeded support matrix492is inserted into the defect, with the cell-seeded side of the implant facing the defect, fibrin sealant (such as Tisseel®, fibrin based adhesive available from Baxter, Austria) may be applied to the rim (i.e., periphery) of the implant. Light pressure may then be applied using an applicator tool580or another tool. The security of the implant should be tested by fully flexing and extending the knee several times, and then inspecting the implant to ensure that it has remained in place. The joint may than be irrigated in order to remove any remaining free particles of bone or cartilage in the site. Care should be taken to ensure that the implant is protected and not dislodged during irrigation. The wound may then be closed using standard techniques known to those skilled in the art. In general, the Examples above describe how an arthroscopic surgery at a knee joint may be performed to repair a cartilage defect using the present embodiments. The defect site is measured using an arthroscopic measurement tool210. An appropriately sized cutting tool270is selected and used to cut an outline around the defect. The defect site is prepared using one or more surgical cutting tools to remove damaged cartilage and form a well-defined region52of exposed subchondral bone surrounded by healthy cartilage. A portion of cell-seeded support matrix492is prepared by cutting it with a matrix cutter500to match the size and shape of the prepared defect site52. The cell-seeded support matrix492is delivered to the defect site using a matrix delivery shuttle device540to minimize contacting or damaging the cells. The cell-seeded support matrix492is then secured using fibrin glue, the joint is cleaned and irrigated, and the wound site is closed. Example 5: Cell Viability Bench Testing In the present Example (Example 5), the delivery methods described in Examples 3, 4, and 5 are compared on the basis of their impact to cell number and viability following simulated delivery to a defect in a surgical site in knee joint tissue. The present experiments were performed using a human cadaver knee model. Positive controls include a condition in which a cell-seeded matrix was not delivered to a site by any method, as well as a condition in which a cell-seeded matrix was delivered to a site using a traditional open surgical technique. Delivery of the cell-seeded support matrix implants via the methods, tools, and devices in the present disclosure yielded the unexpected and surprising results of improved cell numbers and cell viability values compared to traditional surgical methods, measured qualitatively. As a qualitative visual measure of cell viability, cell metabolic activity was determined by staining cells on a matrix with 3-(4,5-dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide (MTT), and visually examining cells positive for insoluble formazan, a dark-colored conversion product that marks actively respiring cells. Compared to the other methods tested, matrices delivered using the current methods and tools retained the highest number of metabolically active cells, approaching that of undelivered positive control matrices. The MTT assays also showed the importance of minimizing contact and handling of the cell-seeded support matrices in order to achieve the highest cell viabilities across the cell-seeded support matrices. Conventional methods for implanting MACI (and/or cell-seeded support matrices492) have resulted in cell viability below 4% using arthroscopic methods, and cell viability below 40% using open techniques. (See Biant et al. (Biant, L. C., Simons, M., Gillespie, T. and McNicholas, M. J., 2017. Cell viability in arthroscopic versus open autologous chondrocyte implantation.The American Journal of Sports Medicine,45(1), pp. 77-81.)). TABLE 1Bench Testing ResultsTest ConditionMCN (RFU)Viability (%)Control21762.998.7%Thumb Pressure (30 sec)21652.598.4%Shuttle Delivery Device16202.396.8%Manipulation with Silicone Tip29537.196.1%Manipulation with Spongy Tip26451.494.4%Acceptance Criteria:>5000≥80% Table 1 includes bench testing results using the devices and methodologies described herein. The table includes a summary of minimum cell number (MCN) and cell viability results from various exemplary steps including delivery of the cell-seeded matrix492via the shuttle delivery device540, manipulation of the cell-seeded matrix492with a silicone tip586(also shown in some embodiments as an applicator tip), and manipulation of the cell-seeded matrix492with a spongy tip584(also shown in some embodiments as an applicator swab). The MCN and cell viability were also reported for control experiments, applying thumb pressure to the cell-seeded matrix492at various pressures (for example, from about 370 grams to about 1635 grams) for 30 seconds. In each case, both the minimum cell number (MCN, as measured in relative fluorescence units, RFU) as well as the cell viability (measured in percent and assessed as an overall average) met the relevant acceptance criteria (i.e., greater than 5000 RFU and greater than or equal to 80% cell viability, respectively). It should be noted that the cell viability values were all within a range between 94% and 99%. EQUIVALENTS Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific embodiments of the invention described herein. The scope of the present invention is not intended to be limited to the above Description, but rather is as set forth in the following claims.

11857171

DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS For the following defined terms, these definitions shall be applied, unless a different definition is given in the claims or elsewhere in this specification. All numeric values are herein assumed to be modified by the term “about,” whether or not explicitly indicated. The term “about” generally refers to a range of numbers that one of skill in the art would consider equivalent to the recited value (i.e., having the same function or result). In many instances, the terms “about” may include numbers that are rounded to the nearest significant figure. The recitation of numerical ranges by endpoints includes all numbers within that range (e.g., 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.80, 4, and 5). As used in this specification and the appended claims, the singular forms “a”, “an”, and “the” include plural referents unless the content clearly dictates otherwise. As used in this specification and the appended claims, the term “or” is generally employed in its sense including “and/or” unless the content clearly dictates otherwise. As used in this specification, “reusable” devices and portions thereof include, but are not limited to, devices that are configured and intended to be used in multiple procedures. As used in this specification, “disposable” devices and portions thereof include, but are not limited to, devices that are configured and intended to be used in only one procedure. After being used in a procedure, disposable devices are configured and intended to be discarded. One difference between reusable and disposable medical devices is that contamination is a concern with the former but not the latter because disposable medical devices are not reused. Various embodiments of the disclosed inventions are described hereinafter with reference to the figures. It should be noted that the figures are not drawn to scale. It should also be noted that the figures are only intended to facilitate the description of the embodiments. They are not intended as an exhaustive description of the invention or as a limitation on the scope of the invention, which is defined only by the appended claims and their equivalents. In addition, an illustrated embodiment of the disclosed inventions needs not have all the aspects or advantages shown. An aspect or an advantage described in conjunction with a particular embodiment of the disclosed inventions is not necessarily limited to that embodiment and can be practiced in any other embodiments even if not so illustrated. In order to better appreciate how the above-recited and other advantages and objects are obtained, a more particular description of the embodiments will be rendered, which are illustrated in the accompanying drawings. These drawings depict only typical embodiments of the disclosed inventions and are not therefore to be considered limiting of its scope. FIG.1depicts a biopsy device10in accordance with one embodiment. The biopsy device10includes a reusable body portion12and a disposable needle portion14. The reusable body portion12includes components configured to perform a tissue biopsy using the disposable needle portion14. These components include a drive assembly configured to drive movement of components of the disposable needle portion14. An exemplary drive system is described in U.S. Provisional Patent Application Ser. No. 62/055,610, filed Sep. 25, 2014, and assigned to the same assignee as the instant application, the contents of which are incorporated by reference as though fully set forth herein. The drive assembly can include one or more motors known in the art, including electrical, pneumatic or hydraulic motors. The reusable body portion12also includes a controller (e.g., a computer processor) configured to control the motors in the drive assembly and thereby control movement of the components of the disposable needle portion14. Further, the reusable body portion12includes an elongate cam configured to lock and unlock various components of the reusable body portion12in various modes of the biopsy procedure as described in the above-incorporated patent application. In alternative embodiments, the elongate cam can have either: (1) grooves and slots for interacting with detents or pegs; or (2) lobes or cams for interacting with strike-plates. The interactions in both of these embodiments facilitate locking and unlocking described above. These embodiments are described in U.S. Provisional Patent Application Ser. No. 62/055,610 (incorporated by reference above) and U.S. Utility patent application Ser. No. 14/864,432, filed concurrently herewith, and assigned to the same assignee as the instant application, the contents of which are incorporated by reference as though fully set forth herein. Elongate cams can include any elongated member comprising features configured to control movement of other device components, For instance, in other embodiments, the elongate cam can have both: (1) grooves and slots; and (2) lobes or cams. FIGS.2and3depict respective distal portions of the disposable needle portion14.FIG.2shows the outer cannula16without the inner cannula26.FIG.3shows the outer cannula16with a distal portion of the inner cannula26visible through a tissue receiving opening20. The disposable needle portion14includes an outer cannula16having a distal tissue piercing tip18. The outer cannula defines an outer cannula lumen24and the tissue receiving opening20adjacent to the distal tissue piercing tip18, the tissue receiving opening20being in fluid communication with the outer cannula lumen24. A biopsy device10having a variable size tissue receiving opening20is described in U.S. patent application Ser. No. 14/497,046, filed Sep. 25, 2014, and assigned to the same assignee as the instant application, the contents of which are incorporated by reference as though fully set forth herein. In the disposable needle portion14, the inner cannula26is slidably disposed in the outer cannula lumen24and has an open distal end28surrounded by an annular cutting blade30(FIG.3). When the inner cannula26is in its distal-most position in the outer cannula lumen24, the inner cannula26closes the tissue receiving opening20in the outer cannula16. As shown inFIGS.4and5, a cutting board22is disposed in the outer cannula lumen24distal to the tissue receiving opening20. The cutting board22is configured to seal the open distal end28of the inner cannula26when the inner cannula26is in contact with the cutting board22. This seal prevents fluids introduced into the outer cannula lumen24from being aspirated through the open distal end28and the inner cannula lumen32, and bypassing the biopsy site. Instead, the fluids are delivered to the tissue through the outer cannula lumen24and the tissue receiving opening20. FIGS.6and7are axial cross-sectional views through respective portions of the outer and inner cannulas16,26with other components of the disposable needle portion14omitted for clarity. As shown inFIGS.6and7, the outer and inner cannulas16,26form an annular lumen34there between. The annular lumen34is the portion of the outer cannula lumen24that is not occupied by the inner cannula26. The outer cannula16also defines two side openings36in communication with the annular lumen34. FIG.8depicts the biopsy device10with the top housing of the disposable needle portion14omitted to facilitate visualization of the aspiration and irrigation system38relative to other components of the disposable needle portion14.FIG.9depicts the disposable needle portion14of a biopsy device10from a bottom view to facilitate visualization of the aspiration and irrigation system38therein. As shown inFIGS.10and11, the aspiration and irrigation system38includes an aspiration vent40fluidly coupled to an aspiration line42and an irrigation input44fluidly coupled to an irrigation line46. The aspiration line42and irrigation line46are each in turn fluidly coupled to a manifold48. As shown inFIGS.12and13, the manifold48is in turn fluidly coupled to the side openings36in the outer cannula16, which lead to the annular lumen34therein. FIGS.14to18,29and30depict the aspiration and irrigation system38and the outer and inner cannulas16,26with all other components of the disposable needle portion14of the biopsy device10omitted for clarity.FIGS.14and15depict the aspiration and irrigation system38and the outer and inner cannulas16,26in respective bottom and perspective wide views. InFIG.15, the aspiration and irrigation system38is shown in phantom for clarity.FIG.29is an axial cutaway view of the aspiration and irrigation system38and the outer and inner cannulas16,26at the level where the aspiration and irrigation lines42,46join the manifold48.FIG.30is a longitudinal cutaway view of the aspiration and irrigation system38and the outer and inner cannulas16,26at the level of the outer and inner cannula lumens24,32. As shown inFIGS.29and30, the manifold48is a space including a cylindrical portion82in fluid communication with the lumens of the aspiration and irrigation lines42,46at a “T” junction. The manifold48also includes an annular portion84in fluid communication with the cylindrical portion82, and therefore with the lumens of the aspiration and irrigation lines42,46. The annular portion84is disposed around and approximately coaxial with portions of the outer and inner cannulas16,26and the annular lumen34therebetween. FIGS.16and17depict the side opening36in the outer cannula16with the manifold48shown in phantom illustrate the fluid coupling of the manifold48with the side opening36.FIG.18is an axial cutaway view through the manifold48and the outer and inner cannulas16,26at the axial position of the side opening36.FIG.18illustrates the fluid coupling of the manifold48with the annular lumen34via the side openings36. FIGS.19and20detailed longitudinal cross-sectional views through the outer and inner cannulas16,26at the axial position of the side opening36. The views inFIGS.19and20are not perpendicular to the longitudinal axis of the outer and inner cannulas16,26in order to illustrate curvature of side opening36. All other components of the disposable needle portion14of the biopsy device10are omitted for clarity.FIGS.19and20depict the annular lumen34between the outer and inner cannulas16,26. They also depict the communication of the annular lumen34with the side openings36in the outer cannula16. FIG.21depicts an aspiration vent40according to one embodiment, with portions thereof shown in phantom to facilitate depiction of internal components. InFIG.21, the distal end of the biopsy device is pointed to the right of the figure. The aspiration vent40includes check and aspirate valves50,52, which are configured to close the aspiration vent40during vacuum-mediated and pressure-mediated irrigation, respectively (described below). The check valve50includes an interference member54adisposed in a chamber62aadjacent an upwardly-facing opening58of an interference member seat56a. The upwardly-facing opening58fluidly connects the aspiration line42to the atmosphere through the aspirate valve52. The depicted interference member54ais spherical, and the depicted upwardly-facing opening58is circular. However, in other embodiments, the interference member54aand upwardly-facing opening58can have any respective complementary shapes. When the biopsy device10is mounted in position for biopsy, the interference member54asits in the interference member seat56aand partially seals the upwardly-facing opening58. The interference member54ais forced distally into the interference member seat56awhen liquid is delivered under pressure through the irrigation input44and irrigation line46because the check valve is fluidly connected to the irrigation line46through the manifold48. Accordingly, when liquid is delivered under pressure through the irrigation input44and irrigation line46, the seal in the check valve50is strengthened and becomes substantially fluid-tight. The seal in the check valve50facilitates delivery of liquid from the irrigation input44and irrigation line46, through the manifold48, side openings36and annular lumen34, and out the tissue receiving opening20when the inner cannula lumen32is sealed by the cutting board22(described below). Examples of liquids that may be delivered under pressure include anesthetics, which may be injected into the irrigation input44by a syringe (not shown). Like the check valve50, the aspirate valve52includes an interference member54bdisposed in a chamber62badjacent an interference member seat56b. However, the interference member seat56bin the aspirate valve52has a side-facing opening64instead of an upwardly-facing one. The side-facing opening64connects the aspiration line42to the atmosphere through the check valve50and the aspirate valve52. The chamber62bof the aspirate valve52also includes a longitudinal opening76to facilitate actuation of the aspirate valve52(described below). The depicted interference member54bis spherical, and the depicted side-facing opening64is circular. However, in other embodiments, the interference member54band side-facing opening64can have any respective complementary shapes. The chamber62balso includes a side-facing atmospheric opening66that opens into the interior of the disposable needle portion14of the biopsy device10, which is in turn open to the atmosphere through small openings (not shown) in the housing of the disposable needle portion14of the biopsy device10. Accordingly, the aspiration and irrigation system38and the disposable needle portion14of the biopsy device10selectively communicate with the atmosphere through the atmospheric opening66in the aspirate valve52. When the biopsy device10is mounted in position for biopsy, and before vacuum is applied, gravity causes the interference member54bto sit on the bottom of the chamber62bof the aspirate valve52, and does not seal the interference member seat56btherein. During vacuum-assisted biopsies, a vacuum source (not shown) is connected to the proximal end of the inner cannula26while the distal end28of the inner cannula26is retracted proximally from the cutting board22, thereby facilitating fluid communication between the vacuum source and the inner cannula lumen32. When the vacuum source is connected to the aspiration and irrigation system38, the vacuum pulls the interference member54bin the aspirate valve52into the side-facing opening64with sufficient force to substantially close the side-facing opening64in the aspirate valve52. Further, the vacuum also pulls the interference member54ain the check valve50away from the upwardly-facing opening58, thereby unblocking the upwardly-facing opening58. Alternatively, chamber62bmay be configured to (e.g., have elastic walls that are biased to) cause interference member54bto seal the side-facing opening64, even in the absence of vacuum, unless the seal is broken by peg74. In such embodiments, the chamber62bmay not include a seating member. When the vacuum source is connected to the aspiration and irrigation system38, the vacuum also pulls liquid from an irrigation source (not shown) connected to the irrigation input44. Examples of such liquids include saline. With the aspirate valve52closed by the interference member54b, the liquid from the irrigation source travels through irrigation input44, the irrigation line46, the manifold48, the side openings36and the annular lumen34to enter the inner cannula lumen32, thereby facilitating transport of excise tissue through the inner cannula26(described below). The use of fluids to facilitate tissue transport during a biopsy procedure is described in U.S. patent application Ser. No. 13/383,318, U.S. National entry filed on Jan. 10, 2012 of PCT/US2011/062148 with international filing date Nov. 24, 2011, and assigned to the same assignee as the instant application, the contents of which are incorporated by reference as though fully set forth herein. In other embodiments, a saline valve (e.g., a pinch valve; not shown) may be provided to additionally control the flow of liquid through the system38. For instance, the saline valve may be disposed in the biopsy console downstream of the saline source. FIG.22depicts an actuation mechanism68configured to selectively open the aspirate valve52of the aspiration vent40when a vacuum source is connected to the aspiration and irrigation system38. The actuation mechanism68includes an elongated cam60, a vertical cam follower70, a deflection surface72, and a horizontal peg74. The cam60has a distal end80in contact with the vertical cam follower70, which is in contact with the deflection surface72. The deflection surface72is coupled to the horizontal peg74. In other embodiments, the deflection surface72may be in contact with, rather than coupled to, the horizontal peg74. The deflection surface72is approximately diagonal to both the vertical cam follower70and the horizontal peg74. Accordingly, vertical motion by the cam follower70is transformed to horizontal motion of the peg74. The deflection surface72is an extension of the frame of the disposable needle portion14of the biopsy device10and it is formed from an elastic material. As such, the deflection surface72and peg74attached thereto are biased away from a longitudinal opening76and the interference member54bof the aspirate valve52. The cam follower70is disposed in a lumen of a spring78, which biases the cam follower toward the cam distal end80and away from the deflection surface72. The cam60and a method of controlling movement of various components of the biopsy device10, including the interference member54bof the aspirate valve52, by rotating the cam60are described in detail in U.S. Provisional Patent Application Ser. No. 62/055,610, which has been previously incorporated by reference. By also using the cam60to actuate the aspirate valve52, the number of parts and the size of the reusable body portion12is minimized. To actuate the aspirate valve52, the peg74of the actuation mechanism68enters the chamber62bof the aspirate valve52through the longitudinal opening76to dislodge the interference member54bfrom the interference member seat56b. The actuation mechanism68includes components of both the reusable body portion12and disposable needle portion14of the biopsy device10. The elongated cam60and the vertical cam follower70are parts of the reusable body portion12of the biopsy device10. The deflection surface72and the horizontal peg74are parts of the disposable needle portion14of the biopsy device10. The vertical cam follower70extends vertically out of the reusable body portion12, and enters a bottom surface of the disposable needle portion14to interact with the horizontal peg74via the deflection surface72. This arrangement minimizes the possibility of contamination of the patient because air entering the aspiration and irrigation system38through atmospheric opening66, when aspirate valve52is open, passes over sterile components in the disposable needle portion14rather than the clean components in the reusable body portion12. Because the clean vertical cam follower70only contacts the deflection surface72, which is separated from the sterile interference member54of the aspirate valve52by the sterile horizontal peg74, the possibility of contamination of the patient is substantially minimized. FIG.23is a cutaway view through the reusable body portion12and disposable needle portion14of the biopsy device10from an approximately axial direction, with certain components omitted and the vertical cam follower70shown in phantom for clarity. The distal end80of the elongate cam60, which is configured to interact with the cam follower70, is shaped like an eccentric wheel, thereby facilitating the cam distal end's80function of transforming rotary motion into linear motion. The cam distal end80, like all eccentric wheels, has a surface diameter between a largest diameter and a smallest diameter. FIG.24is a perspective view of the biopsy device10with certain components omitted to show the juxtaposition of the interference member54bof the aspirate valve52and the horizontal peg74.FIGS.25to28are cutaway views of the biopsy device10, through axial planes that move distally along the longitudinal axis of the biopsy device10, with certain components omitted to show the interaction between the components of the actuation mechanism68and the aspirate valve52.FIG.27illustrates the interaction between the cam60, the cam follower70and the deflection surface72.FIG.28illustrates the interaction between the peg74and the interference member54bin the aspirate valve52. InFIGS.22to28, the cam60is rotated such that the smallest diameter surface of the cam distal end80is in contact with the cam follower70. As such, the cam follower70is biased in its lowest position by the spring78and the horizontal peg74is biased away from the interference member54bin the aspirate valve52. When the cam60is rotated such that the largest diameter surface of the cam distal end80is in contact with cam follower70. Rotating the cam60(and the cam distal end80) into this position overcomes the expansive force of the spring78, and pushes the cam follower70up into the deflection surface72. The deflection surface72translates the vertical motion of the cam follower70into horizontal motion of the horizontal peg74. Horizontal motion of the peg74brings it into contact with the interference member54bin the aspirate valve52. Continued horizontal motion of the peg74dislodges the interference member54bfrom the side-facing opening64in the interference member seat56bin the aspirate valve52, thereby allowing the site-facing opening64to communicate with the atmosphere through the atmospheric opening66in the aspirate valve52. Because the aspirate valve52is connected to the inner cannula lumen32via the aspiration and irrigation system38, when the cam60is rotated to dislodged the interference member54bin the aspirate valve52, a vacuum generated in the inner cannula lumen32(e.g., by a vacuum source) is released/vented by communication with the atmosphere through the aspiration vent40. Having described the structure of various components of the biopsy device10, including the aspiration interrogation system38and the actuation mechanism68, a biopsy procedure100using the biopsy device10will now be described.FIG.31summarizes the steps of a vacuum-assisted biopsy procedure100according to one embodiment. The summary inFIG.31also includes the states of the check and aspirate valves50,52and various irrigation and aspiration/venting related functions at the respective steps. The steps summarized inFIG.31can be in addition to the biopsy procedure100that is described in detail in U.S. Provisional Patent Application Ser. No. 62/055,610, which has been previously incorporated by reference. At step102, a user (e.g., a physician and/or a technician working under the direction of a physician) mounts the biopsy device10to a stable surface like a stereotactic surgical table. When the biopsy device10is first mounted, the inner cannula26is in its distal most location, with its distal end28against the cutting board22in the outer cannula lumen24. Further, the vacuum is off and no liquid is introduced into the aspiration and irrigation system38under pressure. As such, the check and aspirate valves50,52are open and venting is possible. However, because the vacuum is off, there is no vacuum to vent. Before step104, distal portions of the outer and inner cannulas16,26have already been inserted into the tissue to be biopsied. At step104, a liquid (e.g., saline and/or anesthesia) is delivered to the tissue adjacent the tissue receiving opening20in the outer cannula16. The delivered liquid can also travel in a retrograde fashion along the path of the outer cannula16ultimately into the tissue, where anesthetic can relieve pain associated with the procedure. At step104, the vacuum remains in an off position, therefore the aspirate valve52remains open. At step104, the inner cannula26is still in its distal most location against the cutting board22. Accordingly, when the liquid is delivered through the irrigation input44and the irrigation line46under pressure (by using a syringe), the liquid cannot enter the inner cannula lumen32. Further, the liquid cannot exit the aspiration and irrigation system38through the aspiration vent40because the check valve50is closed by the liquid under pressure. Therefore, the liquid exits the outer cannula lumen24via the only open exit, i.e., the tissue receiving opening20, and flows into the tissue as described above. At step106, the inner cannula26remains in its distal most location against the cutting board22. However, the introduction of pressurized liquid into the aspiration and irrigation system38via the irrigation input44at step104is terminated. As a result, the check valve50opens, and remains open from step106to step116. Further, the vacuum source is turned on and delivers vacuum to the inner cannula26, and remains on from step106to step116. However, because the distal end28of the inner cannula26is blocked by the cutting board22in step106, the vacuum source is not in fluid communication with the aspiration and irrigation system38via the outer cannula16. As a result, although the aspirate valve52remains open, venting does not occur to any substantial degree. Moreover, with a lack of pressure and vacuum in the aspiration and irrigation system38, liquid flow through the system38is minimal to none. At step108, the inner cannula26begins moving proximally away from the cutting board22to prepare for the first cutting stroke, thereby exposing its open distal end28, and fluidly connecting the inner cannula lumen32to the annular lumen34. Because the vacuum source remains on and connected to the inner cannula26, the vacuum closes the aspirate valve52as described above. Because the aspirate valve52is closed, the vacuum is not vented. Because there is no pressurized fluid entering the irrigation input44, the check valve50remains open. Because the aspirate valve52is closed, vacuum from the vacuum source pulls liquid (i.e., saline) through the irrigation input44(and not air through the aspirate valve), the irrigation line46, the manifold48, side openings36, the annular lumen34, and into the inner cannula lumen32through the open distal end28thereof. Since step108precedes the first cutting stroke, there is no excised tissue in the inner cannula lumen32. Therefore, the liquid entering the aspiration and irrigation system38through the irrigation input44flows through the inner cannula lumen32unobstructed. At step110, the inner cannula has reached its proximal most location, and the first cutting stroke and is ready to begin. As in step108, the vacuum source remains powered on and connected to the inner cannula26, the aspirate valve52remains closed, the check valve50remains open, the vacuum is not vented, and thus liquid flows under vacuum. Before the first cutting stroke, there still is no excised tissue in the inner cannula lumen32. Therefore the liquid continues to flow through the inner cannula lumen32unobstructed. The cutting stroke starts at step112, when the inner cannula begins to move distally from its proximal most location. As in steps108and110, the vacuum source remains powered on and connected to the inner cannula26, the aspirate valve52remains closed, the check valve50remains open, the vacuum is not vented, and thus liquid flows under vacuum from the irrigation input44to the inner cannula lumen32. Step112is the cutting portion of the cutting cycle, during which the inner cannula26moves distally from its proximal most location to its distal most location. Excised tissue that is no longer connected to the rest of the tissue will be drawn proximally through the inner cannula lumen32by the vacuum source. The liquid flowing from the aspiration and irrigation system38facilitates transport of excised tissue. During step112, the inner cannula26rotates as it translates distally to facilitate cutting of tissue. At step114, the biopsy device10has reached the approximate middle of the cutting cycle, when the inner cannula26reaches its distal most location against the cutting board22. At that point, the inner cannula26terminates its axial movement, but continues to rotate to facilitate cutting of tissue. As in steps108to112, the vacuum source remains powered on and connected to the inner cannula26and the check valve50remains open. However, because the distal end28of the inner cannula26is closed by the cutting board22, the aspirate valve52is open. Further, the vacuum in the inner cannula lumen32is not vented because it is sealed off from the aspiration vent40by the cutting board22. Moreover, because the vacuum does not reach the aspiration and irrigation system38, liquid flow through the system38is minimal to none. Step114is similar to step106described above. At step116, the inner cannula is on the second half, i.e., the retracting portion, of the cutting cycle, during which the inner cannula26moves proximally from its distal most position to its proximal most position. During step116, the excised tissue is separated from the rest of the target site and is moved proximally through the inner cannula lumen32under vacuum. As in steps108to114, the vacuum source remains powered on and connected to the inner cannula26and the check valve50remains open. However, at step116, the elongate cam60is rotated such that the vertical cam followers70rises, causing the horizontal peg74to move into the chamber62bof the aspirate valve52to thereby dislodge the interference member54bfrom the interference member seat56b. Dislodging the interference member54bopens the aspirate valve52and allows vacuum distal of the excised tissue in the inner cannula lumen32to vent to atmosphere through the aspiration and irrigation system38. In step114, liquid flow through the aspiration and irrigation system38is minimal to none because the vacuum is being vented through the system38. In one embodiment, a controller in the biopsy device10activates a motor that rotates the elongate cam60to open the aspirate valve52. The inner cannula26continues to rotate during step116. Venting the vacuum distal of the excised tissue increases the pressure imbalance proximal and distal of the excised tissue, thereby increasing the rate at which the excised tissue travels through the inner cannula lumen32. Increasing the pressure imbalance also prevents excised tissue from becoming trapped in the inner cannula lumen32due to increasing vacuum distal of the excised tissue that cannot be vented. After step116, steps114to116can be repeated until the biopsy is completed. While the biopsy procedure100described above includes “turning on and connecting” a vacuum source, the vacuum source may be permanently turned on and selectively connected to and disconnected from the inner cannula lumen32at the appropriate steps in the procedure. In an alternative embodiment, the aspiration vent40is located in the reusable body portion12of the biopsy device10. In such embodiments, a filter in the disposable needle portion14would prevent liquids from entering the aspiration vent40in the reusable body portion12. Therefore, the filter prevents contamination of the reusable body portion12. After each biopsy, the filter would be disposed of along with the disposable needle portion14. In one embodiment, the filter is 0.22 μm or smaller to prevent contamination of the reusable body portion12. In another alternative embodiment, the aspirate valve52can be actuated via the dwell spring, which is described in detail in U.S. Provisional Patent Application Ser. No. 62/055,610, which has been previously incorporated by reference. A lever or cam can be driven by retraction of the dwell spring mechanism to actuate open the aspirate valve52. Actuating the aspirate valve52via the dwell spring would mechanically link the venting of vacuum distal of excised tissue in the inner cannula lumen32with retraction of the inner cannula26after each cutting stroke. In yet another alternative embodiment, the aspirate valve52can be actuated via a solenoid that is controlled by the biopsy device controller. In still another alternative embodiment, the cylinder surrounding the side opening36in the outer cannula16and fluidly coupled to the manifold48can be increased in size to increase the rate of liquid flow through the aspiration and irrigation system38. FIG.32is a system diagram schematically depicting a vacuum-assisted biopsy device200according to another embodiment. The biopsy device200depicted inFIG.32is almost identical to the biopsy device10described above, except that the biopsy device200depicted inFIG.32includes a liquid valve286(e.g., a pinch valve) disposed between a liquid source288and a manifold248. The liquid valve286can also be called a saline valve286. As in the biopsy device10described above, the manifold248inFIG.32is also fluidly coupled to an annular lumen234and an air valve250,252, which is for aspiration to atmosphere292. The air valve250,252includes a check valve250and an aspirate valve252, which are similar to respective check valve50and aspirate valve52described above with respect to biopsy device10. While this embodiment includes a liquid valve/saline valve286, biopsy devices according to other embodiments do not include a liquid valve/saline valve. In such embodiments, liquid/saline flow may be controlled by positive pressure and vacuum in the system. FIG.32depicts air and liquid flow in the biopsy device200. The vacuum source290is fluidly coupled to a proximal end of the inner cannula lumen232, which is in turn, selectively fluidly coupled to the annular lumen234(defined between inner and outer cannulas, not shown). The annular lumen234is fluidly coupled at the proximal end to the tissue receiving opening220, which leads outside of the distal end of the outer cannula (not shown) and at the distal end to the manifold248. The manifold248is selectively fluidly coupled to the liquid source288(via liquid valve286) and atmosphere292(air valve250,252). While there is no “valve” between the inner cannula lumen232and the annular lumen234, these two lumens232,234are only fluidly coupled to each other when the inner cannula226is retracted proximally away from the cutting board222. FIG.33is a timing diagram illustrating the steps of a vacuum-assisted biopsy procedure300, according to another embodiment, using the biopsy device200depicted inFIG.32.FIG.34is a table400summarizing the steps of the vacuum-assisted biopsy procedure300illustrated inFIG.33. Steps 1 to 6 represent one cutting cycle using the biopsy device200. Step 1, i.e., “pre-cut vacuum,” follows completion of the previous cutting cycle, which concludes with a post-aspirate lavage. Thus Step 1 begins with closing of the liquid valve286(e.g., at 13.5 s inFIG.33). InFIGS.33and34, the liquid valve286is labeled “saline valve.” During Step 1, which lasts about 0.5 s, vacuum builds in the biopsy device200thereby drawing tissue into tissue receiving opening220. Step 1 concludes when the inner cannula is fully proximally retracted, the liquid valve286is closed, and the air valve250,252is closed. Step 2, i.e., “biopsy cut,” begins after completion of Step 1 (“pre-cut vacuum”). Optionally, Step 2 begins after receipt of a Core Index Complete Message, in systems with indexing core collection chambers, such as those described in U.S. patent application Ser. No. 13/383,318, the contents of which are incorporated by reference as though fully set forth herein. During Step 2, which lasts less than 2 s (about 1.75 s inFIG.33), the inner cannula226moves from the fully proximally retracted position to the fully distally extended position while rotating to cut tissue prolapsing through the tissue receiving opening220. Step 2 concludes just before the inner cannula226reverses rotation, the liquid valve286is closed and the air valve250,252is closed. Step 3, i.e., “IC retraction,” begins when the inner cannula226reverses rotation at the end of Step 2. During Step 3, which lasts less than 2 s (about 1.75 s inFIG.33), the inner cannula226unwinds the dwell spring for about the first 0.25 s, and then retracts from the fully distally extended position to the fully proximally retracted position while rotating in the reverse direction. The liquid valve286is open during the first 0.5 s of Step 3 (see Step 4 below) and the air valve250,252is closed. There is a dwell period that overlaps Steps 2 and 3, as described in detail in U.S. Provisional Patent Application Ser. No. 62/055,610, which has been previously incorporated by reference. During the dwell period, which lasts about 0.5 s, the inner cannula226is positioned at its fully distally extended position against the cutting board222, and continues to rotate (in the same direction as during the rest of Step 2) to completely sever the prolapsing tissue. Step 4, i.e., “Pre-Aspirate Lavage,” which overlaps the first 0.5 s of Step 3, is triggered by reversal of the motor that rotates the inner cannula226at the end of Step 2. During Step 4, which lasts about 0.5 s, the inner cannula226rotates and unwinds the dwell spring for about the first 0.25 s, and then begins to retract from the fully distally extended position in a proximal direction. The liquid valve286is open and the air valve250,252is closed. Opening the liquid valve286during Step 4 allows a bolus of liquid (e.g., saline) to be introduced into the device200. Because the air valve250,252is closed, the bolus of liquid will travel through the manifold248and the annular lumen234, and fill in behind the severed tissue in the inner cannula lumen232. This liquid facilitates the vacuum assisted proximal travel of the tissue through the inner cannula lumen232. Step 5, i.e., “Aspiration,” is triggered by completion of Step 3 in that Step 5 is programmed to begin about 2.0 s after completion of Step 3. During Step 5, which lasts at least 2 s (about 2 s inFIG.33), the inner cannula226is at its fully proximally retracted position. The liquid valve286is closed and the air valve250,252is open. The air valve may be opened by opening the aspirate valve252using an actuation mechanism as described above for the biopsy device10depicted inFIGS.21-28. Opening the air valve releases the vacuum distal of the severed tissue in the inner cannula lumen232, thereby facilitating the vacuum assisted proximal travel of the tissue through the inner cannula lumen232. Step 6, i.e., “Post-Aspirate Lavage,” is triggered by completion of Step 5 in that Step 6 is programmed to begin about 0.25 s after completion of Step 5. During Step 6, which lasts about 0.5 s, the inner cannula226is at its fully proximally retracted position. The liquid valve286is open and the air valve250,252is closed. Opening the liquid valve286during Step 6 allows another bolus of liquid (e.g., saline) to be introduced into the device. Because the air valve250,252is closed, the bolus of liquid will travel through the manifold248and the annular lumen234, and into the inner cannula lumen232. This liquid removes from the inner cannula lumen232any tissue remnants from the previous biopsy stroke to prepare the device200for the next biopsy stroke. After Step 6, the biopsy device200can cycle through Steps 1-6 to sequentially biopsy additional tissue samples. Although Steps 1-6 are described above as having specific “triggers,” these descriptions are intended to be illustrative and not limiting. For instance, while aspiration Step 5 is depicted inFIG.34as being “triggered” by completion of inner cannula retraction, the aspiration step can be programmed to begin at any time relative to an event in the biopsy procedure300, including a predetermined amount of time after an event (e.g., 0.5 s after liquid valve closes). Note that in the method100depicted inFIG.31and previously described, the aspiration step is begins at the same time that the inner cannula26begins to move proximally from the distal most position. While the embodiments described herein have a particular aspiration valve structure, that structure is illustrative and not intended to be limiting. Accordingly, the actuating mechanism described herein can be used to open any suitable valve, including those without seating members. Although particular embodiments of the disclosed inventions have been shown and described herein, it will be understood by those skilled in the art that they are not intended to limit the present inventions, and it will be obvious to those skilled in the art that various changes and modifications may be made (e.g., the dimensions of various parts) without departing from the scope of the disclosed inventions, which is to be defined only by the following claims and their equivalents. The specification and drawings are, accordingly, to be regarded in an illustrative rather than restrictive sense. The various embodiments of the disclosed inventions shown and described herein are intended to cover alternatives, modifications, and equivalents of the disclosed inventions, which may be included within the scope of the appended claims.

11857172

DETAILED DESCRIPTION OF THE DRAWINGS FIG.1shows, in subfigure a), a vascular closure device10during a first stage of deployment in a blood vessel22. The blood vessel22, which has a vascular access hole15that connects the blood vessel22to the outside of the patient's body and that may have been created during a surgery, for example an endovascular surgery, has arranged therein a catheter20. The blood vessel22is, for example, the arteria femoralis. This catheter20comprises a sheath (introducer/guide sheath)25that extends through the vascular access hole15into the blood vessel22. The distal end of the sheath25is arranged inside the blood vessel22, and the proximal end is arranged outside of the blood vessel and comprises a gate24for the selective introduction and removal of components into and from the sheath25. In that context, the word “proximal” refers to a direction along the sheath25towards the surgeon, and “distal” refers to the opposite direction away from the surgeon. As can be seen inFIG.1, the vascular closure device10has been positioned inside the blood vessel22. This vascular closure device10comprises a vascular closure element (stent graft)12that is shown in more detail inFIG.1b). Around that vascular closure element12, a tube-like retaining element14made of a single layer PET sheath is wrapped so as to retain the vascular closure element12in the non-fully-expanded configuration. In that configuration, the assembly of the vascular closure element12and of the retaining element in a sheath form can be arranged inside the lumen of the sheath25, which is the delivery configuration of the vascular closure device10(not shown). Also shown is a pusher wire11that extends through the lumen of the vascular closure element12and through the lumen of the sheath25. Provided proximally relative to the stent graft12is a pusher cone28that is dimensioned so that the pusher cone28can push the vascular closure element12out of the lumen of the sheath25. Such a pusher wire11can be made of nitinol and can have, in embodiments, a thickness of from 0.02″ to 0.035″. The pusher wire11allows for pushing the vascular closure element12out of the lumen of the sheath25during deployment. A tether16that can be made of a metal wire extends through the sheath25and is sandwiched between the vascular closure element12and the retaining element14. Tether16could also be referred to as a loop split tether. The two ends of the tether16, which could, in embodiments, also be referred to as a loop split wire, are lead through the lumen of the sheath25to a position beyond the proximal end of the sheath25where they are joined together. A pull ring30is arranged so that the tether16is slidably threaded through it. The pull ring30can be used for applying pull force onto the tether16. It is to be noted that the pull ring30is entirely optional and does not need to be present. It is also to be noted that the pull ring30does not need to have a circular shape. Through pulling that tether16, the vascular closure element12can be positioned adjacent the vascular access hole15, as will be discussed in more detail below, and can be also released from the retaining element14. The details of this positioning and release will be discussed subsequently with reference toFIGS.2-5. Furthermore, a pullout-tether18is provided that could also be referred to as a split sheath removal line. This pullout-tether18is connected to the retaining element14and is led through the interior of the sheath25so that the pullout-tether18extends beyond the proximal end of the sheath25. As will be discussed more fully when discussing the subsequent drawings, this pullout-tether18can be used for removing the cut retaining element14from the patient's vasculature. FIG.1b) shows in more detail the structure of the vascular closure element (vascular plug)12. As can be seen from that drawing, a base stent13is provided which has arranged thereon a patch19that can, in embodiments, be made of polylactic acid (PLLA). However, as discussed previously, other materials can also be used. The base stent13itself is made of a self-expanding material. In embodiments, nitinol was used for the base stent13, which was cut with a femto laser technology for selective material ablation. In embodiments, the base stent13had an expanded diameter of about 9-12 mm and was covered on one circumferential half with a PLLA patch19that had a length of about 10 mm. Such a length has been found to cover, with a great safety margin, the puncture access sites in femoral arteries. In the presently shown embodiment inFIG.1a), the tether18is looped between the PLLA patch19and the retaining element14. This allows for a more accurate positioning of that patch adjacent the vascular access hole15, since pulling on the tether18will automatically position the patch19adjacent the vascular access hole15. In embodiments, a 5 F outer diameter catheter was used as the sheath25. An example system was a Halo 1 catheter sheath provided Becton Dickinson and Company, which has a 4 F inner diameter. WhilstFIG.1a) shows a configuration where the assembly of the vascular closure element12and retaining element14has just been pushed out of the distal end of the catheter20,FIG.2shows a configuration that happens somewhat later during the deployment of the vascular closure element12. As can be seen fromFIG.2, the sheath25has been largely withdrawn from the blood vessel22whilst still facilitating haemostasis. Whilst the sheath25still extends through the vascular access hole15, it extends much less into the blood vessel22then in the configuration shown inFIG.1a). In the configuration shown inFIG.2, the vascular closure element12is still restrained by the retaining element14so that its cross-sectional diameter is significantly less than the diameter of the blood vessel22. Accordingly, the vascular closure element12can move freely inside that blood vessel22and can thus, by means of applying a pull force to the tether16, be moved in its position inside the blood vessel22. FIG.3shows the next step in the deployment of the vascular closure element12. As can be seen from that figure, the tether16extends out of the distal end of the sheath25and is sandwiched between the vascular closure element12(more precisely, the PLLA patch19) and the retaining element14. However, we can be seen from that figure, the pusher wire11has been withdrawn from the blood vessel22. When now applying a pulling force to the pull ring30, the tether16is pulled through the sheath25which transitions the system from the configuration shown inFIG.3to that shown inFIG.4. Due to the force that is applied to the tether16being symmetric, the vascular closure element12gets positioned so that the vascular closure element12is centred on the vascular access hole15. Accordingly, since the tether16is arranged so that the tether16is sandwiched between the retaining element14and the patch19, the patch19is arranged adjacent to the vascular access hole15and is thus adequately positioned for closing that vascular access hole15from the inside. However, as can also be seen fromFIG.4, in that configuration, the vascular closure element has still too small a diameter to be fixed in position relative to the blood vessel22thanks to the presence of the retaining element14. That is, if the tether16(as well as the pullout-tether18) were not present, the assembly of the vascular closure element12and the retaining element14would move freely inside the blood vessel22, which is undesirable if one wants to close the vascular access hole15. When the configuration that is shown inFIG.4has been reached, the surgeon would then apply a stronger pull force on the tether16. This pull force would lead to the tether16cutting through the retaining element14at those places where the tether16is in contact with the retaining element14. Since the tether16extends along the entire length of the retaining element14, the tether16will cut the entire length of the retaining element14. In consequence, the thus cut retaining element14would no longer exert a restraining force on the self-expansion of the vascular closure element12. This vascular closure element12will then self-expand due to the vascular closure element12being exposed to the patient's blood stream and thus push against the walls of the blood vessel22. The vascular closure element12will thereby push the patch19against the vascular access hole15to thereby seal the vascular access hole15. Subsequently, the surgeon would then withdraw the tether16and also, using the pullout-tether18, the cut remainder of the retaining element14from the patient's body via the sheath25of the catheter20. In that way, the configuration shown inFIG.5is achieved where the vascular closure element12has sufficiently self-expanded so as to push the patch19against the vascular access hole15that is shown, in the configuration shown inFIG.5, as having partially healed. The thus closed vascular access hole15is thus sealed from the inside so that blood cannot leak out of it. Since the patch19has been made of a bioresorbable material, the patch19will dissolve with time so that the cross-section of the vascular closure element12will be reduced and will finally only be the cross-section of the base stent13, which therefore reduces the impact on blood flowing through the blood vessel22. It is to be noted that the naturally occurring blood pressure will also serve to push the patch19against the vascular access hole15which therefore improves the sealing and will reduce bleeding. Further, since after the placement of the vascular closure element12, and the withdrawal of the tether and the pullout-tether18, there are no components that extend to the outside of the blood vessel22, the risk of an infection is reduced. It is additionally believed that having such a way of closing the wound will reduce the risk of subcutaneous bleeding as well as the creation of haematomas and pseudo-aneurysms. Additionally, due to the absence of small parts and a sealing agent, which might be dislodged, there is a smaller risk of an ipsilateral leg ischaemia.

11857173

DETAILED DESCRIPTION FIG.1depicts a retractor device100that includes a main retractor body126, a handle114, and a plurality of armatures (arms)102-106with blades118-122attached thereto. The retractor body126includes a number of components that drive the operable elements of the retractor device100. The arms102-106may be opened and closed by rotating actuators128,130on the handle114. The blades118-122attached to each arm102-106are used to form a surgical distraction corridor in a body tissue. This corridor is enlarged as the arms102-106are opened. These and other elements of the retractor device100are described in more detail below. In the depicted embodiment, the retractor body126includes a top cover plate108and a bottom cover plate (not seen inFIG.1) that limit access to the drive elements located therein. The top cover108plate includes one or more slots116. In some embodiments, each of the two pivoting arms102,106is connected to a guide pin (not seen inFIG.1). The pin is located within the slot116, and restricts movement of the arm102,106to which it is connected as the arm102,106is opened and closed. In the depicted embodiment, a slot116is associated with each of the pivoting arms, with two pins and slots116operating together to restrict the movement of arms102,106. In other embodiments, only a single slot116may be used. In certain embodiments, the slot(s)116may be entirely eliminated. Inclusion of the slot116, however, helps control the connection between the pivoting arm102,106and the retractor body126. One or more articulating arm connection points110,124may also be located on the top cover108. These connection points110,124may be used to connect the retractor device100to a discrete articulating arm that is connected to a surgical table or other substantial element. Rigid connection of the retractor device100to the surgical table or other fixed structure allows the device100to be held in place, so the surgeon may be free to perform other aspects of a procedure without having to hold the retractor device100. The retractor body126is connected to a handle114that may be disengageable, as described below. In the depicted embodiment, the handle114includes two rotatable actuators128,130that are used to actuate the arms of the retractor device100. In some embodiments, rotation of the main retractor actuator128(centrally located on the handle114in the depicted embodiment) actuates the two pivoting arms (i.e., the cranial and caudal arms102,106). In some embodiments, rotation of the posterior actuator130(located at the end of the handle114in the depicted embodiment) actuates the posterior arm104. In alternative embodiments, the position of the actuators128,130may be switched or otherwise vary. In other embodiments, each armature has a separate handle rotatable actuator to allow the armatures to be opened individually. In still other embodiments, the handle contains a single rotatable actuator that actuates all of the armatures simultaneously. The rotational axis A is shared by both the main retractor actuator128and the posterior actuator130. In alternative embodiments, other actuator elements may be used. In one example, the actuator element for the pivoting arms may be a circular disc having an axis of rotation substantially orthogonal to the axis A of the handle114. The disc may be connected to a worm gear, lead screw (FIG.2), or other element within the handle114that operates the pivoting arms102,106. A similar disc may be used for the posterior arm104. Alternatively, a translating element, for example a slide movable parallel to the axis of the handle114, may be used to actuate the posterior arm104. As described in more detail below, some or all of the handle114may be removably connected to the retractor body126. A connection element112may connect the handle114to the retractor body126. In certain embodiments, the connection element112incorporates a lock having multiple positions and functions as described below with regard toFIGS.5A-5C. In some embodiments, retractor100includes three arms102-106used to help form a surgical distraction corridor in a body tissue. In some cases, arms102-106include two pivoting arms102,106and one translating arm104, with each or some having a blade118-122extending therefrom. A first end of each of the pivoting arms102,106is attached to the retractor body126. The opposite end of each arm102,106is secured to a blade118,120that is inserted into the body tissue. For certain embodiments, such as when retractor100is used in a lateral spinal surgical procedure, the terms “cranial” and “caudal” may be associated with certain arms102,106and blades118,120to help identify their position relative to the patient. For example, arm102and blade120may be referred to as caudal arm102and caudal blade120. Similarly, arm106and blade118may be referred to as a cranial arm106and cranial blade118. In that regard, the cranial blade118is located on the side of the retractor100closest to the head of the patient, while the caudal blade120is located on the side of the retractor100closest to the legs. The cranial and caudal blades118,120are similarly configured, such that either blade118,120may be considered either the cranial or caudal blade, depending on which side the patient is laying during a surgical procedure. In one embodiment, both pivoting arms102,106(and therefore both blades118,120), pivot in an arcuate direction away from a centerline of the retractor device100, defined by the axis A of the handle114, as the main actuator128is rotated. Of course, other embodiments of the retractor device may be configured such that separate actuators are used for each of the two pivoting arms102,106. Using a single actuator for both pivoting blades118,120, however, helps ensure even opening of the surgical corridor during use and a balancing of forces against the blades118,120. The translating arm104has first and second ends, with the first end connected to the main retractor body126and the second end connected to a blade122. The translating arm104may be referred to as the posterior arm104and is configured to move axially along the axis A. That is, the arm104may be drawn into and extended out of the retractor body126, as the posterior actuator130is actuated. The posterior arm104may also include an articulating arm connection element132, thereby providing an additional point of connection of the retractor device100to the surgical table or other secure structure. The posterior blade122is secured to the translating arm104, either directly or with a pivotable connection as described above with regard to the blades118,120. Additionally, although the device100is typically utilized such that the handle114is pointed toward the surgeon, the device100may also be oriented so that the handle114is pointed away from the surgeon during use. In that case, the translating arm104may be referred to as an anterior arm104. FIG.2depicts an embodiment of the drive mechanisms for opening and closing the arms102-106of the retractor device100. As shown, a main worm drive mechanism214or lead screw is used to actuate the cranial and caudal arms102,106. Rotation of the main worm drive214by the main actuator128(not shown) rotates the main worm gears210,212, thereby separating or pivoting the cranial and caudal arms102,106. In some embodiments, worm drive214engages teeth on worm gears210,212. In one embodiment, the use of a worm drive mechanism214to separate the cranial118and caudal blades120allows for a large number of open positions between the blades118,120. In some cases, the worm drive mechanism214provides an unlimited number of open positions depending on the amount of rotation of main worm drive214. Additionally, the blades118,120are brought together using the worm drive mechanism214. In other words, the worm driver214and worm gear mechanisms210,212prevent the cranial arm102and caudal arm106from moving unless specifically actuated. In this manner, the blades118,120are maintained in a desired position until the worm drive mechanism214is actuated to further open or close the blades118,120. A posterior drive element may be a lead screw204mechanism that is engaged with a lead nut202to the translating arm104, allowing for movement of the translating arm104. In the depicted retractor device100, the shaft that connects the lead screw204to the posterior actuator130passes through the main worm drive214that activates the cranial and caudal arms102,106. As with the worm drive214, forces applied directly to the posterior blade122or arm104will not move those elements, compared to a ratchet-type or other system. FIGS.3A and3Bdepict the retractor device100in closed and open positions, respectively. When in the closed position, in one embodiment, the blades118-122form a perimeter that is configured to surround one or more generally round dilators (FIG.7) that are first introduced into a body tissue. These dilators and the use thereof, are further described below. The blades118-122need not abut one another but may be so configured if desired. Gaps or spaces between the blades118-122when in the closed position are generally not a concern unless these gaps are large enough to allow creep of tissue between the blades118-122. In a particular embodiment, a gap exists between the cranial blade118and the caudal blade120, even when the cranial arm106and caudal arm102are in a closed and abutting position. In some embodiments the gap extends the entire length of blades118and120. Rotating the main actuator128located on the handle114moves the arms and the blades118,120away from each other, in arcuate directions. Rotation of the posterior actuator130moves the posterior arm104and blade122. When the blades118-122are inserted into a body tissue, this movement forces the tissue apart, creating a surgical corridor, the interior of which may be accessed by a surgeon. FIG.4depicts a partial exploded view of an embodiment of the handle114, specifically, the portion of the handle114that actuates the cranial and caudal arms102,106. The main actuator128portion of the handle114is connected to an elongate shaft408. The connection element/lock112includes an internal thread connection404that mates with a corresponding thread connection404′ on a friction sleeve402. Rotation of the connection element/lock112rotates the friction sleeve402. A number of locking elements406project from the friction sleeve402and engage with a collar416. As the locking elements406engage with the collar416, functionality of the retractor device100changes, as described with regard toFIGS.5A-5C. Collar416is coupled to core410. In one embodiment, pins412couple collar416to core410and are welded or otherwise affixed in place. FIG.5Adepicts a first position of the connection element112, as that element engages with the collar412. In this position, referred to as a “soft engagement” position, ball bearings414are free to move within the constraints of a C-spring502, because of openings418present between the locking elements406of the friction sleeve402.FIG.5Bdepicts a second position, wherein the connection element112is rotated a desired or set amount, such as about thirty (30) degrees, about forty-five (45) degrees, about sixty (60) degrees, or the like. In this position, the locking elements406are moved forward, such that the C-spring502is locked out, thereby restricting movement of the ball bearing414. This position captures the shaft406and allows the retractor arms to be opened and closed.FIG.5Cdepicts a third position, wherein the connection element112is rotated an additional desired or set amount, such as about another thirty (30) degrees, about another forty-five (45) degrees, about another sixty (60) degrees, or the like. This moves the friction sleeve402, and therefore the locking elements406, further forward so as to engage a corresponding toothed plate in the retractor body126. In this position, the friction sleeve402is in the fully locked position, such that the gaps418are restricting the C-spring502from expanding. This locks the ball bearings414in place, and the locking elements406are in a position where they will interface with the corresponding teeth in the retractor body126(not shown). The center core410, the handle body, and the collar416are fixed relative to each other, using a variety of techniques. For example, in one embodiment pins412couple collar416to core410. FIGS.6A-6Cdepict enlarged partial views of a blade/arm interface600, and show various technologies incorporated therein.FIG.6Adepicts an end of the cranial arm106, and blade118. The blade118is pivotably connected to the arm106, specifically with a blade base604that is positionable within a toeing cut-out606in the arm106. In one embodiment, blade118has a curved proximal end which engages the blade base portion of arm106. The blade base604, in one embodiment, is rotatably coupled to arm106. In this embodiment, a blade attachment mechanism, depicted inFIG.6Bas a screw612, threads through a hole in blade118proximal end and into a threaded opening in the top of blade base604. Once blade118is coupled to the blade base604of arm106, rotation of the blade base604allows the distal end of blade118to be toed in a desired direction as described below. In a particular embodiment, a toeing screw608is coupled to the blade base604. Rotation of toeing screw608causes movement of the blade base604relative to arm106. In a particular embodiment, toeing screw608extends through a threaded hole in blade base604. Further rotation of toeing screw608causes the tip portion of screw608to engage toeing cut-out606and thereafter provide for rotation of the blade base604relative to cut-out606. In this manner, blade118also rotates, which allows the distal end of the blade118to move past its initial orientation that is generally orthogonal to the arm106. In certain embodiments, each of the cranial and caudal blades may be toed up to about ten (10) degrees, up to about twenty (20) degrees, or up to about thirty (30) degrees front orthogonal. In a preferred embodiment, the toeing of blades118,120allows the distal ends of blades118,120to be toed outwards, providing a larger opening near the operative site. Regardless of the maximum toeing angle, the toeing screw608allows for infinite degrees of variability across the entire range of motion. In certain embodiments, the posterior blade (not shown) may be toed as well, although the posterior blade122typically does not have toeing ability. This toeing functionality may also be incorporated into the caudal arm102, as depicted inFIG.6B. While the depicted embodiment shows blade118proximal end coupled to a rotatable blade base604, in another embodiment the proximal end of blade118includes structure for providing the rotation function. In this manner, the blade118is firmly coupled to the arm106, but provides the rotation for a controlled toeing function. FIG.6Balso depicts one or more channels602on the blade120that each may receive a probe, a K-wire, a stimulation electrode, or the like. In some embodiments, the stimulation electrode may be used to detect the location, and/or proximity of nerves in the target area, which may help avoid damage to the nerves.FIG.6Cdepicts a rear perspective view of the caudal blade120ofFIG.6B. The channel602for receiving the probe may be a substantially open slot along a rear face of the blade118, as depicted inFIG.6C. In general, the channel602may extend to a distal end of the blade118, such that the electrode may detect the location and/or proximity of any nerves once it is advanced into the tissue. Of course, channels602may be located elsewhere on the blade118as well. In certain embodiments, the channel602extends along only a portion of the length of the blade118, or is not present at all. In some embodiments, the channel602has a jog, a bend, or a narrowed region along at least a portion of the length of channel602. In some embodiments, the jog or bend is near the distal end of blade118. In this manner, the elongated flexible element, such as a K-wire or probe, inserted into the channel602is at least partly held in place within channel602due to the increased friction needed to move the flexible element relative to the jog, bend or narrowed portion. This feature may be useful, for example, to help maintain the flexible element within channel602while blade118is being inserted or removed from the patient tissue. FIG.7depicts side and enlarged partial side views of a dilator700that may be used in conjunction with the retractor depicted herein. One or more dilators700may be used to further increase a diameter of an initial distraction corridor as described in more detail below. Similar to the channel located on the retractor blade(s), a channel702may also be located on the dilator(s)700, and may be sized to accommodate a stimulation electrode, a probe, or other elongate element. In certain embodiments, a single stimulating electrode may be used with each component (e.g., a first dilator, a second dilator, retractor blade) introduced into the body tissue. After insertion of the first dilator, the electrode may be withdrawn and inserted into a channel of a next dilator, then into a channel in a retractor blade, until the blades are opened, thereby creating the desired surgical corridor. In some embodiments, a top surface708of the proximal end704may be constructed of hardened material to allow the dilator700to be impacted with an object such as a hammer during insertion. In a particular embodiment, dilator700comprises anodized aluminum, with the proximal end704comprising a steel impaction cap. In this manner, the proximal end may be struck with a hammer or other impaction tool with little to no deformation of proximal end704. In some embodiments, proximal end704may be flared (much like the head of a nail). At least a portion of the distal end706may be tapered to ease insertion into the initial distraction corridor. FIGS.8A-8Fdepict various embodiments of shims that may be used in conjunction with a retractor device such as described herein. In the depicted embodiments, some of the shims include one or more tabs806or other mechanisms to engage a ratcheted groove804located on the interior face of the blades802. The tab/ratchet interface allows the depth of insertion of the shim to be adjusted based on the needs of the surgeon performing the particular procedure, and the groove804is configured such that multiple depths may be achieved. In the depicted embodiment, the groove804comprises two opposing ratcheted surfaces that are engaged by opposing tabs806on the shim which is, in this case, an intradiscal shim810. In some embodiments, tabs806extend from flexible arms808that may be deflected inward, such as by an elongate instrument used for shim insertion or retraction. Tab806is disengaged from the groove804, allowing the shim810to be moved upward or downward along the blade802. In some embodiments, arms808are compressed towards each other to allow shim810to slidingly engage the blade802without a ratcheting of tabs806and groove804. The outer edges of shim810may engage a corresponding feature in blade802to allow a sliding or telescoping movement between shim810and blade802. In some embodiments, one or more outer edges of shim810engage a slot, a groove, a lip, an overhang, or the like in blade802to provide for a controlled sliding movement of shim810relative to blade802. In this manner, the shim810may be adjusted to a desired position relative to blade802, and then released to securely lock in place using tabs806and groove804. This arrangement also helps prevent the shim810from disengaging from blade802. The depicted intradiscal shim810may be used to fix a position of one of the blades802(typically, the posterior blade) relative to a spine. The distal tip812of the intradiscal shim810is sized and configured so as to be temporarily lodged between two vertebrae during a spinal procedure. The intradiscal shim810may, for example, restrict lateral movement of the blade802to which the shim810is attached. Intradiscal shim810also helps restrict blade802movement in the cranial-caudal directions, and the anterior-posterior directions as well. A widening shim814is depicted inFIGS.8C and8Dand is used, inter alia, to prevent tissue creep into the spaces between the blades802when they are opened. A lengthening shim816is depicted inFIGS.8E and8Fand is used to lengthen the effective depth of penetration of the blades802, allowing a deeper surgical corridor to be opened in a body tissue. In general, the widening and lengthening shim814,816are utilized on the cranial and caudal blades. In some embodiments, the shims810,814,816are interchangeable, with each available for use with any of the retractor blades802. While the widening shim814and lengthening shim816are each depicted as discrete from the blades802, in alternative embodiments they may be non-removably coupled to the blades802prior to insertion into the body tissue. In a particular embodiment, intradiscal shim810is slidably and non-removably coupled to the posterior blade. This helps prevent the shim810from inadvertently disconnecting from the blade802, which would defeat the purpose of using an intradiscal shim810to fix the position of the blade802in the body. In this manner, the intradiscal shim810operates as an extension of the retractor blade802when a distal tip812of the shim810is positioned to extend beyond the distal tip of the retractor blade802. When not in use, the shim810is withdrawn into the retractor blade802such that the distal tip812of the shim810does not extend beyond the distal tip of the retractor blade802. A configuration of such a blade/shim interface where the shim is not removable from the blade802is depicted inFIG.8G. The shim810and blade802are coupled together in a manner to allow a slidable relationship between the shim810and the blade802. In the depicted embodiment, inner edges818of the blade802substantially surround wings820of the shim810, which prevents the shim810from being pulled away from the blade802. A travel stop822is located at a bottom of the blade groove804or adjacent the blade groove804. The travel stop822prevents the slum810from being removed from the bottom of blade802. In addition, pins or other structure (not seen inFIG.8G) operate to restrict movement of shim810towards the top of blade802. In this manner, intradiscal shim810has a limited range of sliding motion relative to blade802, but is not removable from blade802through either the top (proximal) or bottom (distal) ends of blade802. FIGS.8H and8Idepict an anchoring shim824that may be used with the retractor devices described herein. The anchoring shim824includes a body826that is configured to slide within the groove804of the blade802. The blade802includes inner edges818that substantially surround or engage wings820of the anchoring shim824, similar to the blades and wings depicted inFIG.8G, above. Unlike the shims ofFIGS.8A-8G, however, the anchoring shim824lacks any rear projections to engage with the ratcheted groove804. Instead, the anchoring shim824is configured to slide unimpeded along the blade802. Tabs828may engage with an elongate tool to move the anchoring shim824within the groove804or to hold the shim824steady. Unlike the tabs806depicted above, however, these tabs828need not be deflected inward to move the shim824. Instead, the tabs828serve as a point of connection with the elongate tool. In some embodiments, the elongate tool also engages the blade inner edges, wings, grooves, or similar structure of the blade for additional control of shim movements when using the elongate tool. Extending from and through the body826is a fastener830that may be used to anchor the blade802to a vertebral body. In the depicted embodiment, fastener830is a threaded screw with a tool engaging proximal portion. Other fasteners also may be used, including pins, elongate wires, or the like. In some embodiments, the anchoring shim824is utilized on the cranial or caudal blades, for coupling of the fastener830to a vertebral body. A head of the fastener830may be actuated by a tool, such as a hex driver or other device for securing the fastener830to bone. Once one of either the cranial or caudal blades are anchored via the shim824, opening of the retractor device arms will result in the unanchored blade moving away from the anchored blade, thus moving a central axis of the surgical corridor away from the anchored blade. FIGS.8J and8Kdepict another embodiment of an anchoring shim832. This anchoring shim832utilizes deflectable tabs808to selectively locate associated projections (not shown) within the ratcheted groove804(similar to the shims ofFIGS.8A-8G). Two fastener retention cars834are located on either side of the vertebral screw830. This anchoring shim832differs additionally from the anchoring shim824ofFIGS.8H and8Iin that the fastener holding force provided by the retention cars834is less than that provided by the enclosed body824of the first anchoring shim824ofFIGS.8H and8I. For example, the shim832main body and ears834generally surround fastener830on three sides, leaving a gap on one side. As a result, a force applied to blade802in a direction generally opposite this gap may allow shim832to disengage front fastener830. In some circumstances, this may be desired. In other cases, the anchoring shim832may be used when the blades802have already been opened. FIGS.8L and8Mdepict yet another embodiment of an anchoring shim836, that also utilizes deflectable tabs808to selectively locate associated projections (not shown) within the ratcheted groove804(similar to the shims ofFIGS.8A-8G). A single fastener retention hook838wraps at least partially around the fastener830. Accordingly, this anchoring shim836may provide more screw holding force than the embodiment depicted inFIGS.8J and8K. Regardless of the differences, use of each of the anchoring shims described herein may be desirable at different stages of a surgical procedure, depending on particular working conditions, clearance issues, or surgeon preferences. Yet another anchoring shim840is depicted inFIG.8N. Thus anchoring shim840is similar in configuration to the anchoring shim824ofFIGS.8H and8I, in that it may freely slide within the groove804of the blade802. Further, housing826has a channel or hole therethrough to receive the fastener830. Again, fastener830may be a threaded screw, a non-threaded screw, a pin, an elongate wire, or the like. Connected to the housing826is an elongate arm842. Arm842is coupled to the armature844to which the blade802is attached. In this manner, once the fastener830is anchored to the vertebral body, the blade802may be disconnected from the arm844and from the shim840and removed from the surgical corridor. This may occur, for example, by removing screw612holding the proximal end of blade802to armature844, and lifting the blade802vertically to disengage blade802from shim840. The elongate arm842allows the armature844, and thus the retractor, to remain secured to the anchoring shim840. Accordingly, access to the interior of the surgical corridor may be improved with the blade802removed therefrom. In another embodiment, one or more of the retractor blades comprise telescoping blades. In such an embodiment, the retractor blade includes a proximal-most portion coupled to the retractor arm and a distal-most portion. The proximal-most portion and the distal-most portion overlap in a telescoping or nestled fashion to allow the retractor blade to have a variable overall length. In some embodiments, the telescoping blade components have a slidable relationship, but are non-separable, to ensure they stay connected while opening or holding the surgical corridor. In some embodiments, shims described herein have a boss, peg, or similar feature on the back of the shim which slides in a groove or slot in the blade to which it is coupled. The groove has a closed distal end that operates as a travel stop for the shim boss or the like. In this manner, the boss and groove combination, or similar structure, prevents the shim from sliding out the distal end of the blade. FIGS.9A-9Cdepict a method of performing a surgical procedure with the systems and devices described herein.FIG.9Adepicts a transverse cross-sectional view900of the torso902of a human body. For a lateral surgical procedure, the patient is positioned on a surgical table and x-rays, such as true lateral and anterior-posterior, may be taken. The surgeon may then make a first incision in the desired location. The initial distraction corridor (i.e., separation of the muscle fibers) is made using blunt dissection, as depicted inFIG.9A. Blunt dissection requires a surgeon to digitally penetrate the torso902with one or more fingers904. Using blunt dissection, a posteriorly-directed trajectory (aiming for the transverse process) is used to enter the retroperitoneal space906. Once the retroperitoneal space906has been entered, the tissue is distracted into the free space of the retroperitoneum. The peritoneum may be moved anterior with the fingers904and blunt dissection continued to palpate to the transverse process posteriorly. The finger904may be slid forward to the retro-psoas recess and over the dome of the psoas to ensure retroperitoneal viscera have been safely retracted anteriorly. In general, the distraction corridor is formed in a direction generally towards the spine908. FIG.9Bdepicts an anterior view of a spine908. After the blunt dissection depicted inFIG.9A, a first dilator910is inserted through the incision. The location of the first dilator910may be verified using lateral fluoroscopy. It is desirable that the first dilator910be targeted to the center of the intervertebral disc space912. The first dilator910may be advanced through the psoas muscle (not shown) using a rotating motion. In some cases, the first dilator910may be located between about the center and about the posterior-third of the disc space912, and the position verified using lateral fluoroscopy. Once the first dilator910is an acceptable position, a K-wire914may be inserted through the center thereof and into the disc space912. The K-wire914may be inserted approximately half-way across the disc space912to assist in securing the access entry point. Again, anterior-posterior and lateral fluoroscopy may be used to ensure the proper location of the K-wire914and the first dilator910. Thereafter, a second dilator (not shown inFIG.9B) may be advanced over the first dilator910, using a rotating motion. FIG.9Cdepicts a perspective view of a spine908. After insertion of the second dilator916over the first dilator910, the retractor blades918of the retractor device920are placed around the second dilator916and advanced downward into position. Position of the blades918may be verified as in-line with the disc space using fluoroscopy. It is generally desirable that the retractor920be parallel to the disc space912and the retractor working channel (the space between the blades918) be aligned with the disc space912. In some cases, such as when working around other bony structure (e.g., ribs, iliac crest, etc.), the retractor920may be angled in the cranial/caudal direction relative to the patient. The retractor920may next be secured in place by connecting an articulating arm (not shown) to one of the retractor connection points. The articulating arm is also connected to a generally fixed or stable structure, such as the surgical table, to provide a steady platform for retractor920. The surgical corridor may now be expanded and otherwise altered as desired in accordance with the manipulations of the retractor device920described above. Typical functions include separation of the cranial/caudal blades, retraction of the posterior blade, toeing of the blades, etc. Once the retractor blades918are opened to the desired position, the first dilator910, the second dilator916, and the K-wire914may be removed. Once these components are removed, an implant insertion procedure may be performed. Any number of actions may be taken, in almost any order, to insert an implant. For example, an intradiscal shim (as depicted above), may be extended out of the posterior blade in which it is located during insertion and into the disc space912. The position of this element may be verified using anterior-posterior fluoroscopy. Additionally, widening or lengthening shims may be advanced as needed. If desired, the handle922may be removed from the retractor device920. Annulotomy and discectomy procedures may then be undertaken to remove the disc material, and an appropriately sized implant may be inserted. After implantation, the retractor blades918may be closed and removed from the body and the surgical corridor sutured closed. FIG.9Ddepicts a perspective view of the retractor device920with the blades918in an open position. In this figure, the spine has been removed for clarity. As described elsewhere herein, rotation R of the main actuator926of the handle922opens the cranial and caudal arms928. Resistance of the patient tissue, however, may make difficult the rotation R of the main actuator926about the handle axis A. In that case, the posterior actuator930may be withdrawn from the handle922along the axis A. Thereafter, a tip of the posterior actuator930may be inserted into one of several torque points932about an outer diameter of the main actuator926. A torque T may be applied to the posterior actuator930, such that actuator930tacts as a lever to make for easier rotation R of the main actuator926. Once the arms928have been opened to the desired position, the posterior actuator930may be returned to its original location on the handle922. As previously described, in some embodiments main actuator926operates a worm gear drive to allow blades918to be opened a desired amount and maintained. FIG.9Edepicts a perspective view of the retractor device920with the blades918in an open position. In this figure, the spine has been removed for clarity. Forces acting on the blades918by the body tissue may also cause the retractor device920to move undesirably. To overcome such forces, a pivot lever934may be connected to one of the arm connections936(that are typically used for connection to an articulating arm, as described above) and a torque T′ applied. This will rotate R′ the entire device920about the device axis A, thus improving the ability to position the device920as desired. This may be especially helpful when attempting to anchor any of the blades918to the vertebrae with the anchoring shims described above. Pivot lever934also may be used to rotate retractor920about the dilators to aid in the insertion of retractor920towards the surgical site, or provide a hand-hold for a user to better hold, support or manipulate retractor920. FIG.9Fdepicts other components that may be utilized with the retractor device920to fix the position of the device920within the body and/or to create or maintain a desired operative opening. As shown, a span member938connects to the free ends of both of the articulating arms928. In some embodiments, the span938defines a slot940through which one or more anchor rods942may be passed. The anchor rods942may be screwed into vertebral bodies, typically on either side of a target disc912. In addition to fixing the position of the device920relative to the spine908, the anchor rods942may also be used to hold back tissue that may creep into the space between the cranial and caudal blades918once opened. In an alternative embodiment, an additional or optional paddle944is provided to help create or maintain a desired operative window. For example, and as depicted inFIG.9G, paddle944may be coupled to a span946placed between the two pivoting arms (not depicted inFIG.9G) after the surgical access corridor is created. The span946may be similar or identical to the span938ofFIG.9F. In general, the paddle944is positioned generally opposite the posterior blade, although it could be coupled to the span938at any location. In this manner, the paddle946helps maintain an additional side, such as an anterior side, of the surgical access corridor. The paddle may simply be a static blade or rod, or other elongate member having any cross-sectional profile. In the depicted embodiment, the paddle944includes an elongate rod948having a wider base950. Opposite the wider base950is a handle952that may be moved as desired to position the paddle944. A fastener member, shown as a threaded knob, operates to couple elongate rod948to the span946. The fastener member further may couple the elongate rod948to control the depth of paddle944relative to the surgical location. In most embodiments, the paddle944lacks any additional structure that would enable use thereof with shims. However, in alternative embodiments, such structure (grooves, etc.) may be incorporated if desired. Since the paddle944is generally used to prevent tissue creep from the space between the cranial and caudal blades, any type of rigid structure that can hold tissue is sufficient. The methods depicted inFIGS.9A-9Cmay be modified by the incorporation of known neuromonitoring techniques. Neuromonitoring is not required to perform the procedures described herein, but may be desirable and is therefore incorporated at the surgeon's discretion. A number of different neuromonitoring systems may be utilized. Manufacturers of acceptable systems include Caldwell Laboratories, Inc., of Kennewick, Washington Caldwell laboratories, as well as other manufacturers, also manufactures monitoring probes (also referred to as electrodes) that may be utilized in conjunction with various surgical instruments or alone for treatment or diagnostic purposes. These electrodes are typically disposable elements that may be inserted into the body as required. The dilators described herein, as well as the retractor blades, include one or more channels to receive such probes. The probes may be inserted before or after insertion of the particular component into the body, again at the surgeon's discretion. Neuromonitoring techniques, in conjunction or discrete from surgical implements, are well-known to persons of skill in the art. Regardless, when electrodes are used in conjunction with the components described herein, the electrode is typically first inserted into the appropriate channel of the component. Once the component is inserted into the desired depth within the body, the neuromonitoring equipment is then activated and the response from the nerves detected. Proper operation of neuromonitoring equipment typically requires that the component first be inserted, stopped at a desired position, then neuromonitoring performed. This gives the surgeon the feedback necessary to adjust the position of the component so as to avoid the nerves. This may be performed in steps, advancing the component a certain distance, stopping advancement, monitoring, and repeating advancement as required. FIGS.10A and10Bdepict a method1000of using a retractor system. Although the method is described in the context of lateral-approach spinal surgery, it should be noted that the systems and methods described herein may be used in virtually any surgery where limited muscular trauma is desired. In surgeries where limited, controlled separation of muscle fibers is desirable, the retractor system described herein may be particularly advantageous. Although described in conjunction withFIGS.10A and10B, the order of steps or procedures may differ from that depicted. First, as previously depicted inFIG.9A, the patient is properly positioned and an incision is made in the desired location and the initial distraction corridor is formed via blunt (i.e., digital) dissection (operation1002). After the initial distraction corridor is formed, a first dilator is inserted (operation1004). Thereafter, a K-wire may be inserted via the lumen of the first dilator and secured to the disc space (operation1006). This helps prevent movement of the dilator, thus keeping that element (and the subsequent elements) properly positioned within the body. Thereafter, a second dilator is inserted over the first dilator (operation1008), such that the first dilator (and K-wire located therein) are located within the lumen of the second dilator. If desired, additional dilators may be used to create a larger corridor before insertion of the retractor. A retractor device is then inserted over the second dilator (operation1010). During insertion of the retractor device, the arms and blades of the device are in the closed position (that is, the position where each blade is located as close as possible to the two adjacent blades). Blades containing the intradiscal shim have a sufficiently low profile to allow for insertion of the retractor with the intradiscal shim. Further, the low profile of the intradiscal shim and the shim extension tool allows the shim to be advanced from a retracted position to an extended position after the retractor has been inserted and before the dilators have been removed. This helps secure the retractor with the intradiscal shim between two bony structures, such as vertebrae, before the dilator(s) and/or K wire is removed. Additionally, any blades that may have toeing functionality should be set such that the blades are parallel to the direction of insertion. During insertion, all three of the blades of the retractor device are inserted simultaneously. Once the retractor device is inserted to the desired depth, the K-wire and dilators may be removed from the area between the blades (operation1012). To secure the retractor device at the desired location, an articulating arm connected to the surgical table or other fixed element may be connected to one of the connection points on the retractor device body or posterior arm (operation1014). In some embodiments, operation1014occurs prior to operation1012. In addition to the articulating arm, an intradiscal shim located within the posterior blade may also be extended into the disc space to further secure the device in the desired location. The operation of extending the intradiscal shim is described below. Once the retractor device is in the desired position, the cranial and caudal arms (and, therefore the cranial/caudal blades) may be expanded and the posterior blade retracted (operation1016). Once the various blades are expanded to the desired distance, a surgical procedure may be performed. However, the retractor device described herein includes, or may be utilized with, a number of supplemental components to increase versatility of the device. This versatility allows a surgeon to modify the surgical corridor (operation1018) as required or desired to address particular internal anatomical conditions, or to otherwise improve usability of the retractor device. For example, and as noted first above, the intradiscal shim may be extended from its stored position in the posterior blade to further fix the position of the device relative to the spine (operation1018a). Other shims may also be used in conjunction with the cranial and caudal blades. For example, the widening and/or lengthening shim may be used to supplement the blades. In some embodiments, the shims are loaded into their respective blades after the retractor blades have been inserted into the patient. This occurs, for example, by inserting the shim down through the proximal end (top) of the blade using a shim inserter tool. Alternatively, at least some of the shims have a sufficiently low profile to be inserted into the blades prior to insertion of the blades into the patient. As previously noted, there may be a small gap between one or more blades as the blades are inserted over the largest dilator. To use either of the widening or lengthening shims, the shim is placed into the shim groove in the desired blade, then advanced down towards the end of the blade (operation1018b). The tab and groove interface of the shim and blade allows the shim to be advanced as far as required or desired, and resists or prevents undesired movement of the shim back towards the proximal end of the blade. The cranial and caudal blades may also be toed out to increase the area of the corridor proximate the spine (operation1018c). If more robust fixation of the blades within the surgical corridor is desired, anchoring shims may be used to engage the vertebra (operation1018d). Typically, the anchoring slums are inserted after the blades have been inserted into the patient and opened or separated at least enough to allow shim insertion. Alternatively or additionally, one or more rods may also be anchored (operation1018e). Another modification of the corridor includes utilizing the supplemental paddle between the cranial and caudal arms to prevent tissue creep into the space therebetween (operation1018f). Of course, any or all of these operations may be performed at any desired time to modify, enhance, or otherwise support the surgical corridor. Regardless, once the desired corridor is obtained, an implant insertion procedure is performed (operation1020). The steps of the implant insertion procedure would be known to a person of skill in the art and are not described further. Once the implant insertion procedure is completed, shims and other optional features are retracted or removed. The retractor blades may be closed and the device removed from the body, allowing the surgeon to close the incision (operation1022). As described above, neuromonitoring may be utilized during any point of the method, at the discretion of the surgeon. Materials utilized in the manufacture of the retractor system may be those typically used in surgical equipment. Stainless steel, titanium, and other robust metals that may be sterilized may be used. In applications where fluoroscopy is desirable or required during the procedure (e.g., in the spinal surgery procedures described herein), radio-lucent materials may be particularly desirable. In those applications, aluminum, anodized aluminum, and rigid polymers may be utilized. In some embodiments, the retractor blades comprise aluminum which has been anodized with a hard coat anodizing process to create an electrical insulated material. Such blades may be useful, for example, in the event the surgeon prefers to use electrical nerve monitoring equipment. Carbon fiber-reinforced polymers may be particular useful, as they are lightweight, extremely strong, and may be sterilized. Of course, retractor systems utilizing a combination of materials may be used. For example, radio-lucent materials may be used for the blades and less expensive radio-opaque material may be utilized for the elongate element and armatures. Use of radio-lucent materials for the cover plate, armatures, and body may be particularly advantageous, as an instrument so configured will be less visible in lateral x-rays. Additionally, radio-opaque materials may be impregnated in discrete locations of components manufactured of radio-lucent materials such that position of certain parts of the system may be visible during procedures, without impeding overall visibility. While there have been described herein what are to be considered exemplary and preferred embodiments of the present technology, other modifications of the technology will become apparent to those skilled in the art from the teachings herein. The particular methods of manufacture and geometries disclosed herein are exemplary in nature and are not to be considered limiting. It is therefore desired to be secured in the appended claims all such modifications as fall within the spirit and scope of the technology. Accordingly, what is desired to be secured by Letters Patent is the technology as defined and differentiated in the following claims, and all equivalents.

11857174

DETAILED DESCRIPTION Referring toFIG.1, a tissue manipulation device10includes a handle portion12extending along a longitudinal axis14from a proximal end16to a distal end18, and an adjustment member22is displaceably coupled to the proximal end16of the handle portion12. As illustrated in the cross-sectional view ofFIG.3, a securing member24is coupled to the handle portion12and the securing member24extends along a member axis26from a proximal end28to a distal end29. The securing member24includes an engagement portion31disposed at or adjacent to the distal end29of the securing member24, and the proximal end28of the securing member24is coupled to a portion of the adjustment member22such that the securing member24is displaceable along the member axis26between a first securing member position133(illustrated inFIG.4A) and a second securing member position (illustrated inFIG.4B). In addition, the securing member24is pivotably coupled to the handle portion12and is pivotably displaceable from between an engaged position36(illustrated inFIG.4A) and a disengaged position39(illustrated inFIG.5). In the engaged position36, the member axis26is parallel to or coaxially aligned with the longitudinal axis14, and in the disengaged position39, the member axis26is not parallel to or coaxially aligned with the longitudinal axis14. Referring again toFIG.1, the tissue manipulation device10also includes a shaft portion40extending from a proximal end42to a distal end44along a shaft axis47(illustrated inFIG.10A), and the proximal end42of the shaft portion40is coupled to the distal end of the handle portion12. The tissue manipulation device10further includes an end effector48removably coupled to the distal end44of the shaft portion40, and the end effector is operable between a first undeployed position49(illustrated inFIGS.1and6) and a second deployed position51(illustrated inFIG.8). With reference toFIG.3, the tissue manipulation device10additionally includes a wire52(e.g., a flexible wire52) extending from a proximal end54to a distal end56(illustrated inFIG.8), and the distal end56of the wire52is coupled to the end effector48. The proximal end54of the wire52is removably coupled to the engagement portion31of the securing member24when the securing member24is in the engaged position36(illustrated inFIG.4A) and the proximal end54of the wire is disengaged from the engagement portion31of the securing member24when the securing member24is in the disengaged position39(illustrated inFIG.5). In addition, when the securing member24is in the engaged position36(illustrated inFIG.4A), the wire52couples the securing member24and the end effector48such that (a) when the securing member24is displaced from the first securing member position133(illustrated inFIG.4A) to the second securing member position35(illustrated inFIG.4B), the end effector48is displaced from the first undeployed position49(illustrated inFIGS.1and6) to the second deployed position51(illustrated inFIG.8) and (b) when the securing member24is displaced from the second securing member position35(illustrated inFIG.4B) to the first securing member position (illustrated inFIG.4A), the end effector48is displaced from the second deployed position51(illustrated inFIG.8) to the first undeployed position49(illustrated inFIGS.1and6). So configured, when the securing member24is in the disengaged position39, the end effector48may be decoupled from the distal end44of the shaft portion40and the wire52is configured to be removed from the shaft portion40through an aperture41(illustrated inFIG.3) defined at the distal end44of the shaft portion40. Accordingly, the wire52and attached end effector48may at least partially define a removable portion57(illustrated inFIG.7) that may be separated and removed from the handle portion12and shaft portion40to allow the for separate processing (e.g., washing and sterilization) of the handle portion12and shaft portion40. The removable portion57may also be processed separately from, or instead of, the handle portion12and shaft portion40. In some embodiments, the removable portion57may further include one or more components may be coupled to the wire52and/or the end effector58, such as one or more torque links58illustrated inFIG.7. Turning to the tissue manipulation device10in more detail, and with reference toFIGS.1,2, and3, the handle portion12may extend along the longitudinal axis14from the proximal end16to the distal end18and may include a grip portion59that may extend along the longitudinal axis14from the proximal end16of the handle portion12to a distal end117of the grip portion59at a first intermediary point60of the handle portion12that is proximal to the distal end18of the handle portion12. The grip portion59may be shaped and dimensioned to be grasped by the hand of a user during a procedure. The grip portion59may include a plurality of slots61that each extends parallel to the longitudinal axis14from a point at or distal to the proximal end16of the handle portion12to a point at or proximal to the first intermediary point60of the handle portion12. The plurality of slots61may be radially arrayed about the longitudinal axis14, and the plurality of slots61may cooperate to define a plurality of ridges62. Correspondingly, the plurality of ridges62may be radially arrayed about the longitudinal axis14, and each of the plurality of ridges62may extend parallel to the longitudinal axis14from a point at or distal to the proximal end16of the handle portion12to a point at or proximal to the first intermediary point60of the handle portion12. An outer end surface63of each of the plurality of ridges62may be contoured or textured to comfortably and securely be grasped by the hand of a user during a procedure. Referring toFIGS.2and3, the handle portion12may further include a central bore64that may extend along the longitudinal axis14from the proximal end16of the handle portion12to the first intermediary point60of the handle portion12or to a point distal to the first intermediary point60of the handle portion12. The central bore64may include an end portion71and a portion of the end portion71may include a threaded portion72. Referring toFIGS.1to3, the tissue manipulation device10may further include the adjustment member22which is displaceably coupled to the proximal end16of the handle portion12. With reference toFIGS.2and3, the adjustment member22may extend along the longitudinal axis14from a proximal end65to a distal end66, and an insertion portion67may extend from the distal end66to an intermediary point68. An input portion73may extend proximally from the insertion portion67, and the input portion73may extend from the intermediary point68to the proximal end65of the adjustment member22. The insertion portion67may be at least partially received in the end portion65of the central bore64of the handle portion12, and a threaded portion69of an outer surface70of the insertion portion67may threadedly engage the threaded portion72of the end portion65of the central bore64of the handle portion12. Accordingly, when a user rotates the input portion73(relative to the handle portion12) about the longitudinal axis14in a first rotational direction, the adjustment member22displaces distally along the longitudinal axis14. Correspondingly, when the user rotates the input portion73(relative to the handle portion12) about the longitudinal axis14in a second rotational direction, the adjustment member22displaces proximally along the longitudinal axis14. As illustrated in the exploded view ofFIG.2, the tissue manipulation device10may include the securing member carrier74that may extend from a proximal end76to a distal end78along an axis that may be along or parallel to the longitudinal axis14. The securing member carrier74may include a pair of opposing side walls80a,80bthat may have corresponding inner surfaces that are planar or substantially planar. A pivot post82may extend between, and may be fixed relative to, the pair of inner surfaces of the pair of opposing side walls80a,80b, and the pivot post82may extend in a direction that is transverse to the longitudinal axis14. The pivot post82may be disposed at any suitable location on the securing member carrier74, such as at or adjacent to the proximal end76of the securing member carrier74, for example. The securing member carrier74may be displaceably disposed in any suitable portion of the central bore64of the handle portion12. For example, as illustrated in the cross-sectional view ofFIG.3, the proximal end76of the securing member carrier74may be distal to the to the proximal end16of the handle portion12and the distal end78of the securing member carrier74may be proximal to the to the distal end18of the handle portion12. In some embodiments, a portion of the proximal end76of the securing member carrier74may be coupled to or in contact with a portion of the adjustment member22that is at or adjacent to the distal end66of the adjustment member22such that a displacement of the adjustment member22along the longitudinal axis14for a first distance in a distal direction will result in a corresponding displacement of the securing member carrier74along the longitudinal axis14for the first distance in the distal direction. Similarly, a displacement of the adjustment member22along the longitudinal axis14for a second distance in a proximal direction will result in a corresponding displacement of the securing member carrier74along the longitudinal axis14for the second distance in the proximal direction. As illustrated inFIGS.2,3, and9A, the tissue manipulation device10may include the securing member24that may extend along the member axis26from the proximal end28to the distal end29. Referring toFIGS.9A and9B, the securing member24may be planar or substantially planar, and may be at least partially defined by a first side surface84aand a second side surface84bopposite to the first side surface84a. The first side surface84aand the second side surface84bmay be separated by a constant width, and the width may be less than the distance separating the pair of inner surfaces of the pair of opposing side walls80a,80bof the securing member carrier74(illustrated inFIG.2) such that all or a portion of the securing member24may be disposed between the pair of inner surfaces of the pair of opposing side walls80a,80bof the securing member carrier74when the securing member24is in the engaged position36(illustrated inFIG.4A). Still referring toFIG.9A, the securing member24may include a shaft portion86that may extend along the member axis26from the proximal end28of the securing member24to an intermediate point88. A lateral portion90may extend distally from the shaft portion86, and may extend along an axis that is parallel to and offset from the member axis26from a point aligned with the intermediate point88to a point at or adjacent to the distal end29of the securing member24. A support arm92may extend from a distal portion of the lateral portion90that is at or adjacent to the distal end29of the securing member24. In particular, the support arm92may extend inwardly (i.e., towards the member axis26) from a portion of an inner lateral edge102of the lateral portion90that is proximal to the distal end29of the securing member24. The support arm92may extend along an axis that is transverse (or substantially transverse) to the member axis26. The engagement portion31that is adapted to couple to the proximal end54of the wire52(as illustrated inFIG.3) may be disposed on a portion of the support arm92, such as a portion at or adjacent to an end portion of the support arm92. The engagement portion31may be any feature that may removably coupled to the proximal end54of the wire52, such as a slot or a yoke feature. In other embodiments, such as embodiments not having a support arm92, the engagement portion31may be disposed at any suitable portion of the securing member24, such as a portion of the securing member24that is at or adjacent to the distal end29of the securing member24. The securing member24may also include a stop arm94that may extend from a portion of the lateral portion90that is proximal to the distal end29of the securing member24. In particular, the stop arm94may extend inwardly extend from a portion of the inner lateral edge102of the lateral portion90that is proximal to the distal end29of the securing member24. The stop arm94may extend along an axis that is transverse (or substantially transverse) to the member axis26, and this axis may be parallel or substantially parallel to the axis of the support arm92such that the stop arm94is proximally offset from the axis of the support arm92(e.g., offset in direction extending along the member axis26towards the proximal end28of the securing member24). The stop arm94may be positioned on the securing member24such that a portion of a lower surface of the stop arm94may contact a portion of a stop post96(illustrated inFIG.3) when the securing member24is in the first securing member position (illustrated inFIG.4A) to prevent further proximal displacement of the securing member24. The stop post96may extend in a direction that is transverse to the longitudinal axis14(and parallel to the pivot post82), and the stop post may be fixedly coupled to a portion of the handle portion12in any suitable location to allow for the contact between the portion of the lower surface of the stop arm94and the portion of the stop post96when the securing member24is in the first securing member position (illustrated inFIG.4A) The stop arm may have a curved end95that may be configured to contact the stop post96to prevent further pivoting of the securing member24relative to the handle member12. The securing member24may additionally include a resilient member98that may be coupled to or integrally formed with the securing member24. For example, the resilient member98may be spring that extends along (or parallel to) the member axis26and may expand and retract along (or parallel to) the member axis26. The resilient member98may include a plurality of parallel portions disposed transverse to the member axis26, and ends of the parallel portions are coupled by alternating curved portions. A first end portion99of the resilient member98may be configured to be in contact with the stop post96when the securing member24is in the engaged position36(illustrated inFIG.4A) and the first end portion99of the resilient member98may be configured to not contact the stop post96when the securing member24is pivoted to the disengaged position39(illustrated inFIG.5). While the resilient member98has been described as integrally formed with the securing member24, in some embodiments, the resilient member98may be coupled to any suitable portion of the securing member24. The securing member24may be pivotably or rotatably coupled to the securing member carrier74in any suitable manner. For example, a pivot aperture100may be disposed in a portion of the securing member24at or adjacent to the proximal end28of the securing member24, such as a portion of the shaft portion86that is at or adjacent to the proximal end28of the securing member24. The pivot post82of the securing member carrier74may be disposed through the pivot aperture100such that the securing member24is pivotably displaceable about the pivot post82between the engaged position36(illustrated inFIG.4A) and the disengaged position39(illustrated inFIG.5). The securing member24may be pivoted (for example, about the pivot post82) to any suitable degree such that the engagement portion31of the securing member24may be disengaged or decoupled from the proximal end54of the wire52. As such, when in the disengaged position39, the member axis26of the securing member24may form an angle between 1 degree and 180 degrees with the longitudinal axis14to allow the engagement portion31of the securing member24to disengage or decouple from the proximal end54of the wire52. Because the securing member24is fixedly coupled to the securing member carrier74by the pivot post82in the engaged position36, the securing member24may translate with the securing member carrier74along the longitudinal axis14when the securing member carrier74is longitudinally displaced by the adjustment member22, as previously described. In addition, because the first end portion99of the resilient member98of the securing member24is in contact with the stop post96coupled to the handle portion12, the proximal end76of the securing member carrier74is biased into engagement with the distal end66of the adjustment member22. The resilient member98also biases the engagement portion31of the securing member24(which is coupled to the proximal end54of the wire52) toward the proximal end16of the handle portion12, which maintains tension in the wire52. The securing member24may also include a grip tab104that may facilitate the grasping of the securing member24by a user to pivot the securing member24from the engaged position36the disengaged position39, and vice versa. The grip tab104may extend from a portion of the lateral portion90that is proximal to the distal end29of the securing member24, and the grip tab104may extend outwardly from a portion of an outer lateral edge106of the lateral portion90that is proximal to the distal end29of the securing member24. Turning again to the handle portion12of the tissue manipulation device10,FIG.1illustrates an embodiment in which the handle portion12includes a wheel housing portion108that is distal to the distal end117of the grip portion59and coupled to or integrally formed with the distal end117of the grip portion59. With reference toFIG.3, the wheel housing portion108may include a proximal support portion110and a distal support portion112. The proximal support portion110may be cylindrical or substantially cylindrical and may extend along the longitudinal axis14from a proximal end114to a distal end116. The proximal end114may be coupled to or integrally formed with the distal end117of the grip portion59, and one or more interior surfaces of the proximal support portion110may cooperate to form a portion of the central bore64of the handle portion12. The distal support portion112may be distal to and longitudinally offset from the proximal support portion110. The distal support portion112may be cylindrical or substantially cylindrical and may extend along the longitudinal axis14from a proximal end118to a distal end120. In embodiments including the wheel housing portion108, the distal end120of the distal support portion112may be disposed at or correspond to the distal end of the handle portion12. One or more interior surfaces of the distal support portion112may cooperate to form a portion of the central bore64of the handle portion12. An adjustment wheel122may be disposed in the space between the proximal end118of the distal support portion112and the distal end116of the proximal support portion110, and the adjustment wheel122will be discussed in more detail below. As illustrated inFIG.2, a guard portion124may couple the proximal support portion110and the distal support portion112. In particular, the guard portion124may include a first arm126having a first distal portion127extending from a portion of the distal support portion112along an axis that is substantially transverse to the longitudinal axis14. The first arm126may also include a first proximal portion128extending from a portion of the proximal support portion110along an axis that is substantially transverse to the longitudinal axis. A first lateral portion130may extend between an end portion of the first distal portion127and an end portion of the first proximal portion128. The guard portion124may further include a second arm132having a second distal portion134extending from a portion of the distal support portion112along an axis that is substantially transverse to the longitudinal axis14. The second arm132may also include a second proximal portion136extending from a portion of the proximal support portion110along an axis that is substantially transverse to the longitudinal axis14. A second lateral portion138may extend between an end portion of the second distal portion134and an end portion of the second proximal portion136. The second arm132may be symmetrical to the first arm126about a plane extending along the longitudinal axis14. So configured, with the adjustment wheel122disposed in the space between the proximal end118of the distal support portion112and the distal end116of the proximal support portion110, the first arm126and the second arm132of the guard portion124surround the adjustment wheel122to protect against unwanted rotation due to inadvertent contact with the adjustment wheel122. Referring now toFIG.10A, the tissue manipulation device10also includes the shaft portion40extending from the proximal end42to the distal end44along the shaft axis47. The proximal end42of the shaft portion40may be coupled to the distal end18of the handle portion12. In embodiments including the wheel housing portion108, the proximal end42of the shaft portion40may be coupled to the distal end120of the distal support portion112(illustrated inFIG.3). However, the proximal end42of the shaft portion40may be coupled to any suitable portion of the shaft portion40, such as the distal end117of the grip portion59(illustrated inFIG.1) in embodiments that do not include the wheel housing portion108. The distal end44of the shaft portion40may be removably coupled to a portion of the end effector48. The shaft portion40may have any suitable shape or combination of shapes. For example, the shaft portion40may include a linear portion140and a curved portion142. The linear portion140may extend from the proximal end42of the shaft portion to an intermediate point144of the shaft portion40. The portion of the shaft axis47that extends along the linear portion140may be aligned with the longitudinal axis14or may be parallel to the longitudinal axis14. In some embodiments, the portion of the shaft axis47that extends along the linear portion140may form an angle (i.e., an acute angle) with the longitudinal axis14. The curved portion142of the shaft portion40may extend from the intermediate point144of the shaft portion40to the distal end44of the shaft portion40. In some embodiments, the curved portion142may be linear and the portion of the shaft axis47that extends along the curved portion142may form an angle (i.e., an acute angle) with the longitudinal axis14and/or with the portion of the shaft axis47that extends along the linear portion140. In other embodiments, the shaft portion40may not have a curved portion142and the linear portion140may extend from the proximal end42of the shaft portion40to the distal end44of the shaft portion40. In still further embodiments, the shaft portion40may not have a linear portion140and the curved portion142may extend from the proximal end42of the shaft portion40to the distal end44of the shaft portion40. As illustrated inFIG.3, the shaft portion40may have one or more exterior surfaces145and may have one or more interior surfaces147that define a shaft interior portion146. The shaft interior portion146may open into, be in communication, and/or be aligned with the central bore64of the handle portion12. The one or more exterior surfaces145and one or more interior surfaces147may have any suitable cross-sectional shape of combination of shapes. For example, the one or more exterior surfaces145and/or the one or more interior surfaces147may have a circular (or polygonal) cross-sectional shape. The cross-sectional shape of any of the one or more exterior surfaces145and/or the one or more interior surfaces147may be uniform along the entire shaft portion40or along one or more segments of the shaft portion40(e.g., the linear portion140). With reference toFIG.3, the tissue manipulation device10additionally includes the wire52that extends from the proximal end54to the distal end56(illustrated inFIG.8), and the distal end56of the wire52may be coupled to a portion of the end effector48, such as a proximal portion148of the end effector48. All or a portion of the wire52may be flexible to allow the wire52to extend through the curved portion142of the shaft portion40. The wire52may be a single unitary part or may be an assembly of two or more segments and/or components. For example, as illustrated inFIG.3, the wire52may include a coupling portion52adisposed at or adjacent to the proximal end54of the wire52. As illustrated inFIG.3, the proximal end54of the wire52may be removably coupled to the engagement portion31of the securing member24when the securing member24is in the engaged position36(illustrated inFIG.4A), and the proximal end54of the wire52may be shaped or dimensioned to be removably engaged by the engagement portion31of the securing member24. As illustrated inFIGS.1, the tissue manipulation device10additionally includes the end effector48removably and rotatably coupled to the distal end44of the shaft portion40, and the end effector is operable between a first undeployed position49(illustrated inFIGS.1and6) and a second deployed position51(illustrated inFIG.8). The distal end56of the wire52may be coupled to the proximal portion148of the end effector48such that when the securing member24is displaced (e.g., displaced distally in a direction along the member axis26) from the first securing member position (illustrated inFIG.4A) to the second securing member position35(illustrated inFIG.4B), the end effector48is transitioned (e.g., expanded or deployed) from the first undeployed position49(illustrated inFIGS.1and6) to the second deployed position51(illustrated inFIG.8). Correspondingly, when the securing member24is displaced (e.g., displaced proximally in a direction along the member axis26) from the second securing member position35(illustrated inFIG.4B) to the first securing member position133(illustrated inFIG.4A), the end effector48is transitioned (or contracted) from the second deployed position51(illustrated inFIG.8) to the first undeployed position49(illustrated inFIGS.1and6). Turning to the end effector48in more detail,FIG.10Aillustrates an embodiment of the end effector48having a housing150that extends from a proximal end151to a distal end152along an end effector axis153, and two windows154a,154bare formed on opposing lateral ends of the housing150. As shown in the cross-sectional view ofFIG.8, the housing150includes a plurality of interior surfaces that cooperate to define a cavity156within the housing150. In the cavity152, disposed for extension through each of the windows154a,154b, is one of two sets21aand21bof two tissue engaging members20. The tissue engaging members20are extendible from the first undeployed position49(illustrated inFIGS.1and6) to the second deployed position51(illustrated inFIG.8). In each of sets21aand21b, the first of the two tissue engaging members20is formed by a proximal member20aand a distal member20c, and the second of the two tissue engaging members20is formed by a proximal member20band a distal member20d. Each tissue engaging member20represents a hinged wing which is extendible radially through their respective windows154a,154bof the distal end. Turning to the first set21a, proximal member20ahas a socket33which receives a curved member or shaft extending from the distal member20cto form a hinge similar to a ball and socket joint. One side of the socket33extends to form a finger34which may be received in an opening37of distal member20cshaped to receive finger34. Proximal member20ahas a barb38which extends from the other side of the socket33. Similarly, the proximal member20bhas a curved member or shaft226which is received in socket43of distal member20dto form a hinge also similar to a ball and socket joint. One side of the socket43extends to form a finger228which may be received in an opening45of proximal member20bshaped to receive finger228. Proximal member20dhas a barb46which extends from the other side of socket43. Proximal member20aand distal member20dmay be of the same first length, and proximal member20band distal member20cmay be of the same second length, where the first length is less than the second length. The second set21bis a mirror image of the first set21a, and operates identically to the first set21a. In the first set21a, a hole230is provided at the end230of distal member20cthrough which extends a pin50through two openings in the sides of housing150near the distal end152, and a hole is also provided at end of distal member20dthrough which the pin50also extends. In the second set21b, a pin53similarly extends through holes233through two openings in the sides of housing150near the distal end152. Each of pins50and53are adjacent the one of windows154a,154bthrough which their respective tissue engaging member sets21aand21bare extendible and retractable. As illustrated inFIG.8, the end effector48also includes a plunger30disposed at least partially in the housing150at or adjacent to the distal end152of the housing150, and the plunger30is longitudinally displaceable relative to the housing150. In particular, a proximal end158of the plunger30, which may correspond to (or be at or adjacent to) the proximal portion148of the end effector48, may be coupled to the distal end56of the wire52. The proximal end158of the plunger30may be coupled to the distal end56of the wire52in any suitable manner. For example, the distal end56of the wire52may include an enlarged portion160(such as a ball end) that is disposed within a cavity162formed in a portion of the plunger30. Thus, a distal displacement of the distal end56of the wire52results in a distal displacement of the plunger30with respect to the housing150, and a proximal displacement of the distal end56of the wire52results in a proximal displacement of the plunger30with respect to the housing150. In addition, the enlarged portion160and the cavity162are shaped and dimensioned configured to allow the plunger30(and the entire housing150) to rotate relative to the distal end56of the wire52. The plunger30additionally includes two plunger sockets30c,30dformed in a distal end164of the plunger30. At end49aopposite socket33of proximal member20aforms a curved member or shaft32a, and at end49bopposite pin42of proximal member20bforms a curved member or shaft32b. For tissue engaging member set21a, curved members32aand32bof proximal members20aand20b, respectively, are received beside each other in the plunger socket30cand are rotatable therein. For tissue engaging member set21b, curved members32aand32bof proximal members20aand20b, respectively, are received beside each other in the plunger socket30dand are rotatable therein. The walls30fforming the plunger sockets30cand30dextend upwards to form fingers with tapered ends. This facilitates insertion of curved members32aand32bin one of the plunger sockets30cand30dfor respective tissue engaging member sets21aand21b, such that the curved members32aand32bmay inserted or removed from these sockets only at an angle not achievable when the distal end is fully assembled, thereby preventing the curved members32aand32bfrom falling out of their respective sockets during normal operation. As the plunger30moves distally in the housing150towards the distal end152, the curved members32aand32brotate in plunger socket30c(for tissue engaging member set21a) or30d(for tissue engaging member set21b), rotating curved members36and42of distal and proximal members20cand20b, respectively, in sockets33and43of proximal and distal members20aand20d, respectively, as distal members20cand20drotate about pin51(for tissue engaging member set21a) or54(for tissue engaging member set21b), thereby extending outwards from the distal end16simultaneously both sets21aand21bof tissue engaging members20. The degree of extension being controlled by the length of travel of the longitudinal drive mechanism and limited by fingers34and44of proximal and distal members20aand20d, respectively, being stopped by their full insertion into openings37and45of distal and proximal members20cand20b, respectively. As the plunger30moves towards the proximal end151of the housing150, the above-described outward rotation of member20a-doccur in the opposite direction, thereby retracting the tissue engaging members20. The degree of retracting may be controlled by the length of travel of the plunger30and limited by the surface38aof barb38of proximal member20aabutting the surface23bof distal member20c, and the surface46aof barb46of distal member20dabutting the surface25of proximal member20b. When fully retracted, the tissue engaging members20are substantially contained in the housing150, and may extend slightly beyond the outer perimeter of the housing150, as shown inFIG.6. Accordingly, when a user rotates the adjustment member22relative to the handle portion12such that the adjustment member22translates distally, the securing member carrier74also moves distally, thereby translating the securing member24from the first securing member position133(illustrated inFIG.4A) to the second securing member position35(illustrated inFIG.4B). As the securing member24displaces from the first securing member position133to the second securing member position35, the distal end56of the wire52is displaced distally, thereby moving the plunger30distally within the housing150of the end effector48, and the end effector48is displaced from the first undeployed position49(illustrated inFIGS.1and6) to the second deployed position51(illustrated inFIG.8). Conversely, when a user rotates the adjustment member22relative to the handle portion12such that the adjustment member22translates proximally, the securing member carrier74also moves proximally (as illustrated inFIG.4B, due to the bias caused by the first end portion99of the resilient member98of the securing member24that is in contact with the stop post96), thereby translating the securing member24from the second securing member position35(illustrated inFIG.4B) to the first securing member position133(illustrated inFIG.4A). As the securing member24displaces from the second securing member position35to the first securing member position133, the distal end56of the wire52is displaced proximally, thereby moving the plunger30proximally within the housing150of the end effector48, and the end effector48is displaced from the second deployed position51(illustrated inFIG.8) to the first undeployed position49. While the embodiment of the end effector48has been described as having two sets21a,21bof two tissue engaging members20that are extendible from the first undeployed position49to the second deployed position51, other embodiments of the end effector are contemplated. In some of the other embodiments, the end effector48may be configured to extend, retract, or change position from a first position to a second position (and, optionally, further positions). In other embodiments, the end effector48may have a fixed configuration and not transition from a first position to a second position, In some embodiments, the end effector48may be rotatable relative to the shaft portion40during a procedure, providing the user with an advantageous additional rotational degree of freedom. In such embodiments, the adjustment wheel122, which may be disposed in the space between the proximal end118of the distal support portion112and the distal end116of the proximal support portion110, may be coupled to the end effector48to rotate the end effector48relative to the shaft portion140. In particular, as illustrated inFIG.2, the adjustment wheel122may have a central aperture166that may be adapted to be disposed around an outer surface168of a wheel hub170. The central aperture166may have a non-circular shape that may correspond to a non-circular shape of the outer surface168of the wheel hub170such that when the adjustment wheel122is rotated, the wheel hub170correspondingly rotates relative to the handle portion12(and the shaft portion40). The wheel hub170may be elongated and may extend along a hub axis from a proximal end172to a distal end174, and the hub axis may be aligned with the longitudinal axis14. So configured, and as illustrated inFIG.4B, all or a portion of a proximal portion176of the wheel hub170may be disposed through (and may be rotatable within) the proximal support portion110of the wheel housing portion108of the handle portion12, and all or a portion of a distal portion178of the wheel hub170may be disposed through (and may be rotatable within) the distal support portion112of the wheel housing portion108of the handle portion12. The wheel hub170may be maintained in proper longitudinal alignment by a plurality of Belleville springs180that are disposed between a proximal surface of the distal support portion112and a surface of the adjustment wheel122, which is fixed to the wheel hub170. Still referring toFIG.4B, the wheel hub170may have a central aperture171that extends through the wheel hub170from the proximal end172to the distal end174along the hub axis, and the central aperture171is in communication with the central bore64of the handle portion12As such, a portion of the wire52may be disposed through, and may displace longitudinally within, the central aperture171of the wheel hub170. A plurality of gear teeth182may be disposed about a circumferential surface at the distal end174of the wheel hub170surrounding the central aperture171, and the plurality of gear teeth182rotate about the longitudinal axis14as the adjustment wheel122is rotated. Referring now toFIG.7, the removable portion57of the tissue manipulation device10may include two or more torque links58that cooperate to rotatably couple the adjustment wheel122and the end effector48. The two or more torque links58may include a first torque link58athat may be rotatably coupled to the wheel hub170. In particular, as illustrated inFIG.2, the first torque link58amay be elongated and may extend along an axis from a proximal end182ato a distal end184a, and a link bore186amay extend through the first torque link58afrom the proximal end182ato the distal end184a. As such, a portion of the wire52may be disposed through, and may displace longitudinally within, the link bore186a. A plurality of gear teeth188amay be disposed about a circumferential surface at the distal end184aof the first torque link58asurrounding the link bore186a. In addition, a plurality of receiving notches190amay be disposed about a circumferential surface at the proximal end182aof the first torque link58asurrounding the link bore186a. When the removable portion57is secured to the handle portion12and the shaft portion40of the tissue manipulation device10, and when the securing member24is in the engaged position36(illustrated inFIG.4A), each of the plurality of receiving notches190aof the first torque link58amay engage a corresponding one of the plurality of gear teeth182of the wheel hub170such that a rotation of the wheel hub170causes a corresponding rotation of the first torque link58a. Each of the two or more torque links58of the removable portion57may be identical. For example, the two or more torque links58may also include a second torque link58bthat may be identical to the first torque link58a. That is, the second torque link58bmay be elongated and may extend along an axis from a proximal end182bto a distal end184b, and a link bore186bmay extend through the second torque link58bfrom the proximal end182bto the distal end184b. As such, a portion of the wire52may be disposed through, and may displace longitudinally within, the link bore186b. A plurality of gear teeth188bmay be disposed about a circumferential surface at the distal end184bof the second torque link58bsurrounding the link bore186b. In addition, a plurality of receiving notches190bmay be disposed about a circumferential surface at the proximal end182bof the second torque link58bsurrounding the link bore186b. When the removable portion57is secured to the handle portion12and the shaft portion40of the tissue manipulation device10, and when the securing member24is in the engaged position36(illustrated inFIG.4A), the second torque link58bmay be disposed distal to the first torque link58asuch that each of the plurality of gear teeth188aof the first torque link58amay engage a corresponding one of the plurality of receiving notches190bof the second torque link58bsuch that a rotation of the first torque link58acauses a corresponding rotation of the second torque link58b. In some embodiments, the removable portion57may include any number of additional torque links58, which may include the most distal torque link58z. Distal torque link58zmay be identical to the first and second torque links58a,58b, and all other included torque links58. As such, when the first torque link58ais rotated by a corresponding rotation of the adjustment wheel122, the second torque link58bis also rotated as previously described, and the chain reaction of rotation would also rotate the distal torque link58z. When the distal torque link58zrotates, the gear teeth188zof the distal torque link58zalso rotate, as would be understood by one having ordinary skill in the art. The gear teeth188zof the distal torque link58zengage corresponding receiving notches192on a proximal end of a connector portion194of the end effector48. The connector portion194is fixedly coupled to the housing150of the end effector48, and when the distal torque link58zrotates from rotation of the adjustment wheel122as previously described, the end effector40also rotates relative to the shaft portion40about the end effector axis153. In some embodiments, the two or more torque links58include only two torque links, so the second torque link58bcorresponds to the distal torque link58z. In other embodiments, the orientation of the on the gear teeth188aand the receiving notches190apreviously described may be reversed. For example, the proximal end182of the first torque link58amay have the gear teeth188aand the distal end184aof the first torque link58amay include the receiving notches190a, and all other torque links58and associated components may also be reversed. In other embodiments, the gear teeth188aand the receiving notches190amay be identical features such that the orientation of the torque links58along the wire52of the removable portion57does not matter. As illustrated inFIG.7, the removable portion57may include the two or more torque links58(for example, sixteen torque links58), and a portion of the wire52may extend through the link bore186of each of the two or more torque links58. In some embodiments, the removable portion57may also include a spring196that may surround a portion of the wire52, and the spring may extend from a proximal end197to a distal end198along an axis aligned with the portion of the wire52. The proximal end197of the spring196may be coupled to a portion of the wire52adjacent to the proximal end54of the wire52, such as a distal end of the coupling portion52adisposed at or adjacent to the proximal end54of the wire52. The distal end198of the spring196may be directly or indirectly coupled to the proximal end182aof the first torque link58a. In some embodiments, the distal end198of the spring196may be coupled to a proximal end of a cylindrical member199, and the distal end of the cylindrical member199may be in contact with a portion of the proximal end182aof the first torque link58a. So positioned, the spring195operates to bias the first torque link58atowards the distal end56of the wire52, which biases the distal end184aof the first torque link58ainto engagement with the proximal end182bof the second torque link58b, which similarly biases each of the remaining torque links58distally such that the gear teeth188zat the distal end184zof the distal torque link58zis biased into engagement with the corresponding receiving notches192on the proximal end of the connector portion194of the end effector48. Accordingly, when the securing member24is pivoted from the engaged position36(illustrated inFIG.4A) to the disengaged position39(illustrated inFIG.5), the removable portion57may be removed from the shaft portion40and handle portion12. In some embodiment, a locking mechanism (not shown), such as a pin extending through an aperture, may couple the end effector48to the distal end44of the shaft portion40, and this locking mechanism should be disabled (e.g., by removing the pin) prior to removing the removable portion57. Once the end effector48is no longer secured to the distal end44of the shaft portion40, the end effector48may be grasped by a user and displaced along the end effector axis153away from the distal end44of the shaft portion40until a proximal end200of the removable portion57, which may be the proximal end54of the wire52, extends past the distal end44of the shaft portion40. One having ordinary skill in the art would recognize that the removable portion57would be bendable between any two adjacent torque links58, and this ability to bend allows the chain of torque links58allows the removable portion57to be passed through the curved portion142of the shaft portion40when inserting or removing the removable portion57for disassembly or reassembly. Once the removable portion57has been removed from the handle portion12and shaft portion40, the handle portion12and shaft portion40may undergo a process (e.g., washing and sterilization). Alternatively, the removable portion57may also be processed separately from, or instead of, the handle portion12and shaft portion40. To reattach the removable portion57, or to attach a new removable portion57, the described steps are reversed. Turning to a further embodiment illustrated inFIGS.11to13, the tissue manipulation device200may be substantially identical to the tissue manipulation device10previously described, with the exception that a rigid torque member202may replace one or more of the torque links58. In particular, the torque member202may extend along an axis205from a proximal end204to a distal end206, and the axis205may be aligned with the portion of the shaft axis47that extends along the linear portion140of the shaft portion40. The torque member202may include a central bore208that extends through the torque member202from the proximal end204to the distal end206along the axis205. The torque member may have any suitable cross-sectional shape or combination of shapes to allow the torque member202to transmit torque and to fit in the linear portion140of the shaft portion40. The torque member202may be a single, unitary part or may be an assembly of two or more components that cooperate to form the torque member202. In operation, a portion of the wire52may be disposed through, and be longitudinally displaceable within, the central bore208of the torque member202. In some embodiments, a guide sheath (not shown) may surround all or a portion of the portion of the wire52that extends through the central bore208of the torque member202. A plurality of receiving notches210may be disposed about a circumferential surface at the proximal end204of the torque member202surrounding the central bore208. When the securing member24is in the engaged position36(illustrated inFIG.13), each of the plurality of receiving notches210of the torque member202may engage a corresponding one of the plurality of gear teeth182of the wheel hub170such that a rotation of the wheel hub170causes a corresponding rotation of the torque member202about the axis205. The torque member202may extend distally such that the distal end206of the torque member202is disposed at or adjacent to the intermediate point144of the shaft portion140, which is at a distal end of the distal end of the linear portion140of the shaft portion40and at a proximal end of the of the curved portion142of the shaft portion40. A plurality of gear teeth212may be disposed about a circumferential surface at the distal end204of the torque member202surrounding the central bore208. The plurality of gear teeth212may be disposed on a removable end portion214that forms the distal end206of the torque member202. The plurality of gear teeth212may engage a first of two or more torque links58that may be identical to those previously described, and the two or more torque links58may be disposed in the curved portion142of the shaft portion140. As such, each of the plurality of gear teeth212at the distal end204of the torque member202may engage a corresponding one of the plurality of receiving notches190aof the first torque link58asuch that a rotation of the torque member202causes a corresponding rotation of the first torque link58a. The rotation of the first torque link58acauses a corresponding rotation of the second torque line58b(and any additional torque links58) to rotate the end effector48relative to the distal end44of the shaft portion40. Advantageously, the torque member202efficiently transmits a torque applied to the proximal end204of the torque member202to the distal end206of the torque member202without rotational lag, allowing for precise rotational control and more immediate response when a user rotates the adjustment wheel122. In some embodiments, the torque member202may not be a portion of the removable portion57that may be removed through the distal end44of the shaft portion40as a unit when the securing member24is pivoted from the engaged position36(illustrated inFIG.4A) to the disengaged position39(illustrated inFIG.5). However, in other embodiments, the torque member202may be a portion of the removable portion57, and the proximal end204of the torque member202may be disposed adjacent to the proximal end54of the wire52or adjacent to a portion of the coupling portion52a, In such an embodiment, a feature (not shown) coupled to or formed on the wire52(or coupling portion52a) may prevent the proximal end204of the torque member202from displacing beyond the proximal end54of the wire52when the removable portion57is removed through the distal end44of the shaft portion40. For example,FIGS.16to18Dillustrate an embodiment of a removable portion300that may include an embodiment of a torque member302. In this embodiment, the torque member302may extend along an axis304from a proximal end306to a distal end308, and the axis304may be aligned with the portion of the shaft axis47that extends along the linear portion140of the shaft portion40(seeFIG.10A). The axis304may also be parallel to or aligned with (in an unbent or linear configuration) with the X-axis of the reference coordinate system ofFIGS.16and17A. The torque member302may be configured to transmit torque that is input at the proximal end306to the output end308when the torque member302is rotated about the axis304. The torque member302may also be configured to allow for bending of the torque member302about an axis that is normal to the axis304such that the torque member302may bend only in a first bending plane, thereby allowing the torque member302to efficiently transmit torque without lag or loss from slop, while allowing one or more portions of the torque member302to selectively bend when the removable portion300to be passed through the curved portion142of the shaft portion40when inserting or removing the removable portion300for disassembly or reassembly. Turning toFIG.17A, the torque member302may include a base310that extends from the proximal end306to the distal end308. The base310may have a constant cross-sectional shape along the length of the torque member302. As illustrated inFIG.17E, the cross-sectional shape of the base310(when viewed along the axis304) may be defined by an upper edge312and a lower edge314that is parallel to and offset from the upper edge312. Each of the upper edge312and a lower edge314may be parallel to the Y-axis of the reference coordinate system ofFIGS.16and17C. The cross-sectional shape of the base310may be further defined by a first lateral edge316and a second lateral edge318. The first lateral edge316may extend along or substantially along the Z-axis of the reference coordinate system ofFIGS.16and17Cfrom a first end of the upper edge312to a first end of the lower edge314. The second lateral edge318may extend along or substantially along the Z-axis of the reference coordinate system ofFIGS.16and17C from a second end of the upper edge312to a second end of the lower edge314. Each of the first lateral edge316and the second lateral edge318may be curved to partially curved to form a segment of a circle, for example. A plurality of projections320may extend from the base310, and each of the plurality of projections320may be spaced along the X-axis of the reference coordinate system ofFIGS.16and17Cfrom an adjacent other of the plurality of projections320. The plurality of projections320may extend along the entire length of the base310from the proximal end306to the distal end308of the torque member302. In other embodiments, the plurality of projections320may extend along one or more portions of the length of the base310. When viewed in cross-section (along the axis304), as illustrated inFIG.17C, each of the plurality of projections320may be include a first projection portion322aand a second projection portion322b, and the first projection portion322aand the second projection portion322bmay be symmetrically formed about a plane325, which is parallel to the X-Z plane of the reference coordinate system ofFIGS.16and17C, and the plane325may extend along the axis304. The first projection portion322amay be defined by an upper projection edge326aand a lower projection edge328a. The lower projection edge238amay extend along or generally along the Y-axis of the reference coordinate system ofFIGS.16and17C, and the upper projection edge326amay be obliquely disposed (or downwardly sloped) towards the lower projection edge328aas the upper projection edge326aextends away from the plane325. A lateral edge330amay extend between a first end of the upper projection edge326aand a first end of the lower projection edge328a, and the lateral edge330amay be at least partially curved or rounded. As such, the upper projection edge326a, the lower projection edge328a, and the lateral edge330amay cooperate to generally form shape of a wedge. A second lateral edge332amay extend from a second end of the lower projection edge328ato a first portion of the upper edge312of the base310, and the second lateral edge332amay be least partially curved or rounded. The second projection portion322bmay be a mirror image of the first projection portion322aand may be symmetrical to the first projection portion322aabout the plane325. In particular, the second projection portion322bmay be defined by an upper projection edge326band a lower projection edge328b. The lower projection edge238bmay extend along or generally along the Y-axis of the reference coordinate system ofFIGS.16and17C, and the upper projection edge326bmay be obliquely disposed (or downwardly sloped) towards the lower projection edge328bas the upper projection edge326bextends away from the plane325. A lateral edge330bmay extend between a first end of the upper projection edge326band a first end of the lower projection edge328b, and the lateral edge330bmay be curved or rounded. As such, the upper projection edge326b, the lower projection edge328b, and the lateral edge330bmay cooperate to generally form shape of a wedge. A second lateral edge332bmay extend from a second end of the lower projection edge328bto a second portion of the upper edge312of the base310, and the second lateral edge332amay be least partially curved or rounded. Each of the plurality of projections320may also include a wire bore334that extends from a proximal end of each of the plurality of projections320to a distal end of each of the plurality of projections320. Each of the wire bores334in each of the plurality of projections320may be aligned or generally aligned with the other plurality of projections320over the length of the axis304such that, in operation, a corresponding portion of the wire52may be disposed through, and be longitudinally displaceable within, the wire bore334of each of the plurality of projections320. The wire bore334may have any suitable shape to receive the corresponding portion of the wire52. For example, the wire bore334may be a substantially U-shaped notch336formed between the first projection portion322aand the second projection portion322b, and the notch may extend through and along the plane325. The notch may have a first lateral portion338athat extends downwardly from a second end of the upper projection edge326aof the first projection portion322aand a second lateral portion338bthat extends downwardly from a second end of the upper projection edge326bof the second projection portion322b. A notch end edge340may extend (e.g., extend parallel to or generally parallel to the Y-axis of the reference coordinate system ofFIGS.16and17C) between an end of the first lateral portion338aand an end of the second lateral portion338b. With reference toFIG.17A, each of the plurality of projections320may be spaced along the X-axis of the reference coordinate system ofFIGS.16and17Cfrom an adjacent other of the plurality of projections320. For example, a first320aof the plurality or projections320may have a distal lateral edge342athat may be disposed a first distance D1along the X-axis from a proximal lateral edge344bof a second320bof the plurality or projections320. The second320aof the plurality or projections320may have a distal lateral edge342bthat may be disposed a second distance D2along the X-axis from a proximal lateral edge344cof a third320cof the plurality or projections320. In some embodiments, the first distance D1may be equal to the second distance D2. In some embodiments, the distance along the X-axis between a distal lateral edge342xof any of the plurality of projections320from a proximal lateral edge344xof an adjacent one of the plurality or projections320may be the first distance D1. As illustrated inFIG.17A, when viewed along the Y-axis of the reference coordinate system, a first neck edge346and a second neck edge348extends obliquely towards the base310to form a narrowed neck portion350that upwardly extends from the base310. The spacing between the first and second adjacent plurality of projections320, as well as the combination of cross-sectional shapes of each of the plurality of projections320, allow the torque member302to bend along an axis that is parallel to the Y-axis of the reference coordinate system ofFIGS.16and17A, that this axis may be normal to the plane325. Thus, any portion of the torque member302may bend clockwise or counterclockwise about the axis when viewed along the Y-axis, as shown inFIG.17A. Thus, rotation is allowed in a single bending plane (plane325), but no along any other planes or along any axis that is not parallel to the Y-axis of the reference coordinate system ofFIGS.16and17A. This ensure sufficient rigidity of the torque member302when the torque member302is rotated about the X-axis of the reference coordinate system ofFIGS.16and17Awhile allowing the torque member302to bend within a single plane to allow for insertion or extraction of the removable portion300through the curved portion142of the shaft portion40. As illustrated inFIGS.18A to18D, the torque member302may also include one or more alignment features352that ensures that the removable portion300is oriented correctly when inserted into the distal end44of the shaft portion40during the assembly (or reassembly) of the tissue manipulating device10. The one or more alignment features352may include a protrusion356formed at or adjacent to the distal end354of the linear portion140of the shaft portion40or at or adjacent to the proximal end of the curved portion142of the shaft portion40. The protrusion356may be formed as a depression (e.g., a dome-shaped depression) in the shaft portion40and the depression may extend into the shaft interior portion146. In some embodiments, the depression may be a dome-shaped depression that may be symmetrically formed or disposed about a plane that extends through the shaft axis47and is parallel to the X-Z of the reference coordinate system ofFIGS.1and18D, and the depression may be formed on an upper surface of the shaft portion40, wherein the direction “upper” corresponds to the direction along the Z-axis in which the curved portion142of the shaft portion40extends. The alignment feature352, such as the depression, may be positioned to not contact a portion of the upper projection edges326a,326bof the first projection portion322aor the second projection portion322bof the torque member302when the removable portion300is positioned correctly for insertion. However, when the removable portion300is positioned incorrectly upon insertion into the shaft portion40, the alignment feature352may contact a portion of the sloped upper projection edges326a,326bof the first projection portion322aor the second projection portion322bto rotate the torque member302, and the entire removable portion300, into correct alignment to allow for the curving of the torque member302upon insertion into the shaft portion40.FIG.18Cillustrates various orientations of the torque member302relative to the alignment feature352within the shaft portion40. FIGS.19A to19Killustrate a further embodiment of a removable portion400that may include an embodiment of a torque member402that may be similar to, but have a slightly different cross-sectional shape from, the torque member302illustrated inFIGS.16to18D. As illustrated inFIG.19K, the torque member402may extends along an axis404from a proximal end406to a distal end408, and the torque member402may include a base410that extends from the proximal end406to the distal end408. The base410may have a constant cross-sectional shape along the length of the torque member402. As illustrated inFIG.19J, the cross-sectional shape of the base410(when viewed along the axis404) may be defined by an upper edge412and a lower edge314that is parallel to and offset from the upper edge412. Each of the upper edge412and a lower edge414may be parallel to the Y-axis of the reference coordinate system ofFIG.19J. The cross-sectional shape of the base410may be further defined by a first lateral edge416and a second lateral edge418. The first lateral edge416may extend along or substantially along the Z-axis of the reference coordinate system ofFIG.19Jfrom a first end of the upper edge412to a first end of the lower edge414. The second lateral edge418may extend along or substantially along the Z-axis of the reference coordinate system ofFIG.19Jfrom a second end of the upper edge412to a second end of the lower edge414. Each of the first lateral edge416and the second lateral edge418may be curved, contoured, or partially curved. A plurality of projections420may extend from the base410, and each of the plurality of projections420may be spaced along the X-axis of the reference coordinate system ofFIG.19Dfrom an adjacent other of the plurality of projections420. The plurality of projections420may extend along the entire length of the base410or may extend along one or more portions of the length of the base410. When viewed in cross-section (along the axis404), as illustrated inFIG.19C, each of the plurality of projections420may be include a first projection portion422aand a second projection portion422b, and the first projection portion422aand the second projection portion422bmay be symmetrically formed about a plane425, which is parallel to the X-Z plane of the reference coordinate system ofFIGS.19C and19D, and the plane425may extend along the axis404. The first projection portion422amay be defined by an upper projection edge426awhich may extend along or generally along the Y-axis of the reference coordinate system ofFIG.19C, and a lateral edge430amay extend between a first end of the upper projection edge326aand a first end of the base410(e.g., a first end of the upper edge412of the base410), and the lateral edge430amay be at least partially curved or rounded. The second projection portion422bmay be a mirror image of the first projection portion422aand may be symmetrical to the first projection portion422aabout the plane425. In particular, the second projection portion422bmay be defined by an upper projection edge426bwhich may extend along or generally along the Y-axis of the reference coordinate system ofFIG.19C, and a lateral edge430bmay extend between a first end of the upper projection edge426band a second end of the base410(e.g., a second end of the upper edge412of the base410), and the lateral edge430bmay be at least partially curved or rounded. Each of the plurality of projections420may also include a wire bore434that from a proximal end of each of the plurality of projections420to a distal end of each of the plurality of projections420. Each of the wire bores434in each of the plurality of projections420may be aligned or generally aligned with the other plurality of projections420over the length of the axis404such that, in operation, a corresponding portion of the wire52may be disposed through, and be longitudinally displaceable within, the wire bore434of each of the plurality of projections420. The wire bore434may have any suitable shape to receive the corresponding portion of the wire52. For example, the wire bore434may be a substantially U-shaped notch436formed between the first projection portion422aand the second projection portion422b, and the notch436may extend through and along the plane425. The notch436may have a first lateral portion438athat extends downwardly from a second end of the upper projection edge426aof the first projection portion422aand a second lateral portion438bthat extends downwardly from a second end of the upper projection edge426bof the second projection portion422b. A notch bottom edge440may extend between an end of the first lateral portion438aand an end of the second lateral portion438b, and the notch bottom edge440may have the shape of a segment of a circle. With reference toFIG.19D, each of the plurality of projections420may be spaced along the X-axis of the reference coordinate system ofFIGS.19D and19Kfrom an adjacent other of the plurality of projections420. For example, a first420aof the plurality or projections420may have a distal lateral edge442athat may be disposed a first distance D1along the X-axis from a proximal lateral edge444bof a second420bof the plurality or projections420. The second420aof the plurality or projections420may have a distal lateral edge442bthat may be disposed a second distance D2along the X-axis from a proximal lateral edge444cof a third420cof the plurality or projections420. In some embodiments, the first distance D1may be equal to the second distance D2. In some embodiments, the distance along the X-axis between a distal lateral edge442xof any of the plurality of projections420from a proximal lateral edge444xof an adjacent one of the plurality or projections420may be the first distance D1. As illustrated inFIG.19D, when viewed along the Y-axis of the reference coordinate system, a first neck edge446and a second neck edge448extends obliquely towards the base410to form a narrowed neck portion450that extends upward from the base410. The spacing between the first and second adjacent plurality of projections420, as well as the combination of cross-sectional shapes of each of the plurality of projections420, allow the torque member402to bend along an axis that is parallel to the Y-axis of the reference coordinate system ofFIGS.19C and19D, that this axis may be normal to the plane425. Thus, any portion of the torque member402may bend clockwise or counterclockwise about the axis when viewed along the Y-axis, as shown inFIG.19D. Thus, rotation is allowed in a single bending plane (plane425), but not along any other planes or along any axis that is not parallel to the Y-axis of the reference coordinate system ofFIG.19D. This ensures sufficient rigidity of the torque member402when the torque member402is rotated about the X-axis of the reference coordinate system ofFIGS.19D and19Kwhile allowing the torque member402to bend within a single plane to allow for insertion or extraction of the removable portion400through the curved portion142of the shaft portion40. FIGS.20A to20Fillustrate a further embodiment of a removable portion500that may include an embodiment of a torque member502that may be similar to, but have a different cross-sectional shape from, the torque member302illustrated inFIGS.16to18Dand the torque member402illustrated inFIGS.19A to19K. As illustrated inFIG.19A, the torque member502may extends along an axis504from a proximal end506to a distal end508, and the torque member502may include a base510that extends from the proximal end506to the distal end508, and the base510may be similar to the base410of base310previously described. A plurality of projections520may extend from the base510, and each of the plurality of projections520may be spaced along the X-axis of the reference coordinate system ofFIG.20Afrom an adjacent other of the plurality of projections420, in a manner similar or identical to the plurality of projections420or the plurality of projections320previously described. Each of the plurality of projections may have a rectangular of square (or substantially rectangular or square) cross-sectional shape, as illustrated inFIG.20F. Each of the plurality of projections520may also include a wire bore534that extends from a proximal end of each of the plurality of projections520to a distal end of each of the plurality of projections520. Each of the wire bores534in each of the plurality of projections520may be aligned or generally aligned with the other plurality of projections520over the length of the axis504such that, in operation, a corresponding portion of the wire52may be disposed through, and be longitudinally displaceable within, the wire bore534of each of the plurality of projections520. The wire bore534may have any suitable shape to receive the corresponding portion of the wire52. For example, the wire bore534may be cylindrical and may have an axis that extends parallel to the X-axis of the reference coordinate system ofFIG.20C. In cross-section, the wire bore534may have a circular edge540that may be symmetrically disposed about a plane525that is parallel to the X-Z plane of the reference coordinate system ofFIG.20A, and the plane525may extend along the axis504. With reference toFIG.20C, each of the plurality of projections520may be spaced along the X-axis of the reference coordinate system ofFIG.20Cfrom an adjacent other of the plurality of projections520in a manner identical to that of the plurality of projections420or the plurality of projections320previously described. The spacing between the first and second adjacent plurality of projections520, as well as the combination of cross-sectional shapes of each of the plurality of projections520, allow the torque member502to bend along an axis that is parallel to the Y-axis of the reference coordinate system ofFIG.20A, that this axis may be normal to the plane525. Thus, any portion of the torque member502may bend clockwise or counterclockwise about the axis when viewed along the Y-axis, as shown inFIG.20C. Thus, rotation is allowed in a single bending plane (plane525), but not along any other planes or along any axis that is not parallel to the Y-axis of the reference coordinate system ofFIG.20A. As previously explained, this ensures sufficient rigidity of the torque member502when the torque member502is rotated about the X-axis of the reference coordinate system ofFIG.20Awhile allowing the torque member502to bend within a single plane to allow for insertion or extraction of the removable portion500through the curved portion142of the shaft portion40. The torque member202may be comprised of any suitable material or combination of materials, such as plastic or stainless steel. Referring again toFIG.1, the tissue manipulation device10may include a port214that extends from a portion of the housing portion12, such as a portion of the distal support portion112of the wheel housing portion108. As illustrated inFIG.3, the port214may be cylindrical and may extend from an inner end216to an outer end218along an axis that may be transverse to the longitudinal axis14. The inner end216may be in communication with a chamber219within the distal support portion112and adjacent to the proximal end42of the shaft portion40. One or more seals may be disposed on the wheel hub170to prevent fluid in the chamber219from moving proximally. The shaft portion40may include a plurality of apertures220that may be at least partially disposed on the curved portion142of the shaft portion40. Each of the plurality of apertures220extends from the exterior surface145of the shaft portion40to the shaft interior portion146. One or more seals may be disposed distal to the plurality of apertures220to prevent fluid from moving distal to the one or more seals. As such, when a fluid is introduced into the outer end218of the port214, the fluid travels through the port214and into the chamber219, where the fluid enters the shaft interior portion146and travels distally towards the plurality of apertures220, where the fluid exits each of the plurality of apertures220. One having ordinary skill in the art would recognize that the fluid would flow in any gaps or passages associated with components disposed within the shaft interior portion146. For example, one having ordinary skill in the art would recognize that the fluid would flow through the link bores286of the torque links58or through gaps between the torque links58and portions of the one or more interior surfaces147defining the shaft interior portion146. The outer end218of the port214may be configured to connect to a source of fluid, and may have a luer fitting, for example. The fluid may be a liquid or gas that may be delivered to a treatment area of a patient that is at or adjacent to at least one of the plurality of apertures220. In operation, fluid may also be removed from the treatment area by entering any of the plurality of apertures220and exiting the outer end218of the port214. The tissue manipulation device10may be fabricated using any suitable material or combination of materials, such as materials that allow for the cleaning and sterilization of all or parts of the tissue manipulation device10(e.g., a plastic material or stainless steel). For example, all or portions of the handle portion12, the shaft portion12, and the end effector48may all be composed or made from stainless steel or plastic. In operation, the tissue manipulation device10may be used in a prostatectomy procedure. In particular, the tissue manipulation device10may be inserted transurethral by an operator, e.g., surgeon, into the penis of a patient, and the curved portion142of the shaft portion140allows the shaft portion140to travel along the patient's urethra and past the bony diaphragm structure of the pelvis until the distal end152of the housing of the end effector48is located in the patient's prostate. Once in the prostate, the adjustment member22may be rotated by the surgeon to drive the tissue engaging members20to extend into the prostate. Barbs38and46on the tissue engaging members facilitate gripping of the prostate. Although the tissue engaging members20are shown fully extended, inFIG.8, they may be extended to any desired degree by the surgeon until full extension. The prostate's position can then be manipulated as needed to facilitate prostatectomy. The positioning of the prostate is provided under control of the surgeon, such as, raised or lowered by adjusting the tilt angle of the shaft portion140with respect to the patient's body, pulled or pushed by changing the extent of the shaft portion140passing through the urethra (i.e., slightly pushing or pulling the handle portion12), and, advantageously, bi-directionally rotated using the adjustment wheel24. In this manner, the surgeon can position the prostate to expose and apply tension to the tissue at the anterior side of the prostate, and thereby locate the area or zone of dissection and proceed to mobilize (or cut the surrounding tissue of) the prostate at its anterior side. The prostate's position may then be further manipulated with the tissue manipulation device10to facilitate exposing and placing under tension the area or zone of dissection and proceed to mobilize the tissue (or cut the surrounding tissue) along the posterior side and both lateral sides of the prostate. Once the prostate has been dissected, turning adjustment member22may retract the tissue engaging members20. The prostate can then be removed from the patient and the urethra sutured to the bladder. The tissue manipulation device10thus provides a surgical instrument, which is useful in either open surgery or a laparoscopic prostatectomy, but may also be used in other surgical procedures to manipulate tissue structures other than the prostate via a natural or surgical opening or channel in the body of a patient. The control of the prostate's position enabled by the multiple degrees of rotational freedom of the tissue manipulation device10allows for precise dissection thereby minimizing the risk of damage to the neurovascular bundles and other tissue about the prostate. In some embodiments, the tissue manipulation device10may be configured for use in a robotic surgical procedure. For example, a robot (not shown) with a dynamic member, such as an arm, my interface with an embodiment of the tissue manipulation device10to position the tissue manipulation device10during the procedure. The robot, via a first robotic interface236(an embodiment of which is illustrated inFIG.14A) be directly or indirectly coupled to the tissue manipulation device10to rotate the adjustment wheel122(or an equivalent mechanism or gear) to rotate the end effector48about the end effector axis153relative to the distal end44of the shaft portion40to precisely position the end effector48during a procedure. The first robotic interface236may be any mechanism, assembly, or device that may interact or interface with the tissue manipulation device10to cause the adjustment wheel122(or any portion of the rotational assembly coupled to the adjustment wheel122) to rotate. For example, in the embodiment ofFIG.14A, the first robotic interface236may be a gear238that interfaces with the adjustment wheel122(or an equivalent gear that acts as the adjustment wheel122) to rotate the adjustment wheel122. Instead of a single gear238, the first robotic interface236may include any number or combination of gears to turn the adjustment wheel122to a desired position. In other embodiments, such as that ofFIG.14C, the first robotic interface236may be a drive pulley240with a belt242that is coupled the adjustment wheel122to rotate the adjustment wheel122. In the embodiment ofFIG.14B, the drive pulley240and belt242may be coupled to a pulley equivalent to the adjustment wheel122to rotate the adjustment wheel122. In other embodiments, the robot, via a second robotic interface246(an embodiment of which is illustrated inFIG.15A), may be directly or indirectly coupled to the tissue manipulation device10to displace the wire52such that the end effector48is displaced from the first undeployed position49(illustrated inFIGS.1and6) to the second deployed position51(illustrated inFIG.8). The second robotic interface246may be any mechanism, assembly, or device that may interact or interface with the tissue manipulation device10to cause (a) the adjustment member22(or any portion of the rotational assembly coupled to the adjustment member22) to rotate and/or (b) the wire52to longitudinally displace. For example, in the embodiment ofFIG.15A, the second robotic interface246may be a gear248that interfaces with the adjustment member22(or an equivalent gear that acts as the adjustment member22) to rotate the adjustment member22. Instead of a single gear248, the second robotic interface246may include any number or combination of gears to turn the adjustment member22to a desired position. In other embodiments, such as that ofFIG.15A, the second robotic interface246may be a drive pulley250with a belt252that is coupled the adjustment member22to rotate the adjustment member22. In some embodiments, the robot will include both the first robotic interface236and the second robotic interface246, or may include either the first robotic interface236or the second robotic interface246. It will be apparent to those skilled in the art that the foregoing detailed disclosure is intended to be presented by way of example only, and is not limiting. Various alterations, improvements, and modifications will occur and are intended to those skilled in the art, though not expressly stated herein. These alterations, improvements, and modifications are intended to be suggested hereby, and are within the spirit and the scope of the claimed invention. The drawings included herein are not necessarily drawn to scale. Additionally, the recited order of processing elements or sequences, or the use of numbers, letters, or other designations, therefore, is not intended to limit the claims to any order, except as may be specified in the claims. Accordingly, the invention is limited only by the following claims and equivalents thereto.

11857175

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS Exemplary methods, apparatus, and products for a vector fixation device in accordance with the present invention are described with reference to the accompanying drawings, beginning withFIG.1. In one or more embodiments, the present invention is directed to a vector fixation device that provides a supportive enclosure for a tension element that extends outside the vector fixation device poly-axially. FIG.1sets forth a cross section view of a fixation device (100), or fixation apparatus, for fractured bone or tissue repair, according to one or more embodiments. Fixation device (100) may be a cannulated bone screw, vector screw, vector anchor, or any similar cannulated member that is used to reinforce the fixation within bone or other organic tissue in a body. In one or more embodiments, fixation device (100) may include a drive feature used to insert the fixation device (100) into organic tissue, such as bone, which will be described in more detail with respect toFIGS.2-3. In one or more embodiments, fixation device (100) includes a threaded portion (135), such as helical ridges on an outside surface of fixation device (100) that facilitates entry into the tissue using a screw motion. In one or more embodiments, the threaded portion (135) may encompass the entire surface of the fixation device (100). The threaded portion (135) may also be a tissue engagement portion, and fixation device (100) may include other non-helical ridges to prevent migration of fixation device (100) once it is inserted into bone or other tissue. For example, fixation device (100) may include anti-migration elements on an outside surface, including ribs or grooves on the outside surface or a porous mesh on the outside surface of the fixation apparatus for a tissue ingrowth portion to affix the fixation apparatus in position in organic tissue. Fixation device (100) includes a proximal end (105) and a distal end (110). Proximal end (105) includes a reception portion (125) within which a surgical button (120) or other anchor may be loosely or rigidly attached to the fixation device (100). For example, in one or more embodiments, the anchor may be simply a tension element that has been knotted such that it is anchored at the proximal end (105) without the use of a surgical button. According to one or more embodiments, the surgical button (120) may sit within the reception portion (125). In one or more embodiments, surgical button (120) may be a height adjusting button, a free floating button, or a retained button. That is, surgical button (120) may fit over the proximal end (105) of fixation device (100), may sit inside proximal end (10) of fixation device (100), or may float atop proximal end (105) of fixation device (100). Adjustment of the placement of the button with respect to the fixation device allows the button to protrude from the proximal end (105) of the fixation device, to be flush with the proximal end (105) of the fixation device, or to be fully hidden within the proximal end (105) of the fixation device. Adjusting the placement or the button with respect to the fixation device allows the fixation device (100) and button (120) to sit flush, above, or below bone or other organic tissue, and allows the button to be strategically positioned around sensitive anatomy. In one or more embodiments, either or both of fixation device (100) and surgical button (120) may include features that allow for rigid coupling of the surgical button (120) to the fixation device (100). These features may include, for example, helical threads or other ridges that affix the surgical button to proximal end (15) of fixation device (100), as will be described in further detail with respect toFIG.4. The position of surgical button (120) may be adjusted with respect to fixation device (100) without causing a change in a position of the fixation device within organic tissue. Surgical button (120) provides an anchor for tension element (115). However, in one or more embodiments, tension element (115) may be anchored without the use of surgical button (120). In one or more embodiments, tension element (115) may be sutures, synthetics, biologic, or a combination of materials, including grafted tissue, and may be secured, for example, using a knot, to surgical button (120), or directly within proximal end (105) without the use or a surgical button (120). Tension element (115) may be used to tighten or hold two or more segments of organic tissue. In one or more embodiments, tension element (115) may be used to tighten or hold a tendon to a bone. For example, tension element (115) may be knotted more tightly at surgical button (120) to cause greater tension in tension element (115). Tension element (115) passes through fixation device (100) through chamber (130) in the distal end (110), and chamber (130) provides a supportive enclosure for tension element (115). In addition, the proximal end (100) also includes a hollow portion that allows tension element (115) to pass through the entire fixation device (100) from proximal end (105) to distal end (110). Tension element (115) passes through chamber (130) at an axis corresponding to that of the central axis of fixation apparatus (100) from the proximal end (105) to distal end (110). According to one or more embodiments, tension elements (115) exits fixation device (100) at the distal end (110) at an axis independent of the axis of the fixation apparatus from the proximal end (105) to the distal end (110). Said another way, tension element (110) redirects a force vector of the tension element (115) poly-axially at the distal end (110). As will be described with respect toFIGS.6-7, in one or more embodiments, tension element (115) may pass through chamber (130) and anchor to one or more additional anchors, surgical buttons, or fixation devices independent from fixation device (100), within a same organic tissue segment, or across multiple tissue segments. FIG.2sets forth a diagram of an example fixation device (200) for fractured bone or tissue repair utilizing an external drive portion, according to one or more embodiments. As inFIG.1, fixation device (200) includes a proximal end (105) and distal end (110). Surgical button (120) sits inside button reception portion (125) of fixation device (200). Fixation device (200) also includes a chamber that acts as a supportive enclosure for tension element (115), which is anchored at surgical button (120). Fixation device (200) also depicts external drive portion (210), which provides a surface for a user to apply a force such that the helical ridges in threaded portion (135) drives fixation device (200) into organic tissue, such as bone. In one or more embodiments, the threaded portion (135) acts as an anti-migration element, to affix the fixation device (300) in position in organic tissue. FIG.3sets forth a diagram of an example fixation device for fractured bone or tissue repair utilizing an internal drive portion, according to one or more embodiments. As inFIG.1, fixation device (300) includes a proximal end (105) and distal end (110). Surgical button (120) sits inside button reception portion (125) of fixation device (300). Fixation device (300) also includes a chamber that acts as a supportive enclosure for tension element (115), which is anchored at surgical button (120). Fixation device (300) also depicts internal drive portion (310), which provides a surface for a user to apply a force such that the helical ridges in threaded portion (135) drives fixation device (300) into organic tissue, such as bone. In one or more embodiments, the threaded portion (135) acts as an anti-migration element, to affix the fixation device (300) in position in organic tissue. FIG.4sets forth a cross section view of a fixation device for fractured bone or tissue repair utilizing a threaded button, according to one or more embodiments. As inFIG.1, fixation device (400) includes a proximal end (105) and distal end (110). Tension element (115) is also threaded through chamber (130), and threaded portion (135) includes helical ridges on an outside surface of fixation device (100) that facilitates entry into the tissue. Fixation device (400) additionally includes threaded surgical button (420) that is affixed inside button reception portion (425) of fixation device (400) using helical ridges, or threads, inside button reception portion (425). In one or more embodiments, threaded surgical button (420) may include other characteristics, such as non-helical ridges, that allow threaded surgical button (420) to loosely but securely couple to fixation device (400) within button reception portion (425). Thus, the position of surgical button (420) may be adjusted with respect to fixation device (400) without causing a change in position of the fixation device (400) within the organic tissue. For example, in one or more embodiments, threaded surgical button (420) may be screwed, or otherwise adjusted, in or out of button reception portion (425) to adjust the height of the button with respect to fixation device (400). Adjusting the position of the threaded surgical button (420), or any button (i.e., surgical button120), causes a change in the tension in tension element (115) without adjusting the position of fixation device (400). The button may be rest above, within, or partially extended from the proximal end of fixation device and strategically positioned around sensitive anatomy. In one or more embodiments, threaded surgical button (420) may be adjusted to modify the tension of tension element (115) to hold a segment of organic tissue to another segment of organic tissue, or tendon to a bone for healing. For example, increasing the height of threaded surgical button (420) will cause an increased tension in tension element (115) when tension element (115) is anchored at threaded surgical button (420). FIG.5sets forth a flow chart illustrating an example method for utilizing a fixation device, according to one or more embodiments. While the steps provided are listed in a linear order, according to one or more embodiments, any or all of the steps may occur in a different order, or simultaneously. In addition, in one or more embodiments, one or more of the steps may be omitted. In the example method ofFIG.5, reference may be made to the example fixation devices with reference toFIGS.1-4. The example method ofFIG.5includes inserting (505) a fixation device (100) into a first segment of organic tissue along a central axis of the fixation device (100). In one or more embodiments, the fixation device is inserted by applying a force to the drive portion (210,310), to cause the fixation device (100) to enter organic tissue. In one or more embodiments, the fixation device may be affixed into organic tissue using anti-migration elements on a threaded portion, or tissue engagement portion, such as the helical ridges, non-helical ridges, ribs, grooves, porous mesh, or any other feature on an external portion of the fixation device that affixes the fixation device into position in organic tissue. The fixation device (100) is placed into a proximal bone or other tissue segment at an appropriate depth. The example method also includes threading (510) a tension element (115) through a chamber portion (130) of the fixation device (100). In one or more embodiments, the fixation device (100) is inserted prior to inserting the fixation device (100) into the organic tissue by drilling a primary tunnel to allow passage of the tension element (115), as well as a toggle to guide the tension element. The toggle is loaded with the tension element (115) and passed through the tunnel. Then the fixation device (100) is loaded over the tension element (115) with the tension element running through the chamber (130). The tension element (115) is threaded through the chamber (13) in fixation device (100) such that the tension element (115) is independent from the fixation device (100). The example method also includes anchoring (515) the tension element to a second segment of organic tissue such that the tension element exist the fixation device (100) at an axis different than the axis of the fixation device. In one or more embodiments, the anchor is a second surgical button that is placed in the second segment of organic tissue either with or without a second fixation device or surgical button. The second segment of organic tissue may be an independent segment or organic tissue, or merely a second portion of one organic tissue. In one or more embodiments, the tension element is attached to the anchor by drilling a second tunnel in the second segment of organic tissue. The tension element (115) may be intercepted from the primary tunnel and pulled through the secondary tunnel to attach to the second anchor. In one or more embodiments, the tension element may be placed to hold a tendon to a bone for healing. Further, in one or more embodiments, multiple other fixation devices may be used in conjunction. The example method also includes anchoring (520) the tension element (115) at a proximal end (105) of the fixation device (100). The tension element (115) is anchored such that the anchor, such as the knotted tension element or a surgical button, is appropriated below, at, or above the cortical bone edge. In one or more embodiments, the method includes anchoring (525) the tension element at the proximal end of the fixation device (100) to a surgical button (120) coupled to the fixation device (100) at a button reception portion. Anchoring the tension element may include threading the tension element (115) through the button (120) and securely tightening, for example knotting, tension element (115). The surgical button (120) is coupled, loosely or rigidly, to the fixation device (100) such that adjustment of the surgical button with respect to the fixation device does not cause a change in a position of the fixation device (100). The example method also includes modifying (530) a tension of the tension element using the surgical button. Adjustment of the surgical button (120) with respect to the fixation device does not cause a change in a position of the fixation device (100). For example, in one or more embodiments, the button reception portion includes threads that couple the surgical button to the fixation device. The height of the surgical button with respect to the fixation device, or the anchor of the tension element at the surgical button, may be adjusted using the threads to modify the tension of the tension element. FIG.6discloses a schematic view of utilizing a fixation device, according to one or more embodiments. It will be understood that the following description is merely intended to provide an example of one or more embodiments, and is not intended to limit the various embodiments of the invention. FIG.6includes two organic tissue segments (605A,605B). Fixation device (600) is inserted into organic tissue segment (605A), and tension elements (615A,615B) are threaded through fixation device (600). Tension elements (615A,615B) are anchored to surgical anchors (610A,610B) in organic tissue segment (605B). In one or more embodiments, surgical anchors (610A,610B) are surgical buttons, or any other anchor used to anchor a tension element in organic tissue. As depicted, fixation device (600) may be used to connect one or more tension elements to several other anchors or fixation devices. Tension elements (615A,615B) follow a central axis of fixation device (600) within the chamber. Upon exiting fixation device (600) at the distal end, tension elements (615A,615B) run from the distal end of fixation device (600) to each of surgical anchor (610A) and surgical anchor (610B) at angle such that the tension elements (615A,615B) run from the distal end of fixation device (600) to each surgical anchor (610A,610B) at a different axis than the central axis of fixation device (600). That is, upon exiting the distal end of fixation device (600), the tension in tension elements (615A,615B) is redirected at angles towards surgical anchors (610A,610B), respectively, as the tension elements exit the fixation device poly axially, at an axis independent of the axis of the fixation device. According to one or more embodiments, the tension in tension elements (615A,615B) can be adjusted at fixation device (600), for example, by adjusting a surgical button coupled to fixation device (600), as described above. In one or more embodiments, adjusting the tension in tension elements (615A,615B) causes the organic tissue segments (605A,605B) to be held together, or in a position suitable for healing. FIG.7discloses a schematic view of utilizing multiple fixation devices, according to one or more embodiments. It will be understood that the following description is merely intended to provide an example of one or more embodiments, and is not intended to limit the various embodiments of the invention. FIG.7includes two organic tissue segments (705A,705B). Fixation devices (700A,700B) are inserted into organic tissue segments (705A,705B), respectively, and tension element (715) is threaded through fixation devices (700A,700B). Tension element (715) is anchored to surgical buttons or other anchors couple to each of fixation devices (700A,700B) in organic tissue segments (705A,705B). Tension element (715) follows a central axis of fixation device (700A) and a central axis of fixation device (700B) within the chambers of each fixation device. Upon exiting each fixation device at the distal end, tension element (715) runs from the distal end of fixation device (700A) to the distal end of fixation device (700B) at angle such that the tension element (715) runs between fixation device (700A) and fixation device (700B) at a different axis than the central axis of either of fixation device (700A) or fixation device (700B). According to one or more embodiments, the tension in tension elements (715) can be adjusted at either or both or fixation device (700A) and fixation device (700B), for example, by adjusting a surgical button coupled to fixation device (700A) or fixation device (700B), as described above. In one or more embodiments, adjusting the tension in tension element (715) causes the organic tissue segments (705A,705B) to be held together, or in a position suitable for healing. In one or more embodiments, additional devices may be used to support tension element (715), such as graft (720). In view of the explanations set forth above, readers will recognize that the benefits of the vector fixation device according to embodiments of the present invention include utilizing a reinforced fixation within the bone or tissue by means of a cannulated member, such as a cannulated bone screw or other fixation device. The fixation device reinforces a tension element using the fixation device allows for poly axial tension elements. The ability to secure tissue in directions that are not co-axial with the fixation apparatus allows for repair of comminuted fractures, small bones, and complex anatomy. The incorporation of a polyaxial tension element within a fixation apparatus enables surgeons to combine soft tissue repairs and fusion procedures with a singular device that may be more efficient than traditional techniques. In addition, a more secure docking point than a simple surgical button or anchor. Further, the benefits of the fixation device according to embodiments of the invention include a protective chamber for the tension element as it passes through organic tissue. In one or more embodiments, utilizing the fixation device allows a surgeon to secure complex off-axis tension elements at any depth and angle within bones or other tissue. Further, in one or more embodiments, utilizing the fixation device offers an eased ability to retrieve and adjust a suture as it is anchored by a surgical button on an outer surface of organic tissue. It will be understood from the foregoing description that modifications and changes may be made in various embodiments of the present invention without departing from its true spirit. The descriptions in this specification are for purposes of illustration only and are not to be construed in a limiting sense. The scope of the present invention is limited only by the language of the following claims.

11857176

DETAILED DESCRIPTION Referring toFIG.1A, a tissue repair apparatus100includes a fixation member or anchor10and a flexible member or suture20interwoven through the fixation member10. The fixation member10is formed of a malleable or flexible braided body12having a longitudinal extent extending between a first end12aand a second end12band a width W. The body12defines a plurality of openings14formed crosswise through, or substantially along, the width W of the body12. The suture20includes two terminal ends,20aand20b. One of the terminal ends20a,20bis passed through each of the openings14in the body12forming multiple curved portions30of the fixation member10and two substantially parallel sections22,24of the suture20. As shown inFIG.1A, the curved portions30pass from one section22,24to the other of the sections22,24along the length of the fixation member10to form substantially S-shaped curved portions30. The curved portions30may slide with respect to the suture20to form a cluster or bunch30including a number of folds as shown inFIG.1C. The cluster30, in conjunction with the terminal ends20a,20b, may be used to secure tissue within a surgical site as will be described in more detail below. In the implementation shown inFIG.1A, the fixation member10and the suture20are made from size 2 non-tubular braided sutures. However, the fixation member10may be a tape, mesh, tube, or other type of malleable or flexible structure, and the suture20may be made from a suture of different size depending upon the surgical procedure or application. For example, in another exemplary implementation, the fixation member10and/or the suture20are made from a flattened tubular suture. In addition, while the fixation member10ofFIG.1Aincludes at least four curved portions30, other configurations are possible, such as the implementation shown inFIG.1B, where the fixation member10has a smaller length dimension and therefore includes three curved portions30when the suture20is interwoven therethrough. In yet another implementation, the fixation member10can include two curved portions30and be formed substantially in a S-shaped configuration. Varying the length and width dimensions of the fixation member10, and/or varying the size of the suture20, and/or the number of openings through the fixation member10through which the suture20passes, may affect the size of the cluster30formed by the fixation member10within the surgical site. These varying configurations may provide the user with flexibility to meet the needs for a number of various surgical procedures. Referring toFIG.2, the tissue repair apparatus100ofFIG.1Amay also include an additional flexible member or suture40having two terminal ends40a,40b. One of the two ends40a,40bmay be interwoven around or through the fixation member20forming a construct yielding four free ends20a,20b,40a, and40b. An apparatus with four free ends may have advantages over two free ends in certain implementations. For example, in some applications, such as rotator cuff repair, it is often necessary to tie down the tissue to the bone at two locations in order to secure the tissue to the bone. In these applications, providing four free ends with only one fixation member within the bone reduces the number of fixation members needed, which may lower procedure time and cost. Reducing the number of fixation members may also reduce the risk of stress concentrations due to multiple drilled holes causing a risk of fracture at the repair site post-operatively. Referring toFIG.3, an alternative implementation of weaving the suture20through the fixation member10ofFIG.1Ais illustrated. One of the terminal ends20a,20bis passed through each of the openings14in the body12forming multiple curved portions30of the fixation member10and two substantially parallel sections22,24of the suture20. Unlike the curved portions30formed by the weaving pattern illustrated inFIG.1A, the curved portions30ofFIG.3do not pass from one tail section22,24to the other of the tail sections22,24along the length of the fixation member10to form substantially S-shaped curved portions30. Instead, in the implementation shown inFIG.3, curved portions30form substantially S-shaped curved portions30along the length of the portion of the suture10that is interwoven through the fixation member10. This weaving pattern may allow for a smaller diameter hole to be drilled into bone for receiving the fixation member10, which may aid in the reduction of stress concentrations and fracture. In addition, the weaving pattern may permit access to surgical sites that are too small or confined for existing tissue anchor assemblies. Referring toFIG.4, in another implementation, an apparatus for tissue repair200includes a fixation member or anchor210and the flexible member or suture20interwoven through the fixation member210. The fixation member210may be formed as a sequence of connected knots215. In the particular implementation shown inFIG.4, the sequence of knots215includes a square knot220, two free alternating post half hitch knots222,224, a square knot226, two free alternating post half hitch knots228,230, and a square knot232. The suture20may pass through each of the square knots220,226, and232, or any combination of one or more openings formed by the connected knots215that permits the fixation member210to slide relative to the suture20so that the fixation member210may form a cluster or bunch within the surgical site and cooperate with the suture20to secure tissue within the surgical site as will be described in more detail below. The fixation member210and the suture20are made from size 2 braided sutures, however, other suture sizes may be employed or tailored for, for example, drill size and strength requirements. Referring toFIG.5, the tissue repair apparatus200ofFIG.4may also include an additional flexible member or suture40having two terminal ends40a,40b. One of the two ends40a,40bmay be interwoven around or through the fixation member210, and more particularly, through one or more openings formed by the sequence of knots215, forming a construct yielding four free ends20a,20b,40a, and40b. As discussed above, an apparatus with four free ends may have advantages over two free ends in various implementations. FIGS.6A-6Erepresent a tool or delivery device300used to deliver any one of the fixation members10,210described with respect toFIGS.1A,1B, and2-3to a surgical site for repairing, as an example, soft tissue314. Referring toFIG.6A, the delivery device300includes an inserter tube or cannula302. One of the fixation members10,210is loaded into the tube or cannula302as shown by the arrow inFIG.6Asuch that the free ends20a,20bof the suture20extend through a proximal end302aof the inserter tube302such that the free ends20a,20bmay be manipulated by a physician. As shown inFIG.6B, a drill guide304is placed within the surgical site400and a drill (not shown) is placed within the drill guide304and is used to drill a hole306of sufficient depth through the cortical layer310and into the cancellous bone tissue312. Alternatively, the drill may be used to drill completely through the cancellous bone tissue312in the case of transosseous repair applications. Once the hole306is formed in the surgical site400, the inserter tube302containing the loaded fixation member10,210is inserted through the drill guide304and into a desired position at the surgical site400, for example, the inserter tube302is tapped into the cortical layer310. Referring toFIG.6C, the inserter tube302may then be moved or tapped further into the hole306with the fixation member10,210remaining in position within the inserter tube302. Once the tube302is in the desired position within the hole306, the user may then draw the inserter tube302back leaving the fixation member10,210within the hole306in the bone (FIG.6D), or alternatively, on an opposite side of the bone in a transosseous application. Referring toFIG.6E, with the fixation member10,210positioned within the hole306and a distal end302bof the inserter tube302positioned at the surgical site400, for example, at or below the cortical layer310, the user may then pull on one or both of the free ends20a,20bof the suture20. Pulling one or both of the free ends20a,20b(and/or the free ends40a,40bin those implementations employing two sutures, such as sutures20,40shown inFIG.2) causes the fixation member10,210to seat against the distal end302bof the inserter tube302. As the user continues to pull one or both of the free ends20a,20b, the fixation member10,210slides relative to the suture20, and more particularly, the curved portions30of the fixation member10, or the sequence of knots215of the fixation member210, slide relative to the suture20to come together to form a bunch or cluster30within the hole306, for example, at or below the cortical layer310. With the fixation member10,210in the desired position, the user may then remove the inserter tube302and drill guide304from the surgical site400and tie the free ends20a,20b(and/or the free ends40a,40b) to secure the tissue314to the bone312. Maintaining the inserter tube302in place throughout insertion and deployment of the fixation member10,210into the surgical site400may provide the user with tactile feedback that the fixation member10,210is seated against the inserter tube302. This may be advantageous over procedures that rely instead on the cortical layer310to provide a hard-stop against deployment of the fixation member10,210within the surgical site400. In those systems, the user feels a fixation member seat or deploy once it contacts the cortical layer310, which is of various densities across patients. Therefore, the cortical layer310in some patients may feel like a hard stop, and in some patients may feel like a soft stop. Thus, there is an increased risk of pulling the fixation member out when trying to deploy or seat the fixation member when relying on the cortical layer to provide a stop to fixation member deployment. In contrast, in the present implementation, the user is provided with a tactile feedback through the inserter tube302that the fixation member10,210has deployed and has formed the requisite bunch or cluster within the surgical site400. This helps reduce the risk of pulling the fixation member10,210out when deploying and seating the fixation member10,210. A number of implementations of the invention have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the invention. For example, the fixation members and the flexible members may include a growth factor, such as, for example, an angiogenic factor. The fixation members and the flexible members may also be loaded with a bioactive material, a stimulant, or any substance that promotes healing of the tissue. In addition, while the openings formed in the body of the fixation member are described as being formed substantially crosswise through the body, they may be formed in other orientations depending on the particular application. Moreover, the openings may be formed in the body of the fixation member prior to passing the flexible member through the openings, or the opening may be formed by passing the flexible member through the body of the fixation member, such as, for example, by passing a needle loaded with the flexible member through the body of the fixation member to form a desired number of openings in the fixation member. In addition, although the process has been described for applications where the fixation member is secured within a hole drilled into bone, the fixation members may also be used in transosseous applications where the depth of the hole is not a constraint. In these applications, the fixation member may be passed entirely through the hole and secured on the backside of the bone. In an alternative implementation (FIG.6F), the inserter tube302may be maintained on top of the cortical layer310throughout insertion of the fixation member10,210into the hole306. In such an implementation, the delivery device300includes a slide member320disposed within the inserter tube302and coupled to the fixation member10,210. The user may move the slide member320forward within the inserter tube302to deploy the fixation member10,210from the inserter tube302and into the hole306. In yet another alternative implementation (FIG.6G), the delivery device300may include a tube330placed through the drill guide304. The tube330is tapped into the cortical layer310and then receives the inserter tube302therethrough. In addition, although the delivery device300, including the inserter tube302, has been shown with a straight configuration, the delivery device300, including the inserter tube302, may have a curved shape or other suitable configuration depending on the particular surgical location and procedure to be performed. Moreover, in addition to the particular knot sequence described with respect to the fixation member210ofFIG.4, it should be understood that various knot sequences and sizes, and suture sizes, may be used depending on the particular application. Accordingly, other implementations are within the scope of the following claims.

11857177

Description of reference numerals is as follows:1. Inner Strut;2. Spiral Suturing Needle;3. Driving mechanism;4. Recovery mechanism;5. Suture-taking-up Mechanism;6. Suture Feeding Mechanism;11. Groove;21. Suturing Needle Tip;22. Suture-piercing Hole;31. Driving Wheel;32. Needle Penetration Rod;33. Variable Aperture Baffle;51. Suture-taking-up Shaft;52. Suture-taking-up Hook;61. Suture-winding Shaft;62. Spring Crimper;63. Connecting Rod. DETAILED DESCRIPTION OF THE EMBODIMENTS The present disclosure will be further described below with reference to the accompanying drawings and the specific embodiments. Embodiment 1 As illustrated inFIG.2, provided is an apparatus for suturing along a path. The apparatus comprises an inner strut1, a spiral suturing needle2, a driving mechanism3, a recovery mechanism4, a suture-taking-up mechanism5, and a suture-feeding mechanism6. The inner strut1is in a cylindrical shape with a diameter that is slightly less than the inner diameter of the cylindrical sutured materials to be sutured, and configured to stretch the sutured material. According to the distribution requirements for the metallic stent to be sutured, a binding groove11is arranged at periphery with respect to an axial direction of the inner strut1to accommodate the metallic stent. wherein, the path of the groove11is consistent with the path of the metallic stent, the width of the groove11matches the outer diameter of the spiral suturing needle2, and the depth of the groove11is greater than ⅔ the length of the outer diameter of the spiral suturing needle2, the embedded threaded channel is arranged in the groove11, which can constrain the spiral suturing needle2to advance forward according to the track of the threaded channel. The spiral suturing needle2is an elastic retractable structure and a length of the spiral suturing needle2is longer than a length of the path of the groove11, so that the spiral suturing needle2can fill the path of groove11. The suturing needle tip21is arranged on the head portion of the spiral suturing needle2and configured to pierce the the sutured material and the suture-piercing hole22is arranged on the tail portion of the spiral suturing needle2so that the suture can rotate forward with the spiral suturing needle2after the suture enters through the suture-piercing hole22. The inner diameter of the spiral suturing needle2is longer than the diameter of a metallic stent and less than the width of the groove11, so the spiral suturing needle2can surround the wire of the metallic stent and advance forward along the threaded channel. As illustrated inFIGS.3to5, the driving mechanism3is detachably arranged at the rear end of the spiral suturing needle2, configured to rotate the spiral suturing needle2into the groove11. The driving mechanism3includes a driving wheel31, a needle penetration rod32and a variable aperture baffle33, and an eccentric through hole is arranged on the driving wheel31, and the distance between the center of the driving wheel31and the eccentric through hole on the driving wheel31is equal to the radius of the spiral suturing needle2, and one end of the needle penetration rod32is fixedly connected to the center of the driving wheel31, the variable aperture baffle33is arranged on one side of the needle penetration rod32, and the distance between the variable aperture baffle33and the driving wheel31is equal to the compression length of the spiral suturing needle2. When the driving mechanism3is operating, the rear end of the spiral suturing needle2passes through the eccentric through hole, and the whole of the spiral suturing needle2is sheathed on the needle penetration rod32, and is compressed behind the variable aperture baffle33, and then the front portion of the spiral suturing needle2keeps rotating out of the variable aperture baffle33with the rotation of the driving wheel31. The recovery mechanism4is detachably arranged at the front end of the spiral suturing needle2, and configured to rotate the spiral suturing needle2out of the groove11. The recovery mechanism4includes a recovery wheel, and the thickness of the recovery wheel is equal to the distance between two adjacent helices of the spiral suturing needle2without deformation. An eccentric through hole is arranged on the recovery wheel, and the distance between the center of the recovery wheel and the eccentric through hole on the recovery wheel is equal to the radius of the spiral suturing needle2. When the recovery mechanism4is operating, the front portion of the spiral suturing needle2is passed through the eccentric through hole, the spiral suturing needle2constantly pierces out of the eccentric through hole along with the rotation of the recovery wheel. The suture-taking-up mechanism5is arranged along the path of the groove11, which can be arranged at the inflection point of the groove11. The suture-taking-up mechanism5has a hook-shaped end, which is configured to take up the suture for tightening. The suture-taking-up mechanism5includes a suture-taking-up shaft51and a suture-taking-up hook52, and the middle portion of the suture-taking-up hook52is hinged with the suture-taking-up shaft51. The hook-shaped portion at the front of the suture-taking-up hook52can catch the sutures by turning the rear end of the suture-taking-up hook52, and the suture can be pulled and tightened by moving the suture-taking-up shaft51. The suture-feeding mechanism6is arranged proximity to the tail portion of the spiral suturing needle2, and configured to feed the suture. The suture feeding mechanism6includes the suture-winding shaft61, the spring crimper62and the connecting rod63, two ends of the connecting rod63are respectively connected to the suture-winding shaft61and the driving wheel31, and the spring crimper62is arranged on the connecting rod63that can be specifically realized by a machine head of an embroidery rotary machine. The knotting mechanism is arranged at the portion where the two ends of the adjacent suture line coincide and configured to knot the suture, which already realized by an automatic joint apparatus through the spinning technologies in textile field. The present disclosure further provides the method for suturing the path by utilizing the apparatus. The apparatus includes the following steps. In S1, the metallic stent to be sutured is embedded into the groove11, such that the metallic stent can be located proximate to the center of the groove11, and then the inner strut1is sheathed inside the sutured material to stretch the sutured material, the driving mechanism3is installed at the rear end of the spiral suturing needle2and compresses the spiral suturing needle2. In S2, the spiral suturing needle2is rotated by the driving mechanism3, to enable the suturing needle tip21to repeat the process of piercing into the sutured material, bypassing the metal wire of the metallic stent, and piercing out of the sutured material; so that the compressed spiral suturing needle2recoveries elasticity with the rotating action and continuously moving forward along the path of the groove11. In S3, after the spiral suturing needle2completes the process along the path, the suturing needle tip21is rotated out of the groove11, then the action of the driving mechanism3is disabled, the recovery mechanism4is installed at the front end of the spiral suturing needle, and the suture is provided to suture-piercing hole by the suture-feeding mechanism. In S4, the spiral suturing needle2is rotated by the recovery mechanism4in the same rotating direction as the driving mechanism3, so that the spiral suturing needle2is rotated out of the groove11and the metallic stent and the sutured material is bound by using the suture at the tail portion of the spiral suturing needle2. In S5, the suture is taken up by the suture-taking-up mechanism5on the path of the groove11, and then the suture is tightened by the recovery mechanism4, and the taking-up and tightening operations are repeated to effectively prevent the suture from being stuck or broken due to the increased friction after the continuous entry of the suture. In S6, the spiral suturing needle2and the recovery mechanism4are removed after the rear end of the spiral suturing needle2is rotated out of the groove11. Since the starting end and the tail end of the suture coincide with each other after a circle of suturing, and the two ends of the suture can be knotted through the knotting mechanism by leaving a length of free suture at each of the starting end and the tail end so as to complete the suturing along the path. To sum up, the present disclosure can realize the sutures of small-diameter objects prepared by flexible materials along the paths, and solves the problem of difficulties in suturing the artificial blood vessels and similar scenarios along the paths, and the whole process can be automated and unmanned, which solves the most critical technical problems for the subsequent intelligent development.

11857178

DETAIL DESCRIPTIONS OF THE INVENTION All illustrations of the drawings are for the purpose of describing selected versions of the present invention and are not intended to limit the scope of the present invention. The present invention is to be described in detail and is provided in a manner that establishes a thorough understanding of the present invention. There may be aspects of the present invention that may be practiced or utilized without the implementation of some features as they are described. It should be understood that some details have not been described in detail in order to not unnecessarily obscure focus of the invention. References herein to “the preferred embodiment”, “one embodiment”, “some embodiments”, or “alternative embodiments” should be considered to be illustrating aspects of the present invention that may potentially vary in some instances, and should not be considered to be limiting to the scope of the present invention as a whole. In reference toFIGS.1-6, the present invention is a surgical suturing device1. The present invention can be of any shape, size, material, features, type or kind, orientation, location, quantity, components, and arrangements of components that would allow the present invention to fulfill the objectives and intents of the present invention. However, it can be preferred that the present invention be of a material that is sterile, hygienic, strong, durable, tough, light weight, easily cleanable, and/or easily manufacturable. The surgical suturing device1comprises a handle11, a grasping mechanism12, a first jaw13, a second jaw14, a first coupler15, and a second coupler16. The first jaw13and the second jaw14each comprises a jaw body141and a coupler receiver142. The first coupler15and the second coupler16each comprises a strand receiver161. The handle11is operatively connected to the first jaw13and the second jaw14through the grasping mechanism12. The handle11can be of any shape, size, material, features, type or kind, orientation, location, quantity, components, and arrangements of components that would allow the present invention to fulfill the objectives and intents of the present invention. However, it can be preferred that the handle11assembly be of a material similar to and/or compatible with the material of the present invention. It can be preferred that the handle11assembly be of a general size that can accommodate the general sizes of an average user's hand. It can be preferred that the handle11be of a type or kind, shape, size, features, and/or components similar to handles commonly used or found on surgical devices. This can include, but is not limited to, the following: handles commonly found on laparoscopic suturing devices, laparoscopic grasper, ratcheting handle, or any other similarly related or similarly styled handle11. In reference toFIGS.1,3, and5, the coupler receiver142is positioned adjacent to the jaw body141, opposite to the grasping mechanism12along the jaw body141for each of the first jaw13and the second jaw14. In the preferred embodiment of the present invention, the coupler receiver142mounts the first coupler15and the second coupler16to the first jaw13and the second jaw14. The first coupler15is removably positioned within the coupler receiver142of the first jaw13. The strand receiver161traverses into the first coupler15and the second coupler16. The second coupler16is removably positioned within the coupler receiver142of the second jaw14. The surgical suturing device1further comprises a first strand17and a second strand18. The first strand17is connected to the strand receiver161of the first coupler15. The second strand18is connected to the strand receiver161of the second coupler16. The first strand17serves as one segment of a suture cord2that will form the loop in conjunction with the second strand18which serves as the other segment of the suture cord2. The surgical suturing device1further comprises an adjustment element19. The adjustment element19is operatively connected to the first strand17and the second strand18. In the preferred embodiment of the present invention, the adjustment element19may take the form of any suitable adjustment element19such as, but not limited to suture knots, clips, or any other suitable adjustment element19used to tighten the formed loop along a suturing portion3. In the preferred embodiment of the present invention, the first coupler15and the second coupler16conjoin the first strand17and the second strand18together, while disengaging along the jaw body141, forming a completed suture loop, as shown inFIGS.2and3. The surgical suturing device1further comprises a shaft21, as shown inFIGS.1-6. The handle11is connected adjacent to the shaft21. The grasping mechanism12traverses along the shaft21between the handle11and the first jaw13and the second jaw14. The shaft21can be of any shape, size, material, features, type or kind, orientation, location, quantity, components, and arrangements of components that would allow the present invention to fulfill the objectives and intents of the present invention. However, it can be preferred that the shaft21be of a material similar to and/or compatible with the material of the handle11. It can be preferred that the shaft21be of a shape similar to a cylindrical-like shaped figure. It can be preferred that the shaft21be located at the front face of the handle11assembly and near to the top face of the handle11assembly. The surgical suturing device1further comprises a cutter22, as shown inFIGS.1,3, and5. The cutter22is positioned adjacent to the jaw body141of the first jaw13and the second jaw14, opposite to the strand receiver161. The cutter22can be of any shape, size, material, features, type or kind, orientation, location, quantity, components, and arrangements of components that would allow the present invention to fulfill the objectives and intents of the present invention. The cutter22allows the user to cut the excess suture cord2once the suture has been applied to the suturing area, as shown inFIG.5. The surgical suturing device1further comprises a strand aperture23, as shown inFIGS.1-5. The strand aperture23traverses through the coupler receiver142. The strand aperture23allows the user to handle11the suture cord2when tightening the loop along the suturing portion3, as shown inFIG.4. The coupler receiver142comprises a receiver body143and a receiver cavity144, as shown inFIGS.1,3, and5. The receiver body143is connected adjacent to the jaw body141. The receiver cavity144traverses into the receiver body143. The strand aperture23traverses through the receiver body143. In the preferred embodiment of the present invention, the receiver body143, in conjunction with the receiver cavity144, mounts the first coupler15and the second coupler16along the first jaw13and the second jaw14of the surgical suturing device1. In the preferred embodiment of the present invention, the first coupler15and the second coupler16each is a snap-rivet coupler26, as shown inFIG.6. In the preferred embodiment of the present invention, the first coupler15and the second coupler16each is a ball and socket coupler25, as shown inFIG.6. In various embodiments of the present invention, the first coupler15and the second coupler16may take the form of any other suitable type of coupling implement, such as, but not limited to barb connectors, tabs, adhesives, welding agents, or any other suitable coupling implement. In reference toFIG.6, the first coupler comprises a coupler fastener163. The second coupler comprises a coupler cavity162. The coupler fastener163is positioned adjacent to the strand receiver of the first coupler. The coupler cavity162is positioned adjacent to the strand receiver of the second coupler. The coupler fastener163is connected to the coupler cavity162when the coupler fastener163of the first coupler and the coupler cavity162of the second coupler are pressed together when the first jaw and the second jaw are in a closed configuration. The coupler fastener163serves as the male connection implement of the first coupler and the coupler cavity162serves as the female connection implement of the second coupler. In the preferred embodiment of the present invention, the surgical suturing device1comprises a suture channel24, as shown inFIGS.1-5. The suture channel24traverses through the shaft21. The suture channel24allows the user to replace the spent suture cord2with a pre-knotted suture along the shaft21portion of the surgical suturing device1ready for the next suture operation. Although the invention has been explained in relation to its preferred embodiment, it is to be understood that many other possible modifications and variations can be made without departing from the spirit and scope of the invention as hereinafter claimed.

11857179

DETAILED DESCRIPTION FIG.1depicts an example of a suturing device10that is useful to suture tears in dura mater, which may occur during spinal surgery procedures; however, the suturing device10can be used in other types of surgical procedures. The suturing device10generally includes an actuator12, an elongate body14, and a needle holder16. The suturing device10is particularly useful during a minimally invasive surgical procedure that is performed through a tubular retractor or other small surgical portal to accurately locate a needle20and a suture22, which are shown inFIG.2, with respect to target tissue24to be sutured. The target tissue24shown inFIG.2is part of a dural sac having a tear. Again, the suturing device10may be useful in other surgical procedures. With reference toFIG.2, the needle20in the illustrated embodiment is a curved needle having a first end30, which is pointed, and a second end32, which is opposite to the first end30. The needle20can be similar to commercially available curved needles made from known materials. The needle20can be formed having a curved needle radius34. The needle20could also be formed from a malleable, or flexible, material such that the needle20could follow a curve when positioned within the needle holder16, which is curved inFIG.2, and then later straighten after exiting the needle holder16. The needle20can take other configurations, such as straight. Also, the needle20could be formed as part of the suture22, e.g., the needle20could be a rigid end of the suture22that is configured so as to be suitable to pass through animal tissue. Actuation of the actuator12moves the needle20in an advance direction36(FIG.3) with respect to the needle holder16. The needle20moves from a retracted position, which is shown inFIG.3, to a released condition, which is shown inFIG.2, in which the needle20is released from the needle holder16. When in the released condition, the surgeon can grasp the needle20, for example with forceps, and pull the needle20and the suture22. With reference back toFIG.2, the suture22connects with the needle20and extends from the second end32of the needle20. The suture22can be swaged to the second end32of the needle20. The suture22can also connect with the needle20in other conventional manners. The suture22can be acquired from known suture manufacturers. The average diameter of the suture22can be very close to the outer diameter of the second end32of the needle20, for example, the average diameter of the suture22can be between 90% and 110% of the outer diameter of the second end32of the needle20. The actuator12is operable between a first operating position and a second operating position. As seen when comparingFIG.1toFIG.4, the actuator12in the illustrated embodiment is moveable between a first operating position, which is shown inFIG.1, and a second operating position, which is shown inFIG.4. Movement of the actuator12from the first operating position toward the second operating position moves the needle20in the advance direction36(FIG.3) with respect to the needle holder16thus moving the needle20toward the released condition, which is shown inFIG.2, in which the needle20is released from the needle holder16. With reference back toFIG.1, in the illustrated embodiment the actuator12includes a button50, a tube52, which could also be a rod, and a wire54(FIG.2). In the illustrated embodiment, the button50connects with the tube52, which is connected with the wire54. Alternatively, the button50could connect with the wire54without the tube52. Also, the button50could connect with a rod having no elongate passage, and the rod can connect with the wire54. In the illustrated embodiment, the actuator12includes a flexible section, which in the illustrated embodiment is made up of the wire54, which can be made from nitinol. The flexible section is configured to bend within the needle holder16when the actuator12is moved from the first operating position toward the second operating position. The tube52(or rod) is received within the elongate body14and moves with respect to the elongate body14when the actuator12moves between the first operating position and the second operating position. In the illustrated embodiment, the tube52moves along a longitudinal axis56(FIG.2). The longitudinal axis56in the illustrated embodiment is a straight line; however, the longitudinal axis could be a curved line, for example if the elongate body14is curved. The tube52includes an elongate passage58, which receives the wire54in the illustrated embodiment. Alternatively, the wire54could extend from a distal end of a rod, which would connect with the button50, in lieu of providing the tube52. The tube52is made from a rigid material, such as a rigid plastic or metal, and is more rigid than the wire54. With reference back toFIG.1, the button50includes an operator contact surface60that is configured to be depressed by a surgeon's finger or thumb to move the actuator12from the first operating position toward the second operating position. The button50also includes a handle contact surface62spaced from the operator contact surface60along the longitudinal axis56. The button50also includes an outer surface64, which follows a surface of revolution about the longitudinal axis56and spans between the operator contact surface60and the handle contact surface62, which allows for the surgeon to easily manipulate the suturing device10and rotate the suturing device10about the longitudinal axis56. The button50connects with the tube52(or the rod) and the wire54such that movement of the button50along the longitudinal axis56results in movement of the tube52(or rod) and the wire54along the longitudinal axis56. With reference toFIG.2, a distal end70of the actuator12, which in the illustrated embodiment is located at a distal end of the wire54, contacts the second end32of the needle20as the actuator12is moved from the first operating position (shown inFIGS.1and3) toward the second operating position (shown inFIGS.2and4) to move the needle20in the advance direction36. With reference toFIG.5, which shows a lower portion of the actuator12, the actuator12could include a distal tube72, which could be made from plastic, at a distal portion. As illustrated, the distal tube72connects with the wire54. An outer diameter of the distal tube72could be nearly equal to an inner diameter of the elongate body14and/or the needle holder16, while being small enough so that the distal tube72is freely moveable within the elongate body14and the needle holder16. An alternative arrangement is shown inFIG.6, which also shows a distal portion of the actuator12where the actuator12includes a spherical distal tip74. As illustrated, the spherical distal tip74can be provided on the wire54. The outer diameter of the spherical distal tip74can be nearly equal to the inner diameter of the elongate body14and/or the needle holder16.FIG.7also depicts a distal portion of the actuator12where the actuator12includes a pocket76at a distal end. The pocket76is configured to receive the second end32of the needle20. The pocket76can also be configured to receive the suture22. The pocket76could be formed from a resilient material that clamps onto the second end32of the needle20while the needle20is being advanced through the needle holder16in the advance direction36. Other types of actuators can be employed to move the needle20in the advance direction36. For example, air pressure through a pneumatic mechanism could be used to move the needle20from the retracted position shown inFIG.3to the released condition shown inFIG.2. Other types of mechanical actuators could also be used to move the needle20. For example, rollers that contact the needle20could be driven by a motor to move the needle20from the retracted position toward the released condition. Moreover, the needle20can be deployed using a robot where the suturing device10connects with an end effector of a robot, and the actuator and the suturing device10can be configured to connect with the end effector. As such, the actuator12including the button50, the tube52and the wire54is not the only actuator contemplated to move the needle20from the retracted position toward the released condition. With reference back toFIG.1, the suturing device10also includes a handle90connected with the elongate body14. The handle90connects with a proximal end portion92of the elongate body14and is fixed to the elongate body14such that movement of the handle90, e.g., rotational or translational movement, results in the same movement of the elongate body14. With reference toFIGS.8and8A, the handle90includes an elongate bore94in which the proximal end portion92of the elongate body14is received. The elongate bore94extends from a proximal end surface96to a distal end surface98and is aligned with the longitudinal axis56. The handle90also defines an outer side surface102extending between the proximal end surface96and the distal end surface98. The outer side surface102follows a surface of revolution about the longitudinal axis56. In the illustrated embodiment, the outer side surface102is a hyperboloid. An outer diameter of the handle90adjacent both the proximal end surface96and the distal end surface98is less than an outer diameter of the handle90equidistant between the proximal end surface96and the distal end surface98. This provides a recessed contour that allows the surgeon to easily grip the handle90to maneuver the suturing device10. The maximum outer diameter of the handle90, which can also be referred to as a width measured perpendicular to the longitudinal axis56since the handle need not be circular in a cross section normal to the longitudinal axis, can be 10-20 mm. In the illustrated embodiment, the handle90has a width W measured perpendicular to the longitudinal axis of less than 12 mm.FIG.9depicts a tubular retractor TR in cross section next to the suturing device10having a length TRL and an internal diameter TRD. Common tubular retractors used during minimally invasive spinal surgery procedures have inner diameters (e.g., depicted as the internal diameter TRD inFIG.9) measuring between 14 mm to 22 mm. The maximum width of the handle90is not too large, which could impede the line of sight for the surgeon during a surgical procedure, especially when the surgeon is working through a tubular retractor or another small surgical portal other than a tubular retractor. As seen inFIG.9, the button50also has a maximum width equal to the maximum width of the handle90. It is also desirable to limit the maximum width of the button50so as not to impede the line of sight for the surgeon during a surgical procedure. As such, the maximum width of the button50measured perpendicular to the longitudinal axis56can be between 90% and 110% of the maximum width of the handle90. The handle90can be other shapes. For example, the handle could be in the form of a pistol grip, if desired. With reference back to the illustrated embodiment and with reference toFIG.9, the button50is offset from the handle90when the actuator12is in the first operating position. More particularly, the handle contact surface62of the button50is offset from the proximal end surface96of the handle90a distance d as measured parallel to the longitudinal axis56. The distance d can be configured such that the distal end70of the actuator12remains inside the needle holder16when the actuator12is in the second operating position, which can be when the handle contact surface62of the button50contacts the proximal end surface96of the handle90. If desired, the distance d can be configured such that the distal end70of the actuator12extends from the needle holder16when the actuator12is in the second operating position. With reference back toFIG.1, the elongate body14in the illustrated embodiment is in the form of a cannula. With reference toFIG.2, the elongate body14has an outer surface118, which is smooth, and defines a track120that receives a portion of the actuator12. In the illustrated embodiment, the elongate body14is a cannula and the track120is a lumen that receives the tube52and the wire54of the actuator12. The elongate body14can take other configurations, for example the track need not encircle the tube52and the wire54, but could be U-shaped. In the illustrated embodiment, the elongate body14is circular in a cross section taken normal to the longitudinal axis56, however, the elongate body14could take alternative configurations, such as polygonal or U—shaped in a cross section taken normal to the longitudinal axis56. The elongate body14includes the proximal end portion92and a distal end portion122. In the illustrated embodiment, the needle holder16is received in and connected with the elongate body14and extends away from the distal end portion122. Alternatively, the needle holder16can be provided as part of the distal end portion122of the elongate body14. In the illustrated embodiment, the elongate body14is made from metal and extends along the longitudinal axis56. The elongate body14in the illustrated embodiment is made from a rigid material; however, if desired at least a portion of the elongate body14may be made from a malleable or flexible material to allow the surgeon to bend at least a portion of the elongate body14into a desirable configuration for insertion into an animal body during a surgical procedure. In the illustrated embodiment, an outer diameter of the elongate body14is constant between the proximal end portion92and the distal end portion122. The outer diameter can be less than 3.5 mm, which provides a very slim device to enhance the line of sight for a surgeon during the surgical procedure. The needle holder16extends away from the distal end portion122or is provided as part of the distal end portion122of the elongate body14. With reference toFIG.10, the needle holder16is a hollow tubular member. In the illustrated embodiment, a proximal end section130of the needle holder16that is aligned with the longitudinal axis56is received inside the elongate body14; however, the needle holder16could be formed as part of the elongate body, e.g., both the elongate body14and the needle holder16could be made from one tubular stock material. In an alternative arrangement, the elongate body14and the needle holder16can be formed from elongate generally U-shaped in cross section material that are connected in a clam-shell type configuration. The needle holder16depicted in the illustrated embodiment is a curved needle holder that generally follows a constant radius such that the suturing device10can have J-hook configuration at a distal end thereof. In the illustrated embodiment, the needle holder16is not intended to be removable from the elongate body14; however, in an alternative arrangement the needle holder16can selectively connect with the elongate body14via a mechanical connection such as a friction fit or a bayonet connection.FIG.11shows the needle holder16separated from the elongate body14. In such an embodiment, the needle holder16is releasably connected with the distal end portion122of the elongate body14. For example, a protuberance132can be provided on the proximal end section130of the needle holder16. The protuberance132fits into a recess134provided in the distal end portion122of the elongate body14. A plurality of protuberances132and recesses134can be provided to releasably connect the needle holder16with the elongate body14. With reference back toFIG.9, a distance L1, which is measured parallel with the longitudinal axis56, from the distal end surface98of the handle90to a location138where the curved needle holder16begins to curve away from the longitudinal axis56is between 10 cm and 20 cm. Stated another way, the distance L1measured parallel with the longitudinal axis56between where the curved needle holder16begins to curve away from the longitudinal axis56to where the elongate body14connects with the handle90is between about 10 cm to about 20 cm. In the illustrated embodiment, the distance L1is about 13 cm. Common tubular retractors used during minimally invasive spine surgery have a length (e.g., depicted as the length TRL inFIG.9) between 3 cm and 9 cm. The distance L1allows the surgeon to insert the elongate body14and the needle holder16into the tubular retractor so that the needle holder16can contact the target tissue without the handle90contacting the tubular retractor while being close enough to the target tissue to allow the surgeon to manipulate the needle holder16without the suturing device being unwieldy. If the distance L1is too long, manipulation of the needle holder16becomes more challenging. With reference toFIGS.10and11, the needle holder16includes a distal end section140having a distal-most tip142. The needle holder16defines a needle passage144that is in communication with the track120and a distal opening146. The distal opening146is offset from the longitudinal axis56in a forward direction. With reference toFIG.10, the distal-most tip142is offset from the longitudinal axis56in a direction perpendicular from the longitudinal axis a distance L2of less than 7 mm. As mentioned above, common tubular retractors used during minimally invasive spinal surgery procedures have diameters measuring between 14 mm to 22 mm. By spacing the distal-most tip142offset from the longitudinal axis56in a direction perpendicular from the longitudinal axis less than 7 mm, the surgeon can locate the elongate body14along the central axis CA of the tubular retractor and rotate the suturing device10around the central axis CA without contacting the side of the tubular retractor. The needle holder16could also be made from a malleable or flexible material to allow the surgeon to bend at least a portion of the needle holder16into a desirable configuration, e.g., around the distal-most tip142to help place the distal-most tip in the tissue tear. In the illustrated embodiment, the distal end section140of the needle holder16is configured to allow the second end32of the needle20to release from the needle holder16at a location offset from the distal-most tip142in a direction opposite to the advance direction36. The distal end section140of the needle holder16includes an offset edge150forming a part of a boundary of the distal opening146adjacent the location where the second end32of the needle20is released from the needle holder16. With reference back toFIG.2, as the needle20advances in the advance direction36, the first end30of the needle20can pass through the target tissue24from an internal side26of the target tissue24toward an outer side28of the target tissue24. The second end32of the needle20, however, need not travel past the distal-most tip142of the needle holder16before being released from the needle holder16. Such a configuration of the distal opening146facilitates loading of the needle20and the suture22into the needle passage144, which occurs by inserting the second end32of the needle20into the distal opening146and moving the needle20with respect to the needle holder16in a direction opposite to the advance direction36. The configuration of the distal opening146also mitigates the likelihood that the first end30of the needle20may pass through the suture22when being passed through the target tissue24. As more clearly seen inFIG.11, the distal opening146is non-circular. With reference toFIG.10, a line152intersects the offset edge150and the distal-most tip142. The line152is offset from 90° with respect to a line drawn tangent to a point on the advance direction36where the advance direction intersects the line152. As such, the distal opening146can be considered to be beveled. Even with the non-circular distal opening146, when the needle20is in the retracted position (shown inFIG.3), the first end30of the needle20is recessed inwardly (downwardly inFIG.3) from the distal-most tip142within the needle passage144. The distal-most tip142can also be rounded (seeFIG.11), which allows for the surgeon to grab or “hook” the target tissue24on the internal side26thereof and indent the target tissue24with the distal-most tip142while not catching the target tissue24with the first (pointed) end30of the needle20. Also, a rounded ball could be provided at the distal-most tip142. This allows the suturing device10to be used similar to a nerve hook, which is used in known surgical procedures. The distal end section140of the needle holder16can be configured in other configurations to allow the second end32of the needle20to release from the needle holder16at a location offset from the distal-most tip142. For example, a notch, which is depicted inFIG.17, can be provided near the distal-most tip142. The configuration of the distal end section140not only facilitates deployment of the needle20from the suturing device10, but it also facilitates loading the needle20and the suture22into the suturing device10. With reference toFIG.10, the needle passage144in the illustrated embodiment is curved and follows a curved needle passage radius160, which is measured along a midline of the needle passage144. The curved needle radius34for the curved needle20depicted inFIG.2, and the curved needle passage radius160are similar, but need not be identical. By not matching the curved needle radius34to the curved needle passage radius160, the needle20may contact an inner surface162of the needle holder16along a portion of its travel path in the needle holder16as the needle20moves from the retracted position toward the released condition. The needle20may contact the inner surface162of the needle holder16along a majority of its travel path in the needle holder16as the needle20moves from the retracted position toward the released condition. By not having the curved needle radius34match the curved needle passage radius160, friction between the needle20and the inner surface162of the needle holder16helps retain the needle20in the needle holder16, for example during transport. When the needle20is in the retracted position, the needle20can be in contact with the inner surface162of the needle holder16in at least three different locations along the length, or arc length, of the needle20, e.g., a first location164, a second location166and a third location168, which are depicted inFIG.16. The first location164is located beneath and adjacent to the distal-most tip142. The second location166is located near the middle of the arc length of the needle20. The third location168is located adjacent the location138where the curved needle holder16begins to curve away from the longitudinal axis56. Also, the needle20can have a maximum outer diameter that is at least 40% of the inner diameter of the needle passage144, which can facilitate retaining the needle20within the needle passage144. Also, the needle20can have an outer diameter that is not greater than 90% of the inner diameter of the needle passage144, which can allow the needle passage144to accommodate both the needle20and the suture22. The inner surface162of the needle holder16may be electro-polished to facilitate advancement of the needle20from the retracted position toward the released condition. Furthermore, a gel or other lubricant can be provided in the needle passage144. The gel or lubricant can help retain the needle20in the needle passage144of the needle holder16and also decrease friction between the needle20and the inner surface162during deployment of the needle20from the suturing device10. With reference toFIG.16, a needle retainer172can be provided to retain the needle20in the needle passage144after manufacturing and before use, e.g., during shipment. The needle retainer172can be made from foam or a similar resilient material and covers the distal opening146. It can be desirable to make the needle retainer172from an open cell foam to aid in the sterilization process. The needle retainer172can be inserted into the distal opening146, or the needle retainer172can include a receptacle (shown in phantom inFIG.16) and fit over the needle holder16to cover the distal opening146. Where the suturing device10is packed with a backer card that retains the suturing device10, the needle retainer172can be attached directly to or integrated into the backer card. In an alternative arrangement, the wire54of the actuator12can also be pre-biased along a curve similar in radius to the curved needle passage radius160to facilitate deployment of the needle20. As mentioned above, the pocket76(FIG.7) or a similar device could be formed from a resilient material that clamps onto the second end32of the needle20while the needle20is being advanced through the needle holder16in the advance direction36. For example, the pocket76(or similar device) can have an outer diameter such that the inner surface162applies a force to the pocket76so that the pocket76frictionally engages the second end32of the needle20until the needle20is in the released condition, i.e., fully released from the needle holder16. As such, the pocket76(or similar device) at the distal end70of the actuator12selectively connects with and disconnects from the needle20, which allows the surgeon to retract the needle20back into the needle holder16after the needle20has been moved in the advance direction36but prior to the needle20obtaining the released condition. In the illustrated embodiment, the needle holder16defines the distal extent of the suturing device10. An outer diameter174, which need not be circular, of the needle holder16is about equal to or less than an outer diameter176of the distal end portion122of the elongate body14. Also, the outer diameter174of the needle holder16is constant, or nearly constant, from the distal-most tip142to where the needle holder16transitions to the elongate body14. The distal extent of the suturing device10is at a point178along the needle holder16, which is curved in the illustrated embodiment, where a tangent line at that point178is perpendicular to the longitudinal axis56. By providing a needle holder16having a constant or nearly constant outer diameter174with the distal extent of the suturing device10being at the point178on the outer surface180of the needle holder16where a tangent line is perpendicular to the longitudinal axis56, a very slim suturing device10is provided that can reach just underneath the internal side26of the target tissue24(seeFIG.2) while avoiding nerves, which can be found in the dural sac. The outer surface180of the needle holder16extends along a radius, which is equal in magnitude to the curved needle passage radius160, and follows an arc length less than 180 degrees, and in the embodiment illustrated inFIG.10about 40 degrees less than 180 degrees (i.e., less than about 140 degrees), as measured from the location138where the curved needle holder16begins to curve away from the longitudinal axis56to the distal-most tip142of the needle holder16. The needle holder16can extend along the radius an arc length greater than 90 degrees and less than 180 degrees, for example see alsoFIG.16. This configuration also allows the suturing device10to operate similar to a nerve hook that is used in surgical procedures. The arc length of the needle holder16can be at least as long as the arc length of the needle20. For example, the arc length of the needle holder16can be between 5-25% longer than the arc length of the needle20, and in the depicted embodiments the arc length of the needle holder16is about 15% longer than the arc length of the needle20. In another alternative arrangement, the needle holder16can extend along the radius an arc length greater than 20 degrees and less than 190 degrees. As mentioned above, the distal opening146is offset from the longitudinal axis56, which is the axis along which a majority of the actuator12travels in the illustrated embodiment when moving from the first operating position toward the second operating position. The illustrated suturing device10is a sleek device, which makes it useful to repairing dural sac tears. By way of example, consider a first plane in which both the longitudinal axis56and the curved needle passage radius160reside. This first plane is the plane in which the cross section was taken inFIG.2. Consider a second plane, which is perpendicular to the first plane, parallel to the longitudinal axis56and intersects a line along the outer surface118of the elongate body14furthest from the distal-most tip142. This second plane would be perpendicular to the page on whichFIG.2is printed and would be offset to the right of the longitudinal axis56while intersecting a line along the outer surface118of the elongate body14. In the illustrated embodiment, the working components of the suturing device10at the distal portion thereof are all forward (to the left inFIG.2) of this second plane. For example, the distal end portion122of the elongate body14does not bend rearward (to the right inFIG.2) of the second plane. Such a configuration is useful when the distal end portion122is being inserted through a tubular retractor, which is used in minimally invasive spine surgeries. FIG.3depicts at least a portion of the suture22extending through the distal opening146when the needle20is received in the needle passage144and the actuator12is in the first operating position, which is shown inFIGS.1and3. Allowing the suture22to extend through the distal opening146can be useful when the elongate body14or the needle holder16has a closed cross section with respect to the longitudinal axis56. When the elongate body14or the needle holder16has an open cross section, e.g., U-shaped, however, the suture22may not extend through the distal opening146; instead, the suture22can extend into and along the elongate body14. With reference back to the illustrated embodiment, at least a portion of the suture22extends along the needle passage144from the second end32of the needle20toward the distal opening146between the needle20and the inner surface162of the needle holder16when the needle20is received in the needle passage144and the actuator12is in the first operating position. With reference toFIG.4, by having the suture22extend from the distal opening146of the needle holder16, a double-armed suture can be used with the suturing device10. For example,FIG.4shows the suture22being a double-armed suture having the needle20, which will also be referred to as the first needle, at a first end of the suture22and a second needle20aat a second, opposite, end of the suture22. The first needle20is loaded into the suturing device10, which will hereinafter be referred to as the first suturing device, and the second needle20ais loaded into an identical suturing device10a, which will be referred to as the second suturing device10aand can include a second needle holder16a. FIG.12shows a variation from the needle holder16described above, in which a needle holder216includes a keyway220. Other than the addition of the keyway220, the needle holder216can be identical to the needle holder16. As such, where the needle holder216is identical or very similar to the needle holder16, the same reference numbers will be used. The keyway220is offset from the needle passage144. At least a portion of the suture22(seeFIG.3) can extend along the keyway220from the second end32of the needle20toward the distal opening146between the needle20and the inner surface162of the needle holder16when the needle20is received in the needle passage144and the actuator12is in the first operating position. The keyway220can provide a space for the suture22and can be appropriately shaped so that the needle20would not fit into the keyway220, but instead would be maintained within the needle passage144, which is located above the keyway220as illustrated inFIG.12. FIGS.13and14show another a variation from the needle holder16described above, in which a needle holder226includes a knot pusher228. Other than the addition of the knot pusher228, the needle holder226can be identical to the needle holder16. As such, where the needle holder226is identical or very similar to the needle holder16, the same reference numbers will be used. In the variation shown inFIGS.13and14, the suturing device10includes the knot pusher228connected with and extending away from at least one of the elongate body14and the needle holder226. In the illustrated embodiment, the knot pusher228is formed as part of the needle holder226. With reference toFIG.14, the needle holder226can be releasably connected with the distal end portion122of the elongate body14. Also, the knot pusher228could also be made as a separate component that is releasably connected with at least one of the elongate body14and the needle holder226. In the embodiment illustrated inFIGS.13and14, the knot pusher228includes a lower concave surface232. The lower concave surface232is configured to be pressed down against a knot tied in the suture22to slide the knot toward the tissue that is being sewed by the surgeon. The lower concave surface232includes an inflection234offset from the longitudinal axis56of the elongate body14in the same direction that the distal-most tip142is offset from the longitudinal axis56. The knot pusher228is generally triangular in shape when viewed from the side as shown inFIG.13. More particular to the illustrated embodiment, the knot pusher228extends from the outer surface180of the needle holder226, and the outer surface180is curved. The knot pusher228also includes an external side surface238. The external side surface238extends along a plane parallel to and offset from the longitudinal axis56of the elongate body14between the location138where the needle holder226begins to curve away from the longitudinal axis56to a corner240, which can be rounded. The maximum distance, which is measured perpendicular to the longitudinal axis56of the elongate body14, between the external side surface238and the distal-most tip142is less than 10 mm, which allows the suturing device10to fit nicely in the common tubular retractors described above. As discussed above, consider the first plane in which both the longitudinal axis56and the curved needle passage radius160(seeFIG.10) reside. This first plane is the plane in which the cross section was taken inFIG.13. Consider a second plane, which is perpendicular to the first plane, parallel to the longitudinal axis56and intersects a line along the outer surface118of the elongate body14furthest from the distal-most tip142. This second plane would be perpendicular to the page on whichFIG.13is printed and would be offset to the right of the longitudinal axis56while intersecting a line along the outer surface118of the elongate body14. In the illustrated embodiment, no portion of the knot pusher18extends in a direction away from the distal-most tip142beyond the second plane. This is beneficial in that when the surgeon is working on one side or a tissue tear (e.g., the left side inFIG.2), the knot pusher228is unlikely to catch on the opposite (the right side inFIG.2) side of the tissue tear. With reference toFIG.14, a recess242, which can be somewhat similar in configuration to a claw hammer, could be provided in the knot pusher228at the corner240. Similar to the lower concave surface232, the recess242could be configured to be pressed down against a knot tied in the suture22to slide the knot toward the tissue that is being sewed by the surgeon. FIGS.15and16show a variation of a suturing device310from the suturing device10described above. In this variation, an actuator312differs from the actuator12by being configured to connect with or be provided as part of an end effector of a robot, an elongate body314differs from the elongate body14by having a bayonet configuration and a needle holder316differs from the needle holder16by having smaller arc length. The actuator312can include the tube52(or rod) and the wire54as described above, however, the actuator312need not include the button50described above. The tube52(or rod) and the wire54moves with respect to the elongate body14in the same manner as described above, however, instead of moving the button50to move the tube52(or rod) and the wire54, a robot (not shown) can attach with the actuator312such that the suturing device310operates as an end effector for the robot. The actuator312includes an actuator body308that can attach to a robot wrist (for example) and the robot can be programmed to operate with the suturing device310to suture the target tissue. When the actuator body308is attached to the robot, the robot can move the tube52(or rod) and the wire54with respect to the elongate body14in the same manner as described above. With reference toFIG.15, the elongate body314in the illustrated embodiment is in the form of a cannula, which is similar to the elongate body14. The elongate body314has an outer surface318, which is smooth, and defines a track (not visible inFIG.15or16, but similar to the track120) that receives a portion of the actuator312. Similar to the embodiment described above, the elongate body314is a cannula and the track is a lumen that receives the tube52and the wire54of the actuator312. The track need not encircle the tube52and the wire54, but could be U-shaped. In the embodiment inFIG.15, the elongate body314is circular in a cross section taken normal to the longest dimension of the elongate body314, however, the elongate body314could take alternative configurations, such as polygonal or U—shaped. The elongate body314includes the proximal end portion320and a distal end portion322. The proximal end portion320connects with the actuator body308, or, if desired, the proximal end portion320can connect with the handle90in the same manner that the elongate body14connects with the handle90. In the embodiment where the proximal end portion320connects with the handle90, the button50can connect with the tube52(or rod) similar to that shown inFIGS.8and8A, and the actuator312can operate in the same manner as the actuator12described above. Also, a pistol-grip style handle could attach to the elongate body instead in of the actuator body308. As illustrated inFIG.15, the needle holder316is received in and connected with the elongate body314and extends away from the distal end portion322. Alternatively, the needle holder316can be provided as part of the distal end portion122of the elongate body314. The elongate body314is made from a rigid metal material; however, if desired at least a portion of the elongate body314may be made from a malleable or flexible material to allow the surgeon to bend at least a portion of the elongate body314into a desirable configuration for insertion into an animal body during a surgical procedure. In the illustrated embodiment, an outer diameter of the elongate body314is constant between the proximal end portion320and the distal end portion322. The outer diameter can be less than 3.5 mm, which provides a very slim device to enhance the line of sight for a surgeon during the surgical procedure. The elongate body314has a bayonet configuration. The elongate body314includes an intermediate portion328positioned between the proximal end portion320and the distal end portion322. The proximal end portion320extends along a proximal end portion longitudinal axis330. The distal end portion322extends along a distal end portion longitudinal axis332, which is offset from the proximal end portion longitudinal axis330in a forward direction. In the illustrated embodiment, the distal end portion longitudinal axis332is offset from the proximal end portion longitudinal axis330about 25 mm. The proximal end portion320transitions to the intermediate portion328through a proximal bend336and the intermediate portion328transitions to the distal end portion322through a distal bend338. In the illustrated embodiment, the proximal bend336and the distal bend338are both angled internally 135 degrees. A distance L3, which is measured parallel with the distal end portion longitudinal axis332, between where the distal bend338transitions to the distal end portion322(i.e., the proximal end of the distal end portion322on the distal end portion longitudinal axis332) and the distal-most tip142is between 10 cm and 20 cm. Also, a distance L3a, which is measured parallel with the distal end portion longitudinal axis332, between where the distal bend338transitions to the distal end portion322to the location138where the needle holder316begins to curve away from the distal end portion longitudinal axis332is between 10 cm and 20 cm. Stated another way, the distance L3ameasured parallel with the distal end portion longitudinal axis332between where the curved needle holder16begins to curve away from the distal end portion longitudinal axis332to where the elongate body314begins to curve away from the distal end portion longitudinal axis332(e.g., near the proximal end of the distal end portion322on the distal end portion longitudinal axis332) is between about 10 cm to about 20 cm. In the illustrated embodiment, the distance L3is about 12.5 cm and the distance L3ais about 12 cm. The distances L3and L3aallow the surgeon to insert the distal end portion322of the elongate body314and the needle holder316into a commonly used tubular retractor so that the needle holder316can contact the target tissue without the intermediate portion328and the proximal end portion320entering the tubular retractor. If the distances L3and L3aare too long, manipulation of the needle holder316becomes more challenging. The proximal end portion320is offset from the distal end portion322in a rearward direction, which is opposite to the direction that the distal-most tip142is offset from the distal end portion322. This offsets the handle90(not shown inFIG.15, but could be connected with the elongate body314anywhere along the proximal end portion320) from the distal end portion longitudinal axis332, which results in the surgeon's hand and the handle90not impeding line of sight through the tubular retractor. FIGS.15and16show a variation from the needle holder16described above, in which the needle holder316has a smaller arc length than the needle holder16. Other than having a smaller arc length, the needle holder316can be identical to the needle holder16. As such, where the needle holder316is identical or very similar to the needle holder16, the same reference numbers will be used. With reference to the variation of the needle holder316shown inFIG.16, the distal-most tip142is offset from the distal end portion longitudinal axis332in a direction perpendicular from the distal end portion longitudinal axis332a distance L4of less than 5 mm. The needle holder316extends along a radius about 110 degrees from the location138where the needle holder316begins to curve away from the distal end portion longitudinal axis332to the distal-most tip142. Since the needle holder316has a smaller arc length than the needle holder16, the first end30of the needle20(seeFIGS.2and3) may extend outwardly beyond the distal opening146when the needle20is in the retracted position (shown inFIG.3). The first end30, however, does not extend beyond the distal-most tip142when in the retracted position (similar to what is shown inFIG.3). Accordingly, the suturing device10having the needle holder316can still be used similar to a nerve hook while not catching the target tissue24with the first (pointed) end30of the needle20. FIG.4shows one example of a suturing kit200that can be provided including a double-armed suture22, at least one suturing device10,10aand a suture holding structure210. The second suturing device10ais identical in all aspects to the first suturing device, and therefore will not be described in detail. The suture holding structure210can be similar to a known racetrack, which is typically used to hold a suture. A knot pusher350can also be provided in the suturing kit200. Also, additional needle holders, for example, the needle holder16bshown inFIG.4, can also be provided in the kit200. These additional needle holders, e.g., the needle holder16baand other needle holders (not shown) can be loaded with additional curved needles (similar to the curved needle20) and additional sutures (similar to the suture22). Also, surgical patches352could be provided, which can be connected to a suture22extending from a needle holder, such as the needle holder16b, could also be provided in the kit200.FIG.17depicts another example of a suturing kit400that can be provided including the double-armed suture22, at least one suturing device410and the suture holding structure210. In the embodiment shown inFIG.4, the first suturing device10and the second suturing device10aare separate instruments from one another. In contrast, in the embodiment shown inFIG.17, the suturing device410can have a double-barrel design. Moreover, multiple suturing devices can be provided in each kit along with multiple suture holding structures. With reference toFIG.17, the suturing device410includes a first actuator412, a second actuator412a, a first elongate body414, a second elongate body414a, a first needle holder416and a second needle holder416a. The suturing device410shown inFIG.17is also useful during a surgical procedure to accurately locate a first needle20(not visible inFIG.17, but located inside the first needle holder416in a similar manner to that shown inFIG.2), the second needle20aand the suture22with respect to target tissue, similar to the target tissue24shown inFIG.2, which is to be sutured. The needles20,20ashown inFIG.17have been described above. Each needle holder416,416acan be identical to the needle holder16described above. However, in the embodiment depicted inFIG.17, the first needle holder416is positioned adjacent to and connected with the second needle holder416a. Also, each needle holder416,416aincludes a respective notch418,418a, which can facilitate release of the needles20,20afrom the needle holders416,416aand loading of the needle into the needle holders. The first needle holder416can be welded, glued or mechanically fastened to the second needle holder416a. Each elongate body414,414acan be identical to the elongate body14described above. However, in the embodiment depicted inFIG.17, the first elongate body414is positioned adjacent to and connected with the second elongate body414a. The first elongate body414can also be welded, glued or mechanically fastened to the second elongate body414a. The suturing device410also includes a handle440connected with the elongate bodies414,414a. Similar to the handle90described above, the handle440connects with a proximal end portion of each elongate body414,414aand is fixed to each elongate body414,414asuch that movement of the handle440, e.g., rotational or translational movement, results in the same movement of each elongate body414,414a. The handle440includes an elongate bore442in which the proximal end section of each elongate body414,414ais received. The handle440takes an alternative configuration as compared to the handle90described above and is generally T-shaped. The elongate bore442extends from a proximal end surface444to a distal end surface446and is aligned with a longitudinal axis448that is parallel with a longest dimension of each elongate body414,414a. Each actuator412,412aoperates similarly to the actuator12described above. The first actuator412includes a button450, a tube452, which could also be a rod, and a wire, which is not visible inFIG.17but is similar to the wire54described above. Similarly, the second actuator412aincludes a button450a, a tube452a, which could also be a rod, and a wire, which is not visible inFIG.17but is similar to the wire54described above. The first actuator412is identical to the second actuator412a. Accordingly, the first actuator412will be described in detail with respect to the first elongate body414and the first needle holder416with the understanding that the second actuator412acooperates with the second elongate body414aand the second needle holder416ain the same manner. The first tube452(or rod) and the first wire (not visible) of the first actuator412is received within the first elongate body414and moves with respect to the first elongate body414between the first operating position and the second operating position, similar to the actuator12described above. The first tube452moves in a direction parallel with the longitudinal axis448. The wire (not visible) contacts the second end32(seeFIG.2) of the first needle20to advance the needle20from the retracted position toward the released condition. The buttons450,450adiffer from the button50described above, however, the actuators412,412acan operate in the same manner as the actuator12described above. Therefore, the operation of the actuators412,412awill not be described in further detail. BothFIGS.4and13disclose suturing kits including a double-armed suture, at least one suturing device and a suture holding structure. In both embodiments, the at least one suturing device includes a portion configured to be inserted into a patient. In the embodiment depicted inFIG.4, the first needle holder16and the first elongate body14are part of a first suturing device10, which is a physically separate device from the second suturing device10a. The second suturing device10ais, however, loaded with the second needle20aand the suture22in a similar manner to that shown inFIG.2so that a double-armed suture is connected with both suturing devices10,10a. Instead of providing the second suturing device10ashown inFIG.4, the suturing kit could include the actuator12, the elongate body14and at least two needle holders16where the needle holders are disconnected from the elongate body14, similar to what is shown inFIG.11. Alternatively, one of the needle holders16could be connected with the elongate body14and additional needle holders16, which can be loaded with a respective needle20and suture22, can also be provided with the kit. In the embodiment depicted inFIG.17, the first needle holder416, the first elongate body414, the second needle holder416a, the second elongate body414aare all part of the same suturing device410. In each of the aforementioned embodiments, the suture holding structure210holds at least a portion of the suture22between the first end and the second end of the suture22. In both embodiments, the suture holding structure210is separate from the at least one suturing device, e.g. the suturing devices10,10aor the suturing device410, so as not to be inserted into the patient during the surgical procedure. In other words, the suture holding structure210, and thus much of the suture, remains outside of the patient during the surgical procedure. Both the kit200shown inFIG.4, the kit having another needle holder disconnected from the elongate body14, and the kit400shown inFIG.17can be provided with a sealed package460(only schematically depicted inFIG.17), which contains the suture22, the at least one suturing device, e.g. the first suturing device10and the second suturing device10ainFIG.4or the suturing device410inFIG.17, and the suture holding structure210. A method of operating a suturing device to repair a tissue tear will be described with reference to the suturing devices10,10aand410described above; however, the method may be practiced using differently configured suturing devices and/or the variations shown inFIGS.12-16, and these variations may be referred to below where relevant. The physician can insert the suturing device10into a tubular retractor, such as the tubular retractor TR depicted inFIG.9, or into another small surgical portal. With reference toFIG.2, the physician can position the distal-most tip142of the suturing device10under the internal side26of the target tissue24on a first (left per the orientation ofFIG.2) side of a tear through the target tissue24. The target tissue24depicted inFIG.2is a dural sac, which is a sheath of dura mater that surrounds the spinal cord, which is not shown inFIG.2for purposes of clarity. With the distal-most tip142under the internal side26of the target tissue24, the physician then actuates the actuator12on the suturing device10to advance the first end30of the needle20through the target tissue24from the internal side26toward the outer side28until the second end32of the needle20and the suture22are released from the suturing device10. The physician can then remove the suturing device10from inside the patient (and inside the dural sac) and grasp the needle20and pull the suture22through the hole that was formed in the target tissue24with the needle20. The physician can then take another suturing device, for example, the second suturing device10ashown inFIG.4, which has the second needle20aloaded in it and the opposite end of the suture22attached to the second needle20aand insert the second suturing device10ainto the tubular retractor TR (FIG.9) or other small surgical portal. The physician can position the distal-most tip of the second suturing device10a, which is the same as the distal-most tip142depicted inFIG.2, under the internal side26of the target tissue24on a second (right per the orientation ofFIG.2) side of the tear through the target tissue24. With the distal-most tip of the second suturing device10aunder the internal side26of the target tissue24, the physician then actuates the actuator12a(FIG.4) on the second suturing device10ato advance the first (pointed) end of the second needle20athrough the target tissue24from the internal side26toward the outer side28until the second end of the second needle20aand the suture22are released from the second suturing device10a. The physician can then remove the second suturing device10afrom inside the patient (and inside the dural sac) and grasp the second needle20aand pull the suture22through the hole that was formed in the target tissue24with the second needle20a. The physician can then tie a knot in the suture22in a conventional manner to close the tear, and this process can be repeated until the tear has been adequately closed. Instead of using two different suturing device10and10a, the physician may use only the first suturing device10. In this example, the second needle20awould still be connected to an opposite end of the suture22as the first needle20; however, the second needle20awould not be pre-loaded into a suturing device. Instead, the second needle20awould be free from a suturing device, and the second needle20awould be loaded into the first suturing device10after the first needle had been deployed from the first suturing device10. So, the physician would deploy the first needle20from the suturing device10in the same manner as described above and remove the suturing device10from the patient. The physician would then pull the actuator12back to the first operating position from the second operating position. The second needle20ahaving the suture22attached thereto would then be inserted through the distal opening146and into the needle passage144until the second needle20ais in the retracted position, which is shown for the first needle20inFIG.3. In an alternative arrangement, the actuator12can remain in the second operating position while the needle20is being loaded into the needle holder16. For example, the actuator12could facilitate drawing the needle20into the retracted position. As one example, the pocket76(seeFIG.7) could grasp the second end32of the needle20, and movement of the actuator12from the second operating position toward the first operating position could draw the needle20toward the retracted position. With reference back to the illustrated embodiment and like that shown inFIG.3, a portion of the suture22would be maintained extending out of the distal opening146and outside of the suturing device10. The physician would then operate the suturing device10with the second needle20aloaded therein in a similar manner how the physician operated the second suturing device10aabove. The physician could also use the suturing device410in a similar manner. The physician can position the distal-most tip, which is not particularly called out inFIG.17but could have a similar configuration to the distal-most tip142inFIG.11, on the first needle holder416of the suturing device410under the internal side of the target tissue on a first (e.g., left) side of a tear through the target tissue. With the distal-most tip on the first needle holder416of the suturing device410under the internal side of the target tissue, the physician then actuates the first actuator412on the suturing device410to advance the first end of the first needle (not visible inFIG.17because it is loaded within the first needle holder416) through the target tissue from the internal side toward the outer side until the second end of the first needle and the suture22are released from the suturing device410. The physician can then rotate the suturing device410about the longitudinal axis448and position the distal-most tip on the second needle holder416aof the suturing device410under the internal side of the target tissue on a second (e.g., right) side of the tear. With the distal-most tip on the second needle holder416aof the suturing device410under the internal side of the target tissue, the physician then actuates the second actuator412aon the suturing device410to advance the first end of the second needle20athrough the target tissue from the internal side toward the outer side until the second end of the second needle20aand the suture22are released from the suturing device410. The physician can then remove the suturing device410from inside the patient (and inside the dural sac) and grasp the needles20,20aand pull the suture22through the holes that were formed in the target tissue with the needles20,20a. The physician can then tie a knot in the suture22in a conventional manner to close the tear, and this process can be repeated until the tear has been adequately closed. Because of the configuration of the suturing devices10,310,410, the physician is able to repair tears in the dural sac and avoid the many nerves that are located within the dural sac. The suturing devices10,310,410have a desirable J-hook configuration that allows the physician to grasp the target tissue24just underneath the internal side26, and the shape of the distal-most tip142allows the physician to indent the target tissue24prior to actuation to provide a visual indication of where the needle20or20awill pass through the target tissue. Because of the J-hook configuration of the suturing devices10,310,410, when the physician is positioning the distal-most tip142under the internal side26of the target tissue24, the elongate body14,314or414,414acan be maintained in an orientation closer to vertical as compared to horizontal. For example with reference toFIGS.9and15, at least the distal end portion322of the elongate body314can be maintained in an orientation closer to parallel with a central axis CA of the tubular retractor TR as compared to perpendicular with the central axis CA while positioning the distal-most tip142. This is particularly useful because during spinal surgery the patient is typically lying on his stomach and the physician is working from above the patient. Because of the J-hook configuration of the suturing devices10and410, when the physician is advancing the needle20or20athrough the target tissue24, the needle20or20ais advanced toward the physician, which allows the physician to see the needle. When using either of the suturing devices10and410, at least a portion of the suture22remains outside of the patient. Since only a small portion of the suture22is received inside the suturing devices10or410, the suturing devices10or410can be made much smaller as compared to other known suturing device, which makes the suturing devices10,410very useful for repairing tears in a dural sac. Even though the method of operating the suturing devices was described as passing the needle20from inside the dural sac to the outside, the suturing devices10,310and410can be used to pass the needle20through tissue in other manners, e.g., from outside to inside. Also, the suturing devices10,310and410can also be used to suture tissue other than the dural sac. A method of assembling a suturing device will be described with reference to the suturing device10described above; however, the method may be practiced using differently configured suturing devices and/or the variations shown inFIGS.12-17. The method includes inserting the needle20having the suture22attached thereto through the distal opening146into the needle passage144of the needle holder16connected with or configured to be connected with the elongate body14of the suturing device10. When assembling the suturing device, the needle20is inserted into the needle passage144in an insertion direction, which is opposite to the advance direction36(seeFIG.3). The method also includes frictionally engaging the inner surface162of the needle holder16with the needle20to retain the first (pointed) end30of the needle20offset inwardly from the distal opening146or offset below the distal-most tip142of the suturing device10. Inserting the needle20can further include inserting the second end32of the needle20and folding the suture22such that a portion of the suture22extends along the needle passage144between the needle20and the inner surface162(seeFIG.3). The method can further include placing the needle holder16with the needle20inserted therein and the suture22extending out of the distal opening146in a package (a sealed package460is schematically depicted inFIG.17), and sealing the package. The method can further include removing the needle holder16from a sealed package prior to inserting the needle20into the needle passage144. Accordingly, the needle20can be inserted into the needle passage144in the operating room or surgical facility instead of at the manufacturing facility, if desired. Frictionally engaging the inner surface162of the needle holder16can further include contacting the inner surface162of the needle holder16in at least three different locations along the needle20when the needle20is in a retracted position (seeFIGS.3and16). When in the retracted position, the needle20can contact the inner surface162of the needle holder16at the first location164, the second location166and the third location168shown inFIG.16. The method of assembling the suturing device10can also include inserting the needle20having the suture22attached thereto through the distal opening146into the needle passage144of a suturing device10. The method also includes maintaining a portion of the suture22extending out of the distal opening146and outside of the suturing device10. As mentioned above, inserting the needle20can further include inserting the second end32of the needle20and folding the suture22such that a portion of the suture22extends along the needle passage144between the needle20and the inner surface162(seeFIG.3).FIG.12shows the variant including the keyway220. The method can further include inserting the suture22into the keyway220while inserting the needle20through the distal opening146into the needle passage144of the suturing device10. Inserting the needle20having the suture22attached thereto can further include pushing the needle20into the needle passage144until the needle20frictionally engages the inner surface162of the suturing device10defining the needle passage144. Inserting the needle20having the suture22attached thereto can also include inserting the second end32of the needle20and folding the suture22such that a portion of the suture22extends along the needle passage144between the needle20and the inner surface162(seeFIG.3) of the suturing device10defining the needle passage144. It will be appreciated that various of the above-disclosed embodiments and variations and other features and functions, or alternatives or varieties thereof, may be desirably combined into many other different devices or applications. Also, components from one embodiment can be used in other embodiments described above. Also, various presently unforeseen or unanticipated alternatives, modifications, variations or improvements therein may be subsequently made by those skilled in the art which are also intended to be encompassed by the following claims.

11857180

In the different figures, similar elements will be identified by similar reference numbers. DETAILED DESCRIPTION With reference to attachedFIGS.1and2,1denotes overall and in schematic form an orthopaedic stapler provided in accordance with the present invention. The orthopaedic stapler1comprises an orthopaedic staple2and orthopaedic pliers3. The orthopaedic staple2comprises a beam portion4and two insertion brackets5each connected integrally to an end6of the beam portion4. Basically the orthopaedic staple2is substantially U-shaped. In the present embodiment the beam portion4is arch-shaped. Furthermore, in the present embodiment the insertion brackets5are directed along two directions slightly converging in a rest condition, creating an angle of less than 90° with respect to the beam portion4. The orthopaedic pliers3comprise two lever arms12. Each lever arm12has at an end13opposite to the orthopaedic staple2a ring portion14. The ring portion14allows the surgeon to insert his/her fingers to use the orthopaedic stapler1in the manner of medical forceps. In the present embodiment each lever arm12is provided with a centring hole26. This centring hole26is a hole passing through the thickness of the orthopaedic stapler1. The centring holes26are designed to receive guide wires used for pre-drilling of the bone, allowing positioning of the holes inside which the insertion brackets5will be inserted. As can be seen inFIG.3, the internal surfaces7of the insertion brackets5facing each other each have preferably a sawtooth profile8for acting as a drilling guide, facilitating insertion but at the same time preventing undesirable removal of the brackets5from the respective seats formed in the bone. Furthermore, the external surfaces9of the insertion brackets5, opposite to the internal surfaces7, preferably have a profile section10with a sawtooth profile11, with an effect similar to that of the sawtooth profiles8. As can be seen more clearly inFIG.4, the orthopaedic pliers3are connected to the orthopaedic staple2by means of a connection portion15provided on each lever arm12. The connection portions15are substantially bridge-pieces and are preferably positioned close to each end6of the beam portion4, opposite to the insertion bracket5. Even more preferably the beam portion4comprises two recesses16in the region of the connection portions15. In this way a section25of the connection portion15which remains on each orthopaedic staple2once the orthopaedic staple2and the orthopaedic pliers3have been separated is contained within the recess16and the surface of the beam portion4in contact with the outer profile is uniform. Furthermore, the lever arms12have two lever support elements17at the end opposite to the ring portion14and substantially parallel to the beam portion4. Each lever support element17is directed towards the other lever arm12. In other words, the lever arms12assume the form of two L-shaped profiles facing each other. The lever support elements17comprise two bearing portions18in contact with the beam portion4in the vicinity of the middle section of the beam portion4. The bearing portions18in the present embodiment act to ensure the equilibrium of the force applied by the surgeon on the ring portions14during the movement of the lever arms12towards each other. In the present embodiment, as can be clearly seen inFIG.5, the lever arms12of the orthopaedic pliers3comprise a first projecting element19and a second projecting element20, the first projecting element19on one lever arm12being directed towards the second projecting element20of the other lever arm12. The first projecting element19and the second projecting element20have a reciprocal engaging mechanism21. In the present embodiment provided by way of a non-limiting example, the engaging mechanism21consists of two complementary sawtooth profiles22and23, respectively provided on the profiles of the first projecting element19and the second projecting element20and directed towards each other. Nothing prevents to adopt different forms of the teeth or a different engaging mechanism21. As can be seen inFIGS.6and7the beam portion4has preferably a non-uniform cross section, greater at a centre25and smaller at the ends6. Using a non-uniform cross section of the beam portion4, greater at the centre and smaller at the ends, it is possible to obtain a uniform stress through the beam portion4when the bearing portions18acts on the beam portion4. The functioning of the orthopaedic stapler according to the present invention will be described below considering, for illustrative purposes, the embodiment described above and as clearly shown inFIG.8. Following osteotomy and positioning of the bone stumps and the bone fragments in the correct position, the surgical procedure involves inserting a first guide wire (not shown) which pre-bores the seat for an insertion bracket5of the orthopaedic staple2. This guide wire is then inserted inside a centring hole26of one of the lever arms12. In this way the other centring hole26of the other lever arm12indicates the position where a second hole will be formed using a second guide wire (not shown), this second hole being designed to seat the second bracket5of the orthopaedic staple2. Once both the initial holes have been formed, the first guide wire and the second guide wire are extracted. The surgeon applies pressure on the two ring elements14moving the two lever arms12towards each other and at the same time straightening the insertion brackets5which move along two parallel directions. During this step the closing force applied by the surgeon on the ring portions14, considering the distance from the connection portion15, is equally balanced as a result of the torque generated by the pulling force on the connection portion15and the compression applied by the bearing portions18. In other words, the bending load applied by surgeon's fingers on the ring portions14is transmitted as a pair of forces between the connection portions15and the bearing portions18, reducing the stress at the connection portions15to a purely tensile load. Furthermore, in the present embodiment, during this step the engaging mechanism21is operated. The teeth of the complementary sawtooth profiles22and23are then coupled together in a positive engagement. In this way the position defined by the surgeon may be maintained without having to keep a constant pressure on the ring portions14using the fingers. The surgeon may therefore concentrate on correctly introducing the orthopaedic staple2inside the bone stumps in the region of the fracture. It should be noted that the sawtooth profiles22and23must be formed taking into account the difference in behaviour and the elastic deformation enduring by the orthopaedic staple2carried by the two bearing sections18during application of the elastic load. Once the insertion step has been completed the surgeon disengages by means of a light pressure in the opposite direction the teeth of the sawtooth profiles22and23of the engaging mechanism21. In the case of a different form of the teeth or a different engaging mechanism a different operation may be clearly performed. If a pressure is continued to be exerted on the two lever arms12so as to move them away from each other the stress acting on the connection portions15is completely of a flexural nature and is now greater than the breaking strength of the material of the connection portion15. Consequently separation occurs along a predetermined breakage section24between the orthopaedic staple2and the orthopaedic pliers3. In the present embodiment each section25of the connection portions15remains inside the recess16formed in the beam portion4, ensuring that a uniform surface is maintained. The orthopaedic staple therefore remains inside the bone, tending to return, in the case of the embodiment shown, into the rest configuration, namely the configuration where the insertion brackets5are slightly converging. This condition therefore gives rise a state where a compressive load acts on the bone stumps. The present invention solves the technical problem and achieves numerous advantages, the main one of which is certainly that of being able to insert the insertion brackets5of the staple2in a simple manner and at the same time release them in the desired position with an intuitive movement and without any handling difficulty. Advantageously the entire operation may be performed by the surgeon using only one hand and without there being any imprecision during application. A further advantage consists in the fact that the form of the staple is such that a compressive load acting on the fracture between the stumps and bone fragments is generated by the surgeon when operating the orthopaedic stapler1. For this reason advantageously materials with a high elasticity are used, so as to allow complete elastic recovery of the tension following the stressing state. Another advantage is that the insertion brackets5have a profile such that they may be used as drilling guides, without having to use a specially designed instrument. Everything needed to perform application of the orthopaedic staple2, apart from the guide wires, is included in the orthopaedic stapler1, making it easier to use and reducing its cost. A further advantage consists in the fact the entire orthopaedic stapler1is made from a single metal sheet by means of cutting. This cutting operation may be performed using various techniques, for example laser cutting, water-jet cutting or cutting by means of an electrochemical process, or the like. The possibility of obtaining the entire device by means of a single cutting operation reduces the complications during production as well as the production time and costs. The stapler according to the invention may, however, be made by means of moulding using a synthesis material. Finally, an advantage of the orthopaedic stapler according to the invention is the possibility that it may be designed with dimensions depending on the specific requirements without affecting operation thereof. The person skilled in the art will clearly understand that the system according to the present invention may be subject to modifications and variants, all of which fall within the scope of the invention defined by the accompanying claims.

11857181

Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate preferred embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner. DETAILED DESCRIPTION Applicant of the present application also owns the following patent applications that have been filed on May 27, 2011 and which are each herein incorporated by reference in their respective entireties:U.S. patent application Ser. No. 13/118,259, entitled SURGICAL INSTRUMENT WITH WIRELESS COMMUNICATION BETWEEN A CONTROL UNIT OF A ROBOTIC 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. 13/118,263, 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; andU.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535. Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those of ordinary skill in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the various embodiments of the present invention is defined solely by the claims. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention. Uses of the phrases “in various embodiments,” “in some embodiments,” “in one embodiment”, or “in an embodiment”, or the like, throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner in one or more other embodiments. Such modifications and variations are intended to be included within the scope of the present invention. Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those of ordinary skill in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the various embodiments of the present invention is defined solely by the claims. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention. In various embodiments, a surgical instrument in accordance with the present invention can include systems for inserting surgical staples into soft tissue, for example. In at least one embodiment, the surgical instrument can include a staple cartridge configured to removably store staples therein and an anvil for deforming the staples as they are deployed from the staple cartridge. In order to deploy the staples, the surgical instrument can include a staple driver configured to traverse the staple cartridge and a firing drive for advancing the staple driver within the staple cartridge. In various embodiments, the firing drive can include a drive bar which is translated in a substantially linear direction by a trigger operably engaged therewith. In other embodiments, the firing drive can include a drive shaft which is rotated by the trigger. In such embodiments, the surgical instrument can include a shaft assembly which can convert the rotary motion of the drive shaft into linear motion and translate the staple driver within the staple cartridge. While the exemplary embodiment illustrated inFIGS.1-20and described below includes a firing drive having a rotary drive shaft, the present invention is not so limited. Furthermore, while a general description of a firing drive having a rotary drive shaft is provided below, other such devices are described and illustrated in greater detail in the commonly-owned, co-pending U.S. patent application Ser. No. 11/475,412, entitled MANUALLY DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT and filed on Jun. 27, 2006, now U.S. Pat. No. 8,322,455, the entire disclosure of which is hereby incorporated by reference herein. Referring toFIG.1, surgical instrument50can include handle portion52, trigger54, elongate shaft assembly56, and end-effector58. In various embodiments, end-effector58can include anvil62and staple cartridge channel64, where channel64can be configured to receive staple cartridge66and anvil62can be pivotably connected to channel64. In at least one embodiment, at least one of anvil62and channel64can be operably connected to trigger54such that, upon an actuation of trigger54, anvil62can be rotated into a closed position as illustrated inFIG.8. In various embodiments, referring toFIGS.2-4, trigger54can be operably engaged with a closure drive system configured to translate both anvil62and channel64relative to outer sheath57of elongate shaft assembly56. Referring primarily toFIG.4, the closure drive can include cam68operably engaged with trigger54such that a first actuation of trigger54can rotate cam68about pin70and drive closure links72in a substantially linear direction. More particularly, trigger54can include lift pin55(FIG.3) extending therefrom which can be configured to contact surface71of cam68and lift cam68into the position illustrated inFIG.8. Cam68can further include cam slot69where, when cam68is rotated from its position illustrated inFIG.4to its position illustrated inFIG.8, the side walls of cam slot69can engage closure link pin76and, in the present embodiment, slide closure links72in a direction illustrated by arrow A (FIG.4). Referring toFIGS.2and4, surgical instrument50can further include a spine assembly within elongate shaft assembly56(FIG.1), where the spine assembly can include proximal channel portion78and distal channel portion80. In various embodiments, channel portions78and80can be interconnected by the cooperative engagement of projection, or tongue,84and groove86. More particularly, referring toFIG.2, proximal channel portion78can include, in various embodiments, first half77and second half79which can be assembled to distal channel portion80such that projection84is secured within groove86. In at least one embodiment, proximal channel portion halves77and79can include projections81and/or apertures83configured to provide a snap-fit or press-fit engagement between proximal channel portion halves77and79. In various other embodiments, channel portions78and80can be interconnected by any suitable means and, in at least one embodiment, although not illustrated, portions78and80can be integrally formed. Similar to the above, referring toFIG.2, distal channel portion80can include distal end88which can be connected to staple cartridge channel64. More particularly, distal channel portion80and staple cartridge channel64can include cooperating tongue and groove features, for example, which can provide a press-fit or snap-fit interconnection therebetween, although any other suitable interconnection therebetween can be used. Referring toFIG.4, proximal end82of channel portion78can be coupled to closure links72by pin53such that, when closures links72are translated by cam68, channel portion78is translated within elongate shaft assembly56. In at least one embodiment, channel portion78can further include projections87extending therefrom which can be configured to slide within recesses85(FIG.3) in housing portions90and substantially limit the translation of channel portion78along an axis. As staple cartridge channel64is connected to proximal channel portion78via distal channel portion80, channel64, and anvil62pivotably connected thereto, can be moved in direction A when cam68is rotated by trigger54as described above. In at least one embodiment, referring toFIG.2, proximal end63of anvil62can be configured to abut outer sheath57of elongate shaft assembly56when channel64and anvil62are translated relative to sheath57. After proximal end63of anvil62contacts outer sheath57, anvil62can be configured to rotate toward channel64and staple cartridge66in order to close anvil62as illustrated inFIG.8. In various embodiments, referring toFIG.2, channel64can include slots65therein which can be configured to guide anvil62as it is pivoted relative to channel64. Once anvil62is closed, the surgical instrument can further include a lock which holds anvil62in its closed position. In various embodiments, referring toFIGS.9-11, surgical instrument50can include spring lock92mounted to housing90, where spring lock92can be configured to releasably hold cam68in position which, as a result, locks closure links72, channel portions78and80, channel64, and anvil62in position until a surgeon desires to open anvil62as described in detail further below. In various embodiments, after anvil62has been placed into its closed position, trigger54can be actuated a second time to operate a firing drive which advances cutting member96within end effector58. In at least one embodiment, the firing drive can be disengaged from trigger54prior to the first actuation of trigger54. In such embodiments, the first actuation of trigger54can operably engage trigger54with the firing drive and/or release a component of the firing drive such that the firing drive becomes operably engaged with trigger54. In the illustrated embodiment, referring toFIGS.3and4, the firing drive can include trigger gear portion100extending from trigger54, gear train102, gear carriage130, and rotatable drive shaft106which can be configured to advance cutting member96within end effector58as described in greater detail below. As illustrated inFIGS.3-7, gear train102can include ratchet gear108, main drive gear110, bevel drive gear112, and bevel gear114where, prior to the first actuation of trigger54, cam68can be configured to bias ratchet gear108out of engagement with main drive gear110. More particularly, referring toFIG.3, ratchet gear108can include shaft116and collar118where cam68can be configured to contact collar118and bias ratchet gear108away from main drive gear112such that ratchet face109on ratchet gear108is not engaged with ratchet face111on main drive gear110. Upon the first actuation of trigger54, as described above, cam68can be rotated into the position illustrated inFIG.8and, as a result of such rotation, groove120(FIGS.4and5) in cam68can be configured to release ratchet gear108. More particularly, referring toFIGS.5-7, groove120can be dimensioned such that, when the rotation of cam68aligns groove120with collar118, collar118can slide past cam68and allow ratchet spring122to bias ratchet gear108into operative engagement with main drive gear110. Thereafter, trigger54can be released and then returned to its starting position by trigger spring124where trigger spring124can be connected to pin126extending from housing90and pin128extending from trigger54. Notably, even though trigger54can be returned to its starting position, cam68can remain locked in its second position by lock92, as described above, thereby maintaining the alignment between groove120and collar118. With ratchet gear108now operably engaged with drive gear110, a second actuation of trigger54can advance cutting member96and the staple driver within end effector58. Referring primarily toFIGS.3and4, an actuation of trigger54can rotate trigger gear portion100about an axis defined by pin70. Trigger gear portion100can include gear teeth extending along the perimeter thereof which can, referring toFIGS.5and6, be engaged with gear teeth extending around the circumference, for example, of ratchet gear108. In use, as a result, the actuation, or rotation, of trigger54can rotate ratchet gear108about an axis defined by shaft116and pin117(FIG.3). As described above, ratchet gear108can, referring toFIGS.5and6, include ratchet face109which can be configured to engage ratchet face111of main drive gear110. In at least one embodiment, ratchet faces109and111can be configured to transmit the rotational motion of trigger54to main drive gear110upon the second actuation, or other subsequent actuation, of trigger54but also permit relative sliding movement therebetween when trigger54is released and returned to its unactuated position. In effect, ratchet faces109and111can be configured to transmit rotational motion to main drive gear110when ratchet gear108is rotated in one direction but not transmit rotational motion to main drive gear110when ratchet gear108is rotated in the opposite direction. Although a ratchet mechanism has been described and illustrated herein, any other suitable mechanism for transmitting motion between trigger54and main drive gear110can be used. Furthermore, although trigger54has been described and illustrated as a lever, any other suitable device can be used to motivate the firing and closing drives described herein. Referring primarily toFIGS.5-7, main drive gear110can include gear teeth extending around the circumference thereof, for example, which can be engaged with gear teeth extending around the perimeter, for example, of bevel drive gear112. In use, as a result, the rotational motion transmitted to main drive gear110from ratchet gear108, for example, can be transmitted to bevel drive gear112. In various embodiments, bevel drive gear112can be mounted to or integrally formed with shaft113, where shaft113can define an axis about which bevel drive gear112can be rotated. In at least one embodiment, referring toFIG.3, surgical instrument50can further include bracket115about which bevel drive gear112and shaft113can be rotated. As described in greater detail below, bracket115can also include supports119which can be configured to slidably support at least a portion of gear carriage130. In various embodiments, referring toFIGS.5-7, bevel gear114can be attached to bevel drive gear112or, alternatively, bevel gear114can be mounted to or integrally formed with shaft113. In either event, the rotational motion transmitted to bevel drive gear112can be transmitted to bevel gear114. In various embodiments, although not illustrated, bevel gear114could be directly engaged with drive shaft106via cooperating bevel gear teeth. In at least one such embodiment, bevel gear114could rotate drive shaft106in a clockwise direction, for example, and advance cutting member96within end effector58as described below. In such embodiments, the actuation of trigger54could advance cutting member96within end effector58, however, cutting member96would have to be retracted either manually or via an additional retraction system. In the illustrated embodiment of the present invention, referring toFIGS.3and5-7, surgical instrument50can further include a switching mechanism which can allow drive shaft106to be rotated in either a clockwise or counter-clockwise direction and, correspondingly, allow cutting member96to be advanced or retracted via the actuation of trigger54. In various embodiments, referring primarily toFIGS.5and6, the switching mechanism can include gear carriage130which can be shifted between a first position in which the rotational motion of bevel gear114rotates drive shaft106in a clockwise direction, for example, and a second position in which the rotational motion of bevel gear114rotates drive shaft106in a counter-clockwise direction. In various embodiments, referring toFIGS.5-7, gear carriage130can include housing132, forward gear134, and reversing gear136where forward gear134and reversing gear136can be rotatably mounted to housing132. In at least one embodiment, drive shaft106can include substantially hex-shaped end107, for example, which can be received within apertures (not illustrated) in forward gear134and reversing gear136such that gears134and134are rotatably engaged with drive shaft106. In other various embodiments, end107can include any other suitable shape or configuration such that gears134and136are rotatably engaged with drive shaft106. In either event, referring toFIG.5, gear carriage130can be slid along end107such that either forward gear134or reversing gear136can be engaged with bevel gear114. In use, when forward gear134is engaged with bevel gear114, for example, the rotational motion of bevel gear114can be transmitted to forward gear134and, owing to cooperating geometries of end107and the aperture in forward gear134, the rotational motion of gear134can be transmitted to drive shaft106. In order to rotate drive shaft in the opposite direction, gear carriage130can be slid proximally, or rearward, such that reversing gear136engages bevel gear114. A mechanism for motivating gear carriage130in this manner is described further below. In various embodiments, when forward gear134is engaged with bevel gear114, as illustrated inFIG.5, reversing gear136can be disengaged from bevel gear114such that reversing gear136is free to rotate with drive shaft106. In at least one embodiment, gear carriage130can further include spacer135which can be configured to rotatably support and align gears134and136yet permit gears134and136to rotate independent of one another. In some embodiments, gear carriage130can be placed in a position intermediate the forward and rearward positions such that both gears134and136engage bevel gear114and hold drive shaft106in a clocked-out′ condition such that trigger54cannot be actuated. In other various embodiments, gear carriage130can be placed in an intermediate position such that neither gears134and136engage bevel gear114. In such embodiments, the firing drive is in a ‘free’ condition and the rotational motion of bevel gear114is not transmitted to drive shaft106. In various embodiments, referring primarily toFIG.2, drive shaft106can further include threaded drive portion138which can be operably engaged with firing nut140. In at least one embodiment, threaded drive portion138can be configured to slidably advance and/or retract firing nut140in response to rotational motion of drive shaft106. More particularly, firing nut140can include threaded aperture141which can be configured to threadably receive threaded drive portion138such that the rotation of drive shaft106produces a reactional force which advances firing nut140distally. In at least one embodiment, firing nut140can include projection142extending therefrom which can be configured to extend through a slot defined between proximal channel portion halves77and79in order to constrain the movement of firing nut140along an axis. In effect, the slot can prevent firing nut140from rotating with drive shaft106and can define a path for projection142as firing nut140is translated within channel portion78. In various embodiments, referring toFIG.2, cutting member96can be operably engaged with firing nut140such that the translation of firing nut140, as described above, can result in the translation of cutting member96within end effector58. In at least one embodiment, surgical instrument50can further include firing rod144connected to firing nut140, drive bar146connected to cutting member96, and adapter148configured to connect drive bar146to firing rod144. In various embodiments, firing rod144can include proximal end145which can include an aperture configured to receive at least a portion of firing nut140in a press-fit manner. In at least one embodiment, proximal end145of firing rod144can include deformable member147which can be configured to engage recess143in firing nut140after deformable member147has been depressed or deformed inwardly toward recess143. In either event, firing rod144can further include distal end149which can be configured to receive plug150in a press-fit manner, for example, where plug150can include projection152extending therefrom which can be received within slot154in adapter148. In various embodiments, adapter148can further include slot151, where slot151can be configured to receive connector tab154of drive bar146such that, when adapter148is translated by firing rod144, drive bar146can be translated within distal retainer section80. In at least one embodiment, drive bar146can further include distal end156which can be configured to engage recess97in cutting member96and advance and/or retract cutting member96within end effector58. As described above, cutting member96can include knife99which can be configured to incise tissue positioned between anvil62and staple cartridge66as cutting member96is advanced within end effector58. Further, as described above, cutting member96can include portion95, where portion95can be configured to push a staple driver (not illustrated) within staple cartridge66to deploy staples (not illustrated) removably stored therein. In various embodiments, the surgical instrument can be configured to advance cutting member96a desired distance upon a single actuation of trigger54, i.e., the second overall actuation of trigger54in embodiments where the first actuation of trigger54closes anvil62as described above. In other embodiments, however, more than one actuation of trigger54can be used to advance cutting member96a desired distance. In at least one such embodiment, referring toFIGS.12-16, trigger54can be actuated three times to advance cutting member96from proximal end59to distal end61of end effector58. The quantity of such actuations in other embodiments, however, will depend largely upon the overall distance that cutting member96is to be displaced and the displacement of cutting member96as a result of each actuation. Notably, prior to the second actuation of trigger54, cutting member96can be positioned in proximal end59of end effector58and firing nut140can be positioned in its most proximal position. Upon the second actuation of trigger54, referring toFIGS.13and14, cutting member96can be advanced approximately one-third of the distance between proximal end59and distal end61and, similarly, firing nut140can be advanced distally along drive shaft106. Thereafter, referring toFIG.15, cutting member can be advanced an additional one-third of the distance between proximal end59and distal end61upon the third actuation of trigger54and, similarly, referring toFIG.16, cutting member96can be advanced into distal end61of end effector58upon the fourth actuation of trigger54. In various embodiments, in order to assist a surgeon in monitoring the amount of times that trigger54has been actuated, surgical instrument50can include a counting mechanism which can be configured to display the amount of times that trigger54has been actuated and/or the amount of actuations remaining to deploy all of the staples in the staple cartridge. In either event, referring primarily toFIGS.3and9, one embodiment of counting mechanism170can include indicator nut172, indicator plate174, and indictor window171(FIG.1) in housing90. In at least one embodiment, indicator plate174can include indicia thereon which can communicate to the surgeon the amount of times that trigger54has been actuated to advance cutting member96. In such embodiments, indicator plate174can include blank portion173which is visible through window171before and after the first actuation of trigger54, i.e., the actuation of trigger54which closes anvil62as described above. Upon the second actuation of trigger54, the rotation of drive shaft106can advance indicator nut172and indicator plate174, which is mounted to indicator nut172, distally such that the numeral “1” or other appropriate indicia on indicator plate174can be seen through indicator window171. Accordingly, such an indicium can indicate to the surgeon that cutting member96has been advanced by one actuation of trigger54. Similar to firing nut140, indicator nut172can include a threaded aperture which can be threadably engaged with threaded portion176of drive shaft106such that the rotation of drive shaft106applies a reactional force to indicator nut172and advances it distally. Subsequent actuations of trigger54can move the numerals ‘2’ and ‘3’ beneath indicator window171. In order to retract cutting member96, as outlined above, gear carriage130can be shifted such that forward gear134is disengaged from bevel gear114and, referring toFIGS.17and18, reversing gear136is engaged with bevel gear114. Thereafter, subsequent actuations of trigger54can rotate drive shaft106in the opposite direction and translate firing nut140proximally. More particularly, owing to the threaded engagement between firing nut140and threaded portion138of drive shaft106, the rotation of shaft106in the opposite direction applies a reactional force to firing nut140which displaces firing nut140in the proximal direction. Accordingly, firing rod144, drive bar146and cutting member96, which can be connected to firing nut140as described above, are also displaced in the proximal direction thereby retracting cutting member96within end effector58. Similarly, the rotation of shaft106in the opposite direction can displace indictor nut172of indicator assembly170proximally as well. More particularly, the first actuation of trigger54after gear carriage130has been shifted, i.e., the fifth overall actuation of trigger54, can cause drive shaft106to apply a reactional force to indicator nut172and move nut172proximally. In such circumstances, indicator nut172can move indicator plate174relative to window171such that the numeral ‘2’ is visible through indicator window171which can remind the surgeon that two more actuations of trigger54are required to fully retract cutting member96. Although trigger54is actuated three times to advance and/or retract cutting member96in the present embodiment, the actuations required to advance cutting member96can be different than the actuations required to retract cutting member96in other embodiments. Exemplary embodiments including features for advancing and retracting cutting member96at different rates are described in detail further below. Furthermore, in at least one embodiment, portion95of cutting member96can be engaged with the staple driver such the retraction of cutting member96also retracts the staple driver. In other embodiments, however, the staple driver can be left behind in the staple cartridge and only the cutting member96is retracted. Such embodiments may be utilized where a spent staple cartridge assembly is replaced with a new staple cartridge assembly which includes its own staple driver therein and, as a result, it may be desirable to leave the used staple driver in the spent cartridge. In order to motivate gear carriage130as described above, surgical instrument50can include, referring toFIGS.3-5, switching mechanism160. In at least one embodiment, switching mechanism160can include shaft switch162, shifter handles164extending therefrom, and shifter link166, where shifter link166can be connected to shaft162via shifter pin169and gear carriage housing132via pin168. In order to slide gear carriage130relative to drive shaft106as described above, shifter handles164can be configured to rotate shaft162such that crank arm163extending from shaft162displaces shifter link166and drives gear carriage130along axis105of drive shaft106. In the illustrated embodiment, when shifter handles164are oriented in a substantially downward direction, as illustrated inFIG.8, crank arm163is oriented in a substantially upward direction. In this configuration, referring toFIG.5, gear carriage130is positioned in its most rearward, or proximal, position such that forward gear134is operably engaged with bevel gear114. In order to shift surgical instrument50into a configuration in which cutting member96is retracted, shifter handles164can be rotated upwardly, as illustrated inFIG.17, to rotate crank arm163forward, or distally. Correspondingly, crank arm163can be configured to displace link arm166distally and pull gear carriage130into its most distal position, thereby engaging reversing gear136with bevel gear114. In the event that the surgeon desires to advance cutting member96after at least partially retracting cutting member96, the surgeon can rotate shifter handles164downwardly and re-engage forward gear134with bevel gear114. In various embodiments, referring toFIGS.3and5, surgical instrument50can further include a bistable compliant mechanism for biasing switching mechanism160into a configuration where one of gears134or136is engaged with bevel gear114. Stated another way, the bistable compliant mechanism can cause switching mechanism160to become dynamically unstable when a surgeon only partially rotates shifter handles164. In such circumstances, the bistable compliant mechanism can bias switching mechanism160into one of two configurations where it is stable, i.e., the forward and reversing configurations. In various embodiments, bistable compliant mechanism180, referring primarily toFIG.3, can include receiver182, spring184, plunger186and toggle pin188. In at least one embodiment, toggle pin188can connect plunger186to switch shaft162and receiver182can be connected to projection183extending from housing90. In use, spring184can be configured to apply a biasing force to shaft162via plunger186and can be configured to rotate shaft162in the event that shaft162is only partially rotated between its forward and reversing orientations. In various embodiments, once cutting member96has been fully retracted, the end effector closing system and the staple firing system can be reset so that the spent staple cartridge can be removed from surgical instrument50, a new staple cartridge66can be positioned within staple cartridge channel64, and surgical instrument50can be used to further staple and cut tissue as described above. In the illustrated embodiment, cam68can be released from lock92to open anvil62and reset the end effector closure system. Similarly, ratchet gear108can be disengaged from main drive gear110to disengage trigger54from gear train102and reset the staple firing system. In at least one embodiment, cam68and ratchet gear108can be manually reset, however, referring primarily toFIGS.3-5,9,10,19and20, surgical instrument50can include a reset system which can automatically reset the end effector closure system and staple firing system described above. In various embodiments, the final return actuation of trigger54can reset these systems as described in detail below. As outlined above, the first actuation of trigger54can rotate cam68into the position illustrated inFIG.8and spring lock92can be configured to hold cam68in place as the firing drive is operated by subsequent actuations of trigger54. As also illustrated inFIG.8, surgical instrument50can further include cam spring67which can be configured to bias cam68downwardly and, referring toFIGS.9and10, hold cam lock arm73extending from cam68against spring lock92. In such embodiments, cam lock arm73can include recess74which can be configured to receive at least a portion of spring lock92. In order to assist cam spring67in keeping cam68from lifting upwardly during subsequent actuations of trigger54and becoming disengaged from cam spring92, indicator nut174can be configured to contact cam rail75and hold cam lock arm73against spring lock92. More particularly, as indicator nut174is advanced distally, as described above, indicator nut174can be slid along contact rail75providing a positive stop against which cam68cannot rotate. Once indicator nut174is returned to its most proximal position, however, indicator nut174can become aligned with ramp89and, as a result, the third return actuation of trigger54can cause cam68to rotate upward slightly, thereby disengaging lock arm73from spring lock92as illustrated inFIG.10. After cam68has been released from lock92, cam return spring67can be configured to rotate cam68downwardly and return it to its original position. As cam68is rotated downwardly, the walls of cam slot69can be configured to drive closure links72distally and, correspondingly, drive channel portions78and80and staple cartridge channel64distally as well. In at least one embodiment, end effector58can further include a spring (not illustrated) configured to bias anvil62upwardly as staple cartridge channel64is slid distally, i.e., away from outer sheath57of elongate shaft assembly56. In other various embodiments, although not illustrated, surgical instrument50can further include an actuator in which a surgeon can operate to pull or push anvil62into an open position. In either event, in at least one embodiment, cam return spring67can assert a force sufficient for cam68to displace ratchet gear108out of engagement with main drive gear110and, as a result, reset the firing drive. In other various embodiments, cam return spring67may not be strong enough to pull cam68downwardly with sufficient force to disengage ratchet gear108from main drive gear110. In at least one such embodiment, surgical instrument50can further include, referring toFIGS.3-5and19, a toggle switch assembly which can selectively bias ratchet gear108away from main drive gear110. In various embodiments, referring primarily toFIGS.3,4, and9, toggle switch assembly190can include toggle actuator192mounted to drive shaft106, where toggle actuator192can include toggle arm193extending therefrom. Upon the final return actuation of trigger54, in at least one embodiment, indicator nut172can contact toggle actuator192and rotate it about drive shaft106such that toggle arm193is rotated toward ratchet gear108. In at least one such embodiment, referring toFIG.9, indicator nut172can further include ramp179which can be configured to engage projection191extending from toggle actuator192and rotate toggle actuator192clockwise about drive shaft106. In various embodiments, toggle arm193can be configured to contact ratchet gear108as it is rotated about drive shaft106and displace ratchet gear108away from main drive gear110. In at least one embodiment, ratchet gear108can be sufficiently displaced away from drive gear110to allow cam return spring67to position cam68adjacent collar118. Thereafter, cam68can hold ratchet gear108in this position until cam68is rotated upwardly as described above. Although the above-described mechanisms can reset cam68and ratchet gear108into their initial positions, toggle arm193of toggle actuator192, at least in the illustrated embodiment, can remain positioned against collar118of ratchet gear108. Accordingly, even if cam68is rotated upwardly such that groove120is aligned with collar118upon the first actuation of trigger54, ratchet gear108may not be released to engage main drive gear110as described above. In view of this, in at least one embodiment, surgical instrument50can include a reset mechanism for rotating toggle arm193out of engagement with ratchet gear108. Such a mechanism can, in various embodiments, be manually operated and/or automatically operated in response to an actuation of trigger54, for example. In at least one embodiment, as illustrated inFIG.20, housing90can include projection91extending therefrom which can be configured to rotate toggle actuator192about drive shaft106and return it to its original, unactuated position as illustrated inFIG.9. More particularly, in various embodiments, projection91can be configured to engage toggle link194(FIG.3) as gear carriage130is moved from its distal position in which reversing gear136is engaged with bevel gear114to its proximal position in which forward gear134is engaged with bevel gear114. Such movement can be effected by switching mechanism160when shifter handles164are rotated downwardly to move gear carriage130proximally and place surgical instrument50in its ‘advancing’ configuration described above. As a result of the contact between toggle link194and projection91, toggle link194can be rotated about pin195such that toggle link194contacts actuator arm193and rotates toggle actuator192counterclockwise about drive shaft106. In various embodiments, toggle switch assembly190can further include bistable compliant mechanism196, which can assist in assuring that toggle switch assembly190does not become stuck in an intermediate configuration. As described above, surgical instruments in accordance with the present invention can include a single trigger for actuating both an end effector closure system and a staple firing system. While the above-described features were described in connection with such single trigger surgical instruments, several of the features described above can be used in surgical instruments having a first trigger for actuating an end effector closure system and a second trigger for actuating a staple firing system. Referring toFIGS.23-30, for example, surgical instrument200can include trigger201for actuating an end effector closure system and trigger204for actuating a staple firing system. In various embodiments, referring toFIG.25, the end effector closure system can include closure link203operably engaged with closure trigger201via pin209. The end effector closure system can further include slider205and closure tube207(FIG.23), where closure tube207can be operably connected to closure link203via slider205and pin211. More particularly, referring toFIG.29, closure tube207can include flange213at its most proximal end which can be configured to be received within slot215in slider205such that the sliding motion of slider205is transmitted to closure tube207. In use, referring primarily toFIGS.29and30, the actuation of trigger201can translate closure link203distally and, correspondingly, translate slider205and closure tube207distally as well. In various embodiments, closure tube207can include features which are cooperatively engaged with anvil62such that translation of closure tube207causes anvil62to rotate toward staple cartridge channel64. More particularly, referring toFIG.24, anvil62can include projection51extending therefrom which can be received within aperture217of closure tube207such that sidewalls of aperture217can abut projection51and rotate anvil62downwardly. To guide anvil62, as outlined above, staple cartridge channel64can include slots65which can define a path for anvil62as it is rotated. Surgical instrument200can further include lock219which can be configured to hold trigger201in an actuated position thereby holding anvil62in a closed position. To open anvil62, lock219(FIG.28) can be disengaged from trigger201such that trigger201can be returned to its unactuated position. As trigger201is returned to its unactuated position, trigger201can drive slider205and closure tube207proximally and, owing to the operative engagement between projection51and aperture217, rotate anvil62upwardly. As indicated above, surgical instruments in accordance with the present invention can include a firing drive which can be configured to advance a cutting member, for example, at a first rate and retract the cutting member at a different rate. In various embodiments, referring toFIGS.23-30, surgical instrument200can include firing drive202which can comprise trigger204, drive shaft206, first ratchet assembly210, and second ratchet assembly212. In at least one embodiment, ratchet assemblies210and212can be configured to rotate drive shaft206in clockwise and counter-clockwise directions, respectively, in order to advance or retract cutting member96within end effector58. In various embodiments, referring toFIG.25, trigger204can be selectively engageable with ratchet assemblies210and212such that, when trigger204is actuated, only one of ratchet assemblies210and212is driven by trigger204. In at least one such embodiment, trigger204can be slidable along pin214in order to engage trigger204with one of ratchet assemblies210and212. In the illustrated embodiment, pin214can be rotatably received in apertures216in housing portions218and provide an axis of rotation for trigger204. In various embodiments, referring toFIG.27, trigger204can be positioned such that pawl220, which can be pivotably mounted to trigger204, is engaged with ratchet wheel222and, upon the actuation of trigger204, ratchet wheel222is rotated about pin214by pawl220. Upon the release of trigger204, pawl220can slide over ratchet teeth224of ratchet wheel222permitting relative movement therebetween. In at least one embodiment, ratchet assembly210can further include a pawl spring (not illustrated) configured to bias pawl220into engagement with ratchet teeth224and re-engage pawl220with ratchet teeth224when trigger204is reactuated. In order to transmit the rotation of ratchet wheel222to drive shaft206, drive shaft206can include forward gear226connected thereto. More particularly, in at least one embodiment, ratchet wheel222can further include gear teeth228which can be operably engaged with forward gear226such that the rotation of ratchet wheel222rotates forward gear226and drive shaft206about axis230(FIG.25). In various embodiments, forward gear226can be press-fit, for example, onto drive shaft206or, in other various embodiments, forward gear226can be integrally formed with drive shaft206. In various embodiments, similar to the surgical instruments described above, drive shaft206can, referring toFIG.24, be operably engaged with firing nut140in order to translate firing nut140within proximal retainer portion232. As also described above, the translation of firing nut140can be transmitted to cutting member96via drive bar146in order to advance cutting member96within end effector58. In order to retract cutting member96within end effector58, in at least one embodiment, trigger204can be slid into engagement with second ratchet assembly212such that drive shaft206is rotated in the opposite direction when trigger204is actuated. Similar to ratchet assembly210, referring toFIG.28, ratchet assembly212can include ratchet wheel234and pawl236where pawl236can be pivotably mounted to trigger204and can be operatively engaged with ratchet wheel234via ratchet teeth238. Similar to ratchet wheel222, ratchet wheel234can include gear teeth240which can be operably engaged with reversing gear242mounted to drive shaft206. As ratchet wheels222and234engage drive shaft206on substantially opposite sides, ratchet wheels222and234can rotate drive shaft206in opposite directions, i.e. clockwise and counter-clockwise directions, respectively. Thus, in order to select whether cutting member96is advanced or retracted within end effector58, trigger204can be slid into operative engagement with either first ratchet assembly210or second ratchet assembly212. In various embodiments, although not illustrated, first ratchet wheel222and second ratchet wheel234can have substantially the same diameter, or pitch radius. Stated another way, the distance between the center, or axis of rotation, of the ratchet wheels and the gear teeth of the ratchet wheels can be the same. In such embodiments, the distance that cutting member96is advanced per actuation of trigger204will be substantially the same distance that cutting member96is retracted per actuation of trigger204. While suitable in some circumstances, such embodiments may require a surgeon to actuate trigger204several times before cutting member96is completely retracted. In view of the above, in various embodiments, first ratchet wheel222can have a pitch radius which is different than the pitch radius of second ratchet wheel234. In at least one embodiment, second ratchet wheel234can have a larger pitch radius than first ratchet wheel222such that cutting member96is retracted a distance per actuation of trigger204which is greater than the distance that cutting member96is advanced per actuation of trigger204. Stated another way, second ratchet assembly212can, at least in these embodiments, retract cutting member96at a rate which is greater than which it is advanced. In such embodiments, first ratchet assembly210can, owing to the slower advancing rate, provide a greater torque or advancing force to cutting member96while second ratchet assembly212can, owing to the faster retracting rate, reduce the time required for the surgeon to retract the cutting member. While the term ‘rate’, as used above, is used to describe the distance that cutting member96can be advanced or retracted per actuation of trigger204, the term ‘rate’ is not so limited. In at least one embodiment, the term ‘rate’ can be used to describe the velocity and/or acceleration in which the cutting member is moved. In such embodiments, it may be desirable to have a cutting member which is advanced at a lower velocity and/or acceleration to better control the cutting member and retracted at a greater velocity and/or acceleration to reduce the time required to retract the cutting member. Furthermore, while the illustrated embodiments include ratchet assemblies for providing the different advancing and retracting rates, the invention is not so limited. On the contrary, other embodiments are envisioned which include spur gear trains, bevel gears, and/or other motion transmission devices. In various embodiments, surgical instruments in accordance with the present invention may include a gearbox for increasing or decreasing the rotational speed of the drive shaft. In at least one embodiment, referring toFIG.25, surgical instrument200can further include gearbox250which can be operably positioned intermediate drive shaft206and ratchet assemblies210and212. In various embodiments, gearbox250can be used to ‘gear down’ the speed of drive shaft206such that shaft206turns at a slower speed than if gearbox250were not utilized. In alternative embodiments, a gearbox can be used to ‘gear up’ the speed of drive shaft206such that drive shaft206turns at a faster speed. In at least one embodiment, gearbox250can include at least one set of planetary gears for changing the speed of drive shaft206. In other various embodiments, a gearbox, such as gearbox252illustrated inFIGS.21and22, can include housing253, input gear254mounted to input shaft256, pinion gears258, and output gear260mounted to output shaft262. In such embodiments, owing to the different pitch radii of input gear254and output gear260, input shaft256and output shaft262will rotate at different speeds. To facilitate the rotational movement of gears254,258, and260within housing253, gearbox252can further include various support plates264, spacers266, and pins268as illustrated inFIG.22. In addition to the above, gearbox252can also be used to convert the clockwise motion of input shaft256, for example, into counter-clockwise motion of output shaft262. In various embodiments described above, trigger204of surgical instrument200can be slid between a first position in which it is operatively engaged with first ratchet assembly210and a second position in which it is operatively engaged with second ratchet assembly212. In at least one embodiment, firing drive202can be configured such that first pawl220, for example, is disengaged from first ratchet wheel222before second pawl236is engaged with second ratchet wheel234. In such embodiments, trigger204may be positioned in an intermediate position where it is not operably engaged with either first ratchet assembly210or second ratchet assembly212. In various embodiments, as a result, firing drive202can be in a ‘free’ state where the actuation of trigger204does not result in the rotation of drive shaft206. In alternative embodiments, firing drive202can be configured such that second pawl236, for example, is engaged with second ratchet wheel234before first pawl220is operatively disengaged from first ratchet wheel222. In such embodiments, trigger204may be positioned in an intermediate ‘locked’ state where trigger204cannot be actuated, thereby indicating to the surgeon that trigger204is not completely engaged with either one of the ratchet assemblies and trigger204requires further adjustment. In various embodiments, surgical instrument200can include a device which biases trigger204into engagement with one of first ratchet assembly210and second ratchet assembly212. In at least one embodiment, referring toFIG.33, surgical instrument200can further include bistable compliant mechanism270which can bias trigger204out of an intermediate position described above and into engagement with either first ratchet assembly210and second ratchet assembly212. In various embodiments, bistable compliant mechanism270can include spring272and link274, where spring272can apply a biasing force to trigger204via link274such that the biasing force acts to move trigger204out of its intermediate position illustrated inFIG.33and into engagement with either first ratchet wheel222or second ratchet wheel234. More particularly, when trigger204is positioned in its intermediate position, spring272can be stretched to a length X1and, owing to the resiliency of spring272, spring272can seek to shorten itself to its unstretched length, or at least a length shorter than X1, such as length X2for example. In order for spring272to shorten itself to length X2, spring272can rotate link274about pin275where pin275can extend from and pivotably mount link274to surgical instrument housing218. More particularly, as the first end of spring272is mounted to pin276extending from housing218and the second end of spring272is mounted to pin277extending from link274, spring272can shorten itself by moving pin277closer to pin276which is most easily accomplished by rotating link274about pin275. As link274is rotated about pin275, the side walls of slot278in link274can be configured to engage pin279extending from trigger204and slide trigger204into engagement with first ratchet wheel222or second ratchet wheel234. In effect, the intermediate position of trigger204illustrated inFIG.33represents a dynamically unstable position and the positions of trigger204where trigger204is engaged with ratchet wheels222and234represent the dynamically stable positions of the firing drive system. In various embodiments, as described above, surgical instruments in accordance with the present invention can include devices for rotating a drive shaft in a first direction in which the drive shaft advances a cutting member within an end effector, for example, and a second direction in which the drive shaft retracts the cutting member. In at least one embodiment, referring toFIGS.31and32, a surgical instrument can include transmission280, for example, which can allow a surgeon to select whether the drive shaft advances or retracts the cutting member. In various embodiments, transmission280can include housing282, internal input shaft284, external input shaft285, output drive shaft286, and switching mechanism288, where switching mechanism288can be configured to selectively engage internal input shaft284and external input shaft285with output shaft286. Although not illustrated, the surgical instrument can further include a trigger, for example, which is operatively engaged with external drive shaft285in order to rotate drive shaft285about axis287in a clockwise direction, for example. In at least one embodiment, transmission280can include pinion gears292rotatably mounted within housing282, input gear293fixedly mounted to external input shaft285, and output gear294mounted to output drive shaft286, where input gear293can be operably engaged with outer gear teeth290of pinion gears292such that the rotation of external shaft285is transmitted to pinion gears292. In a first configuration of transmission280, output gear294can be operatively engaged with inner gear teeth291of pinion gears292such that the rotation of pinion gears292is transmitted to output drive shaft286. More particularly, output gear294can be operably engaged with output drive shaft286via splined end296such that output gear294drives output drive shaft286about axis287. In this first configuration, a clockwise rotation of external input shaft285, for example, can be converted into a counter-clockwise motion of output drive shaft286. In a second configuration of transmission280, output gear294can be disengaged from pinion gears292such that the rotation of external input shaft285is not transmitted to output drive shaft286via pinion gears292. In order to disengage output gear294from pinion gears292, internal drive shaft284can be slid relative to external drive shaft285such that input gear297contacts recess298in output gear294and pushes output gear294away from pinion gears292. In at least one embodiment, recess298can include teeth299which can be operatively engaged with input gear297of internal input shaft284such that the rotation of internal input shaft284is transmitted to output drive shaft286. In this second configuration of transmission280, a clockwise rotation of internal input shaft284can be directly transmitted to output drive shaft286such that output shaft286rotates in a clockwise direction as well. In order to reengage output gear294with pinion gears292, internal input gear284can be disengaged from output gear294to allow spring281to slide output gear294along splined end296. In the embodiments described above, a surgeon can selectively move internal input shaft284relative to external input shaft285to place transmission280in either a forward or reversing configuration. In order to move input shaft284, in various embodiments, the surgical instrument can further include an actuator or trigger configured to translate internal input shaft284. In at least one embodiment, the surgical instrument can include a first actuator or trigger for rotating external input shaft285and a second actuator or trigger for translating internal shaft284relative to external shaft285. In such embodiments, internal input shaft284can include splines283which can be slidably engaged with external input shaft285such that the rotation of external shaft285is transmitted to internal shaft284yet sliding motion is permitted therebetween. In at least one embodiment, transmission280can further include bearing300which can rotatably support input gear293and, when compressed between input gear293and housing282, provide a biasing force to keep input gear293operably engaged with pinion gears292. In various embodiments, output shaft286can include member302extending therefrom which can be configured to be received within recess301of housing282in order to reduce, or even eliminate, relative movement between output shaft286and housing282. In at least one embodiment, although not illustrated, transmission280may only have one pinion gear292and still operate in the manner described above. In various embodiments, transmission280can also be configured to advance cutting member96, for example, at a different rate than which it is retracted. In at least one embodiment, referring toFIGS.31and32, the operative engagement between internal input shaft284and output shaft286can be used to advance cutting member96and, owing to the direct engagement between input gear297and output gear294, internal input shaft284and output shaft286can rotate in a 1:1 ratio, i.e., for every rotation of internal input shaft284, output shaft286is rotated once. In various embodiments, the operative engagement between external input shaft285and output shaft286can be used to retract cutting member96and, owing to the different pitch radii of input gear293and output gear294and their operative engagement with pinions292, external input shaft285and output shaft286can rotate in a ratio different than 1:1. In the illustrated embodiment, output shaft286can rotate at a faster speed than external input shaft285when they are mated via pinions292. In various embodiments, as a result, cutting member96can be translated at a faster rate when external input shaft285is operably engaged with output shaft286than when internal input shaft284is operably engaged with output shaft286. 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. Preferably, the invention described herein will be processed before surgery. First, a new or used instrument is obtained and if necessary cleaned. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument are then placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation kills bacteria on the instrument and in the container. The sterilized instrument can then be stored in the sterile container. The sealed container keeps the instrument sterile until it is opened in the medical facility. While this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Over the years a variety of minimally invasive robotic (or “telesurgical”) systems have been developed to increase surgical dexterity as well as to permit a surgeon to operate on a patient in an intuitive manner. Many of such systems are disclosed in the following U.S. patents which are each herein incorporated by reference in their respective entirety: U.S. Pat. No. 5,792,135, entitled ARTICULATED SURGICAL INSTRUMENT FOR PERFORMING MINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY AND SENSITIVITY, U.S. Pat. No. 6,231,565, entitled ROBOTIC ARM DLUS FOR PERFORMING SURGICAL TASKS, U.S. Pat. No. 6,783,524, entitled ROBOTIC SURGICAL TOOL WITH ULTRASOUND CAUTERIZING AND CUTTING INSTRUMENT, U.S. Pat. No. 6,364,888, entitled ALIGNMENT OF MASTER AND SLAVE IN A MINIMALLY INVASIVE SURGICAL APPARATUS, U.S. Pat. No. 7,524,320, entitled MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS, U.S. Pat. No. 7,691,098, entitled PLATFORM LINK WRIST MECHANISM, U.S. Pat. No. 7,806,891, entitled REPOSITIONING AND REORIENTATION OF MASTER/SLAVE RELATIONSHIP IN MINIMALLY INVASIVE TELESURGERY, and U.S. Pat. No. 7,824,401, entitled SURGICAL TOOL WITH WRITED MONOPOLAR ELECTROSURGICAL END EFFECTORS. Many of such systems, however, have in the past been unable to generate the magnitude of forces required to effectively cut and fasten tissue. FIG.34depicts one version of a master controller1001that may be used in connection with a robotic arm slave cart1100of the type depicted inFIG.35. Master controller1001and robotic arm slave cart1100, as well as their respective components and control systems are collectively referred to herein as a robotic system1000. Examples of such systems and devices are disclosed in U.S. Pat. No. 7,524,320 which has been herein incorporated by reference. Thus, various details of such devices will not be described in detail herein beyond that which may be necessary to understand various embodiments and forms of the present invention. As is known, the master controller1001generally includes master controllers (generally represented as1003inFIG.34) which are grasped by the surgeon and manipulated in space while the surgeon views the procedure via a stereo display1002. The master controllers1001generally comprise manual input devices which preferably move with multiple degrees of freedom, and which often further have an actuatable handle for actuating tools (for example, for closing grasping saws, applying an electrical potential to an electrode, or the like). As can be seen inFIG.35, in one form, the robotic arm cart1100is configured to actuate a plurality of surgical tools, generally designated as1200. Various robotic surgery systems and methods employing master controller and robotic arm cart arrangements are disclosed in U.S. Pat. No. 6,132,368, entitled MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD, the full disclosure of which is incorporated herein by reference. In various forms, the robotic arm cart1100includes a base1002from which, in the illustrated embodiment, three surgical tools1200are supported. In various forms, the surgical tools1200are each supported by a series of manually articulatable linkages, generally referred to as set-up joints1104, and a robotic manipulator1106. These structures are herein illustrated with protective covers extending over much of the robotic linkage. These protective covers may be optional, and may be limited in size or entirely eliminated in some embodiments to minimize the inertia that is encountered by the servo mechanisms used to manipulate such devices, to limit the volume of moving components so as to avoid collisions, and to limit the overall weight of the cart1100. Cart1100will generally have dimensions suitable for transporting the cart1100between operating rooms. The cart1100may be configured to typically fit through standard operating room doors and onto standard hospital elevators. In various forms, the cart1100would preferably have a weight and include a wheel (or other transportation) system that allows the cart1100to be positioned adjacent an operating table by a single attendant. Referring now toFIG.36, in at least one form, robotic manipulators1106may include a linkage1108that constrains movement of the surgical tool1200. In various embodiments, linkage1108includes rigid links coupled together by rotational joints in a parallelogram arrangement so that the surgical tool1200rotates around a point in space1110, as more fully described in issued 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 axis1112a, sometimes called the pitch axis. The links supporting the parallelogram linkage are pivotally mounted to set-up joints1104(FIG.35) so that the surgical tool1200further rotates about an axis1112b, sometimes called the yaw axis. The pitch and yaw axes1112a,1112bintersect at the remote center1114, which is aligned along a shaft1208of the surgical tool1200. The surgical tool1200may have further degrees of driven freedom as supported by manipulator1106, including sliding motion of the surgical tool1200along the longitudinal tool axis “LT-LT”. As the surgical tool1200slides along the tool axis LT-LT relative to manipulator1106(arrow1112c), remote center1114remains fixed relative to base1116of manipulator1106. Hence, the entire manipulator is generally moved to re-position remote center1114. Linkage1108of manipulator1106is driven by a series of motors1120. These motors actively move linkage1108in response to commands from a processor of a control system. As will be discussed in further detail below, motors1120are also employed to manipulate the surgical tool1200. An alternative set-up joint structure is illustrated inFIG.37. In this embodiment, a surgical tool1200is supported by an alternative manipulator structure1106′ between two tissue manipulation tools. Those of ordinary skill in the art will appreciate that various embodiments of the present invention may incorporate a wide variety of alternative robotic structures, including those described in U.S. Pat. No. 5,878,193, entitled AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING, the full disclosure of which is incorporated herein by reference. Additionally, while the data communication between a robotic component and the processor of the robotic surgical system is primarily described herein with reference to communication between the surgical tool1200and the master controller1001, it should be understood that similar communication may take place between circuitry of a manipulator, a set-up joint, an endoscope or other image capture device, or the like, and the processor of the robotic surgical system for component compatibility verification, component-type identification, component calibration (such as off-set or the like) communication, confirmation of coupling of the component to the robotic surgical system, or the like. An exemplary non-limiting surgical tool1200that is well-adapted for use with a robotic system1000that has a tool drive assembly1010(FIG.39) that is operatively coupled to a master controller1001that is operable by inputs from an operator (i.e., a surgeon) is depicted inFIG.38. As can be seen in that Figure, the surgical tool1200includes a surgical end effector2012that comprises an endocutter. In at least one form, the surgical tool1200generally includes an elongated shaft assembly2008that has a proximal closure tube2040and a distal closure tube2042that are coupled together by an articulation joint2011. The surgical tool1200is operably coupled to the manipulator by a tool mounting portion, generally designated as1300. The surgical tool1200further includes an interface1230which mechanically and electrically couples the tool mounting portion1300to the manipulator. One form of interface1230is illustrated inFIGS.39-43. In various embodiments, the tool mounting portion1300includes a tool mounting plate1302that operably supports a plurality of (four are shown inFIG.43) rotatable body portions, driven discs or elements1304, that each include a pair of pins1306that extend from a surface of the driven element1304. One pin1306is closer to an axis of rotation of each driven elements1304than the other pin1306on the same driven element1304, which helps to ensure positive angular alignment of the driven element1304. Interface1230includes an adaptor portion1240that is configured to mountingly engage the mounting plate1302as will be further discussed below. The adaptor portion1240may include an array of electrical connecting pins1242(FIG.41) which may be coupled to a memory structure by a circuit board within the tool mounting portion1300. While interface1230is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like. As can be seen inFIGS.39-42, the adapter portion1240generally includes a tool side1244and a holder side1246. In various forms, a plurality of rotatable bodies1250are mounted to a floating plate1248which has a limited range of movement relative to the surrounding adaptor structure normal to the major surfaces of the adaptor1240. Axial movement of the floating plate1248helps decouple the rotatable bodies1250from the tool mounting portion1300when the levers1303along the sides of the tool mounting portion housing1301are actuated (SeeFIG.38). Other mechanisms/arrangements may be employed for releasably coupling the tool mounting portion1300to the adaptor1240. In at least one form, rotatable bodies1250are resiliently mounted to floating plate1248by resilient radial members which extend into a circumferential indentation about the rotatable bodies1250. The rotatable bodies1250can move axially relative to plate1248by deflection of these resilient structures. When disposed in a first axial position (toward tool side1244) the rotatable bodies1250are free to rotate without angular limitation. However, as the rotatable bodies1250move axially toward tool side1244, tabs1252(extending radially from the rotatable bodies1250) laterally engage detents on the floating plates so as to limit angular rotation of the rotatable bodies1250about their axes. This limited rotation can be used to help drivingly engage the rotatable bodies1250with drive pins1272of a corresponding tool holder portion1270of the robotic system1000, as the drive pins1272will push the rotatable bodies1250into the limited rotation position until the pins1234are aligned with (and slide into) openings1256′. Openings1256on the tool side1244and openings1256′ on the holder side1246of rotatable bodies1250are configured to accurately align the driven elements1304(FIG.43) of the tool mounting portion1300with the drive elements1271of the tool holder1270. As described above regarding inner and outer pins1306of driven elements1304, the openings1256,1256′ are at differing distances from the axis of rotation on their respective rotatable bodies1250so as to ensure that the alignment is not 180 degrees from its intended position. Additionally, each of the openings1256is slightly radially elongated so as to fittingly receive the pins1306in the circumferential orientation. This allows the pins1306to slide radially within the openings1256,1256′ and accommodate some axial misalignment between the tool1200and tool holder1270, while minimizing any angular misalignment and backlash between the drive and driven elements. Openings1256on the tool side1244are offset by about 90 degrees from the openings1256′ (shown in broken lines) on the holder side1246, as can be seen most clearly inFIG.42. Various embodiments may further include an array of electrical connector pins1242located on holder side1246of adaptor1240, and the tool side1244of the adaptor1240may include slots1258(FIG.42) for receiving a pin array (not shown) from the tool mounting portion1300. In addition to transmitting electrical signals between the surgical tool1200and the tool holder1270, at least some of these electrical connections may be coupled to an adaptor memory device1260(FIG.41) by a circuit board of the adaptor1240. A detachable latch arrangement1239may be employed to releasably affix the adaptor1240to the tool holder1270. As used herein, the term “tool drive assembly” when used in the context of the robotic system1000, at least encompasses various embodiments of the adapter1240and tool holder1270and which has been generally designated as1010inFIG.39. For example, as can be seen inFIG.39, the tool holder1270may include a first latch pin arrangement1274that is sized to be received in corresponding clevis slots1241provided in the adaptor1240. In addition, the tool holder1270may further have second latch pins1276that are sized to be retained in corresponding latch clevises1243in the adaptor1240. SeeFIG.41. In at least one form, a latch assembly1245is movably supported on the adapter1240and is biasable between a first latched position wherein the latch pins1276are retained within their respective latch clevis1243and an unlatched position wherein the second latch pins1276may be into or removed from the latch clevises1243. A spring or springs (not shown) are employed to bias the latch assembly into the latched position. A lip on the tool side1244of adaptor1240may slidably receive laterally extending tabs of tool mounting housing1301. Turning next toFIGS.43-50, in at least one embodiment, the surgical tool1200includes a surgical end effector2012that comprises in this example, among other things, at least one component2024that is selectively movable between first and second positions relative to at least one other component2022in response to various control motions applied thereto as will be discussed in further detail below. In various embodiments, component2022comprises an elongated channel2022configured to operably support a surgical staple cartridge2034therein and component2024comprises a pivotally translatable clamping member, such as an anvil2024. Various embodiments of the surgical end effector2012are configured to maintain the anvil2024and elongated channel2022at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector2012. As can be seen inFIG.49, the surgical end effector2012further includes a cutting instrument2032and a sled2033. The cutting instrument2032may be, for example, a knife. The surgical staple cartridge2034operably houses a plurality of surgical staples (not show) therein that are supported on movable staple drivers (not shown). As the cutting instrument2032is driven distally through a centrally-disposed slot (not shown) in the surgical staple cartridge2034, it forces the sled2033distally as well. As the sled2033is driven distally, its “wedge-shaped” configuration contacts the movable staple drivers and drives them vertically toward the closed anvil2024. The surgical staples are formed as they are driven into the forming surface located on the underside of the anvil2024. The sled2033may be part of the surgical staple cartridge2034, such that when the cutting instrument2032is retracted following the cutting operation, the sled2033does not retract. The anvil2024may be pivotably opened and closed at a pivot point2025located at the proximal end of the elongated channel2022. The anvil2024may also include a tab2027at its proximal end that interacts with a component of the mechanical closure system (described further below) to facilitate the opening of the anvil2024. The elongated channel2022and the anvil2024may be made of an electrically conductive material (such as metal) so that they may serve as part of an antenna that communicates with sensor(s) in the end effector, as described above. The surgical staple cartridge2034could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge2034, as was also described above. As can be seen inFIGS.43-50, the surgical end effector2012is attached to the tool mounting portion1300by an elongated shaft assembly2008according to various embodiments. As shown in the illustrated embodiment, the shaft assembly2008includes an articulation joint generally indicated as2011that enables the surgical end effector2012to be selectively articulated about an articulation axis AA-AA that is substantially transverse to a longitudinal tool axis LT-LT. SeeFIG.44. In other embodiments, the articulation joint is omitted. In various embodiments, the shaft assembly2008may include a closure tube assembly2009that comprises a proximal closure tube2040and a distal closure tube2042that are pivotably linked by a pivot links2044and operably supported on a spine assembly generally depicted as2049. In the illustrated embodiment, the spine assembly2049comprises a distal spine portion2050that is attached to the elongated channel2022and is pivotally coupled to the proximal spine portion2052. The closure tube assembly2009is configured to axially slide on the spine assembly2049in response to actuation motions applied thereto. The distal closure tube2042includes an opening2045into which the tab2027on the anvil2024is inserted in order to facilitate opening of the anvil2024as the distal closure tube2042is moved axially in the proximal direction “PD”. The closure tubes2040,2042may be made of electrically conductive material (such as metal) so that they may serve as part of the antenna, as described above. Components of the main drive shaft assembly (e.g., the drive shafts2048,2050) may be made of a nonconductive material (such as plastic). In use, it may be desirable to rotate the surgical end effector2012about the longitudinal tool axis LT-LT. In at least one embodiment, the tool mounting portion1300includes a rotational transmission assembly2069that is configured to receive a corresponding rotary output motion from the tool drive assembly1010of the robotic system1000and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly2008(and surgical end effector2012) about the longitudinal tool axis LT-LT. In various embodiments, for example, the proximal end2060of the proximal closure tube2040is rotatably supported on the tool mounting plate1302of the tool mounting portion1300by a forward support cradle1309and a closure sled2100that is also movably supported on the tool mounting plate1302. In at least one form, the rotational transmission assembly2069includes a tube gear segment2062that is formed on (or attached to) the proximal end2060of the proximal closure tube2040for operable engagement by a rotational gear assembly2070that is operably supported on the tool mounting plate1302. As can be seen inFIG.46, the rotational gear assembly2070, in at least one embodiment, comprises a rotation drive gear2072that is coupled to a corresponding first one of the driven discs or elements1304on the adapter side1307of the tool mounting plate1302when the tool mounting portion1300is coupled to the tool drive assembly1010. SeeFIG.43. The rotational gear assembly2070further comprises a rotary driven gear2074that is rotatably supported on the tool mounting plate1302in meshing engagement with the tube gear segment2062and the rotation drive gear2072. Application of a first rotary output motion from the tool drive assembly1010of the robotic system1000to the corresponding driven element1304will thereby cause rotation of the rotation drive gear2072. Rotation of the rotation drive gear2072ultimately results in the rotation of the elongated shaft assembly2008(and the surgical end effector2012) about the longitudinal tool axis LT-LT (represented by arrow “R” inFIG.46). It will be appreciated that the application of a rotary output motion from the tool drive assembly1010in one direction will result in the rotation of the elongated shaft assembly2008and surgical end effector2012about the longitudinal tool axis LT-LT in a first direction and an application of the rotary output motion in an opposite direction will result in the rotation of the elongated shaft assembly2008and surgical end effector2012in a second direction that is opposite to the first direction. In at least one embodiment, the closure of the anvil2024relative to the staple cartridge2034is accomplished by axially moving the closure tube assembly2009in the distal direction “DD” on the spine assembly2049. As indicated above, in various embodiments, the proximal end2060of the proximal closure tube2040is supported by the closure sled2100which comprises a portion of a closure transmission, generally depicted as2099. In at least one form, the closure sled2100is configured to support the closure tube2009on the tool mounting plate1320such that the proximal closure tube2040can rotate relative to the closure sled2100, yet travel axially with the closure sled2100. In particular, as can be seen inFIG.51, the closure sled2100has an upstanding tab2101that extends into a radial groove2063in the proximal end portion of the proximal closure tube2040. In addition, as can be seen inFIGS.51and52, the closure sled2100has a tab portion2102that extends through a slot1305in the tool mounting plate1302. The tab portion2102is configured to retain the closure sled2100in sliding engagement with the tool mounting plate1302. In various embodiments, the closure sled2100has an upstanding portion2104that has a closure rack gear2106formed thereon. The closure rack gear2106is configured for driving engagement with a closure gear assembly2110. SeeFIG.48. In various forms, the closure gear assembly2110includes a closure spur gear2112that is coupled to a corresponding second one of the driven discs or elements1304on the adapter side1307of the tool mounting plate1302. SeeFIG.43. Thus, application of a second rotary output motion from the tool drive assembly1010of the robotic system1000to the corresponding second driven element1304will cause rotation of the closure spur gear2112when the tool mounting portion1300is coupled to the tool drive assembly1010. The closure gear assembly2110further includes a closure reduction gear set2114that is supported in meshing engagement with the closure spur gear2112. As can be seen inFIGS.47and48, the closure reduction gear set2114includes a driven gear2116that is rotatably supported in meshing engagement with the closure spur gear2112. The closure reduction gear set2114further includes a first closure drive gear2118that is in meshing engagement with a second closure drive gear2120that is rotatably supported on the tool mounting plate1302in meshing engagement with the closure rack gear2106. Thus, application of a second rotary output motion from the tool drive assembly1010of the robotic system1000to the corresponding second driven element1304will cause rotation of the closure spur gear2112and the closure transmission2110and ultimately drive the closure sled2100and closure tube assembly2009axially. The axial direction in which the closure tube assembly2009moves ultimately depends upon the direction in which the second driven element1304is rotated. For example, in response to one rotary output motion received from the tool drive assembly1010of the robotic system1000, the closure sled2100will be driven in the distal direction “DD” and ultimately drive the closure tube assembly1009in the distal direction. As the distal closure tube2042is driven distally, the end of the closure tube segment2042will engage a portion of the anvil2024and cause the anvil2024to pivot to a closed position. Upon application of an “opening” out put motion from the tool drive assembly1010of the robotic system1000, the closure sled2100and shaft assembly2008will be driven in the proximal direction “PD”. As the distal closure tube2042is driven in the proximal direction, the opening2045therein interacts with the tab2027on the anvil2024to facilitate the opening thereof. In various embodiments, a spring (not shown) may be employed to bias the anvil to the open position when the distal closure tube2042has been moved to its starting position. In various embodiments, the various gears of the closure gear assembly2110are sized to generate the necessary closure forces needed to satisfactorily close the anvil2024onto the tissue to be cut and stapled by the surgical end effector2012. For example, the gears of the closure transmission2110may be sized to generate approximately 70-120 pounds. In various embodiments, the cutting instrument2032is driven through the surgical end effector2012by a knife bar2200. SeeFIGS.49and51. In at least one form, the knife bar2200may be fabricated from, for example, stainless steel or other similar material and has a substantially rectangular cross-sectional shape. Such knife bar configuration is sufficiently rigid to push the cutting instrument2032through tissue clamped in the surgical end effector2012, while still being flexible enough to enable the surgical end effector2012to articulate relative to the proximal closure tube2040and the proximal spine portion2052about the articulation axis AA-AA as will be discussed in further detail below. As can be seen inFIGS.52and53, the proximal spine portion2052has a rectangular-shaped passage2054extending therethrough to provide support to the knife bar2200as it is axially pushed therethrough. The proximal spine portion2052has a proximal end2056that is rotatably mounted to a spine mounting bracket2057attached to the tool mounting plate1032. SeeFIG.51. Such arrangement permits the proximal spine portion2052to rotate, but not move axially, within the proximal closure tube2040. As shown inFIG.49, the distal end2202of the knife bar2200is attached to the cutting instrument2032. The proximal end2204of the knife bar2200is rotatably affixed to a knife rack gear2206such that the knife bar2200is free to rotate relative to the knife rack gear2206. SeeFIG.51. As can be seen inFIGS.45-50, the knife rack gear2206is slidably supported within a rack housing2210that is attached to the tool mounting plate1302such that the knife rack gear2206is retained in meshing engagement with a knife gear assembly2220. More specifically and with reference toFIG.48, in at least one embodiment, the knife gear assembly2220includes a knife spur gear2222that is coupled to a corresponding third one of the driven discs or elements1304on the adapter side1307of the tool mounting plate1302. SeeFIG.43. Thus, application of another rotary output motion from the robotic system1000through the tool drive assembly1010to the corresponding third driven element1304will cause rotation of the knife spur gear2222. The knife gear assembly2220further includes a knife gear reduction set2224that includes a first knife driven gear2226and a second knife drive gear2228. The knife gear reduction set2224is rotatably mounted to the tool mounting plate1302such that the first knife driven gear2226is in meshing engagement with the knife spur gear2222. Likewise, the second knife drive gear2228is in meshing engagement with a third knife drive gear2230that is rotatably supported on the tool mounting plate1302in meshing engagement with the knife rack gear2206. In various embodiments, the gears of the knife gear assembly2220are sized to generate the forces needed to drive the cutting element2032through the tissue clamped in the surgical end effector2012and actuate the staples therein. For example, the gears of the knife drive assembly2230may be sized to generate approximately 40 to 100 pounds. It will be appreciated that the application of a rotary output motion from the tool drive assembly1010in one direction will result in the axial movement of the cutting instrument2032in a distal direction and application of the rotary output motion in an opposite direction will result in the axial travel of the cutting instrument2032in a proximal direction. In various embodiments, the surgical tool1200employs and articulation system2007that includes an articulation joint2011that enables the surgical end effector2012to be articulated about an articulation axis AA-AA that is substantially transverse to the longitudinal tool axis LT-LT. In at least one embodiment, the surgical tool1200includes first and second articulation bars2250a,2250bthat are slidably supported within corresponding passages2053provided through the proximal spine portion2052. SeeFIGS.51and53. In at least one form, the first and second articulation bars2250a,2250bare actuated by an articulation transmission generally designated as2249that is operably supported on the tool mounting plate1032. Each of the articulation bars2250a,2250bhas a proximal end2252that has a guide rod protruding therefrom which extend laterally through a corresponding slot in the proximal end portion of the proximal spine portion2052and into a corresponding arcuate slot in an articulation nut2260which comprises a portion of the articulation transmission.FIG.52illustrates articulation bar2250a. It will be understood that articulation bar2250bis similarly constructed. As can be seen inFIG.52, for example, the articulation bar2250ahas a guide rod2254which extends laterally through a corresponding slot2058in the proximal end portion2056of the distal spine portion2050and into a corresponding arcuate slot2262in the articulation nut2260. In addition, the articulation bar2250ahas a distal end2251athat is pivotally coupled to the distal spine portion2050by, for example, a pin2253aand articulation bar2250bhas a distal end2251bthat is pivotally coupled to the distal spine portion2050by, for example, a pin2253b. In particular, the articulation bar2250ais laterally offset in a first lateral direction from the longitudinal tool axis LT-LT and the articulation bar2250bis laterally offset in a second lateral direction from the longitudinal tool axis LT-LT. Thus, axial movement of the articulation bars2250aand2250bin opposing directions will result in the articulation of the distal spine portion2050as well as the surgical end effector2012attached thereto about the articulation axis AA-AA as will be discussed in further detail below. Articulation of the surgical end effector2012is controlled by rotating the articulation nut2260about the longitudinal tool axis LT-LT. The articulation nut2260is rotatably journaled on the proximal end portion2056of the distal spine portion2050and is rotatably driven thereon by an articulation gear assembly2270. More specifically and with reference toFIG.46, in at least one embodiment, the articulation gear assembly2270includes an articulation spur gear2272that is coupled to a corresponding fourth one of the driven discs or elements1304on the adapter side1307of the tool mounting plate1302. SeeFIG.43. Thus, application of another rotary input motion from the robotic system1000through the tool drive assembly1010to the corresponding fourth driven element1304will cause rotation of the articulation spur gear2272when the interface1230is coupled to the tool holder1270. An articulation drive gear2274is rotatably supported on the tool mounting plate1302in meshing engagement with the articulation spur gear2272and a gear portion2264of the articulation nut2260as shown. As can be seen inFIGS.51and52, the articulation nut2260has a shoulder2266formed thereon that defines an annular groove2267for receiving retaining posts2268therein. Retaining posts2268are attached to the tool mounting plate1302and serve to prevent the articulation nut2260from moving axially on the proximal spine portion2052while maintaining the ability to be rotated relative thereto. Thus, rotation of the articulation nut2260in a first direction, will result in the axial movement of the articulation bar2250ain a distal direction “DD” and the axial movement of the articulation bar2250bin a proximal direction “PD” because of the interaction of the guide rods2254with the spiral slots2262in the articulation gear2260. Similarly, rotation of the articulation nut2260in a second direction that is opposite to the first direction will result in the axial movement of the articulation bar2250ain the proximal direction “PD” as well as cause articulation bar2250bto axially move in the distal direction “DD”. Thus, the surgical end effector2012may be selectively articulated about articulation axis “AA-AA” in a first direction “FD” by simultaneously moving the articulation bar2250ain the distal direction “DD” and the articulation bar2250bin the proximal direction “PD”. Likewise, the surgical end effector2012may be selectively articulated about the articulation axis “AA-AA” in a second direction “SD” by simultaneously moving the articulation bar2250ain the proximal direction “PD” and the articulation bar2250bin the distal direction “DD.” SeeFIG.44. The tool embodiment described above employs an interface arrangement that is particularly well-suited for mounting the robotically controllable medical tool onto at least one form of robotic arm arrangement that generates at least four different rotary control motions. Those of ordinary skill in the art will appreciate that such rotary output motions may be selectively controlled through the programmable control systems employed by the robotic system/controller. For example, the tool arrangement described above may be well-suited for use with those robotic systems manufactured by Intuitive Surgical, Inc. of Sunnyvale, Calif., U.S.A., many of which may be described in detail in various patents incorporated herein by reference. The unique and novel aspects of various embodiments of the present invention serve to utilize the rotary output motions supplied by the robotic system to generate specific control motions having sufficient magnitudes that enable end effectors to cut and staple tissue. Thus, the unique arrangements and principles of various embodiments of the present invention may enable a variety of different forms of the tool systems disclosed and claimed herein to be effectively employed in connection with other types and forms of robotic systems that supply programmed rotary or other output motions. In addition, as will become further apparent as the present Detailed Description proceeds, various end effector embodiments of the present invention that require other forms of actuation motions may also be effectively actuated utilizing one or more of the control motions generated by the robotic system. FIGS.55-59illustrate yet another surgical tool2300that may be effectively employed in connection with the robotic system1000that has a tool drive assembly that is operably coupled to a controller of the robotic system that is operable by inputs from an operator and which is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly. In various forms, the surgical tool2300includes a surgical end effector2312that includes an elongated channel2322and a pivotally translatable clamping member, such as an anvil2324, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector2312. As shown in the illustrated embodiment, the surgical end effector2312may include, in addition to the previously-mentioned elongated channel2322and anvil2324, a cutting instrument2332that has a sled portion2333formed thereon, a surgical staple cartridge2334that is seated in the elongated channel2322, and a rotary end effector drive shaft2336that has a helical screw thread formed thereon. The cutting instrument2332may be, for example, a knife. As will be discussed in further detail below, rotation of the end effector drive shaft2336will cause the cutting instrument2332and sled portion2333to axially travel through the surgical staple cartridge2334to move between a starting position and an ending position. The direction of axial travel of the cutting instrument2332depends upon the direction in which the end effector drive shaft2336is rotated. The anvil2324may be pivotably opened and closed at a pivot point2325connected to the proximate end of the elongated channel2322. The anvil2324may also include a tab2327at its proximate end that operably interfaces with a component of the mechanical closure system (described further below) to open and close the anvil2324. When the end effector drive shaft2336is rotated, the cutting instrument2332and sled2333will travel longitudinally through the surgical staple cartridge2334from the starting position to the ending position, thereby cutting tissue clamped within the surgical end effector2312. The movement of the sled2333through the surgical staple cartridge2334causes the staples therein to be driven through the severed tissue and against the closed anvil2324, which turns the staples to fasten the severed tissue. In one form, the elongated channel2322and the anvil2324may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the end effector, as described above. The surgical staple cartridge2334could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge2334, as described above. It should be noted that although the embodiments of the surgical tool2300described herein employ a surgical end effector2312that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, and U.S. Pat. No. 5,688,270, entitled ELECTROSURGICAL HEMOSTATIC DEVICE WITH RECESSED AND/OR OFFSET ELECTRODES, which are incorporated herein by reference, discloses cutting instruments that use RF energy to fasten the severed tissue. U.S. patent application Ser. No. 11/267,811, now U.S. Pat. No. 7,673,783 and U.S. patent application Ser. No. 11/267,383, now U.S. Pat. No. 7,607,557, which are also incorporated herein by reference, disclose cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used. In the illustrated embodiment, the surgical end effector2312is coupled to an elongated shaft assembly2308that is coupled to a tool mounting portion2460and defines a longitudinal tool axis LT-LT. In this embodiment, the elongated shaft assembly2308does not include an articulation joint. Those of ordinary skill in the art will understand that other embodiments may have an articulation joint therein. In at least one embodiment, the elongated shaft assembly2308comprises a hollow outer tube2340that is rotatably supported on a tool mounting plate2462of a tool mounting portion2460as will be discussed in further detail below. In various embodiments, the elongated shaft assembly2308further includes a distal spine shaft2350. Distal spine shaft2350has a distal end portion2354that is coupled to, or otherwise integrally formed with, a distal stationary base portion2360that is non-movably coupled to the channel2322. SeeFIGS.56-58. As shown inFIG.56, the distal spine shaft2350has a proximal end portion2351that is slidably received within a slot2355in a proximal spine shaft2353that is non-movably supported within the hollow outer tube2340by at least one support collar2357. As can be further seen inFIGS.56and57, the surgical tool2300includes a closure tube2370that is constrained to only move axially relative to the distal stationary base portion2360. The closure tube2370has a proximal end2372that has an internal thread2374formed therein that is in threaded engagement with a transmission arrangement, generally depicted as2375that is operably supported on the tool mounting plate2462. In various forms, the transmission arrangement2375includes a rotary drive shaft assembly, generally designated as2381. When rotated, the rotary drive shaft assembly2381will cause the closure tube2370to move axially as will be describe in further detail below. In at least one form, the rotary drive shaft assembly2381includes a closure drive nut2382of a closure clutch assembly generally designated as2380. More specifically, the closure drive nut2382has a proximal end portion2384that is rotatably supported relative to the outer tube2340and is in threaded engagement with the closure tube2370. For assembly purposes, the proximal end portion2384may be threadably attached to a retention ring2386. Retention ring2386, in cooperation with an end2387of the closure drive nut2382, defines an annular slot2388into which a shoulder2392of a locking collar2390extends. The locking collar2390is non-movably attached (e.g., welded, glued, etc.) to the end of the outer tube2340. Such arrangement serves to affix the closure drive nut2382to the outer tube2340while enabling the closure drive nut2382to rotate relative to the outer tube2340. The closure drive nut2382further has a distal end2383that has a threaded portion2385that threadably engages the internal thread2374of the closure tube2370. Thus, rotation of the closure drive nut2382will cause the closure tube2370to move axially as represented by arrow “D” inFIG.57. Closure of the anvil2324and actuation of the cutting instrument2332are accomplished by control motions that are transmitted by a hollow drive sleeve2400. As can be seen inFIGS.56and57, the hollow drive sleeve2400is rotatably and slidably received on the distal spine shaft2350. The drive sleeve2400has a proximal end portion2401that is rotatably mounted to the proximal spine shaft2353that protrudes from the tool mounting portion2460such that the drive sleeve2400may rotate relative thereto. SeeFIG.56. As can also be seen inFIGS.56-58, the drive sleeve2400is rotated about the longitudinal tool axis “LT-LT” by a drive shaft2440. The drive shaft2440has a drive gear2444that is attached to its distal end2442and is in meshing engagement with a driven gear2450that is attached to the drive sleeve2400. The drive sleeve2400further has a distal end portion2402that is coupled to a closure clutch2410portion of the closure clutch assembly2380that has a proximal face2412and a distal face2414. The proximal face2412has a series of proximal teeth2416formed thereon that are adapted for selective engagement with corresponding proximal teeth cavities2418formed in the proximal end portion2384of the closure drive nut2382. Thus, when the proximal teeth2416are in meshing engagement with the proximal teeth cavities2418in the closure drive nut2382, rotation of the drive sleeve2400will result in rotation of the closure drive nut2382and ultimately cause the closure tube2370to move axially as will be discussed in further detail below. As can be most particularly seen inFIGS.56and57, the distal face2414of the drive clutch portion2410has a series of distal teeth2415formed thereon that are adapted for selective engagement with corresponding distal teeth cavities2426formed in a face plate portion2424of a knife drive shaft assembly2420. In various embodiments, the knife drive shaft assembly2420comprises a hollow knife shaft segment2430that is rotatably received on a corresponding portion of the distal spine shaft2350that is attached to or protrudes from the stationary base2360. When the distal teeth2415of the closure clutch portion2410are in meshing engagement with the distal teeth cavities2426in the face plate portion2424, rotation of the drive sleeve2400will result in rotation of the drive shaft segment2430about the stationary shaft2350. As can be seen inFIGS.56-58, a knife drive gear2432is attached to the drive shaft segment2430and is meshing engagement with a drive knife gear2434that is attached to the end effector drive shaft2336. Thus, rotation of the drive shaft segment2430will result in the rotation of the end effector drive shaft2336to drive the cutting instrument2332and sled2333distally through the surgical staple cartridge2334to cut and staple tissue clamped within the surgical end effector2312. The sled2333may be made of, for example, plastic, and may have a sloped distal surface. As the sled2333traverses the elongated channel2322, the sloped forward surface of the sled2333pushes up or “drive” the staples in the surgical staple cartridge2334through the clamped tissue and against the anvil2324. The anvil2324turns or “forms” the staples, thereby stapling the severed tissue. As used herein, the term “fire” refers to the initiation of actions required to drive the cutting instrument and sled portion in a distal direction through the surgical staple cartridge to cut the tissue clamped in the surgical end effector and drive the staples through the severed tissue. In use, it may be desirable to rotate the surgical end effector2312about the longitudinal tool axis LT-LT. In at least one embodiment, the transmission arrangement2375includes a rotational transmission assembly2465that is configured to receive a corresponding rotary output motion from the tool drive assembly1010of the robotic system1000and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly2308(and surgical end effector2312) about the longitudinal tool axis LT-LT. As can be seen inFIG.59, a proximal end2341of the outer tube2340is rotatably supported within a cradle arrangement2343attached to the tool mounting plate2462of the tool mounting portion2460. A rotation gear2345is formed on or attached to the proximal end2341of the outer tube2340of the elongated shaft assembly2308for meshing engagement with a rotation gear assembly2470operably supported on the tool mounting plate2462. In at least one embodiment, a rotation drive gear2472is coupled to a corresponding first one of the driven discs or elements1304on the adapter side of the tool mounting plate2462when the tool mounting portion2460is coupled to the tool drive assembly1010. SeeFIGS.43and59. The rotation drive assembly2470further comprises a rotary driven gear2474that is rotatably supported on the tool mounting plate2462in meshing engagement with the rotation gear2345and the rotation drive gear2472. Application of a first rotary output motion from the robotic system1000through the tool drive assembly1010to the corresponding driven element1304will thereby cause rotation of the rotation drive gear2472by virtue of being operably coupled thereto. Rotation of the rotation drive gear2472ultimately results in the rotation of the elongated shaft assembly2308(and the end effector2312) about the longitudinal tool axis LT-LT (primary rotary motion). Closure of the anvil2324relative to the staple cartridge2034is accomplished by axially moving the closure tube2370in the distal direction “DD”. Axial movement of the closure tube2370in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut2382. To apply the rotary control motion to the closure drive nut2382, the closure clutch2410must first be brought into meshing engagement with the proximal end portion2384of the closure drive nut2382. In various embodiments, the transmission arrangement2375further includes a shifter drive assembly2480that is operably supported on the tool mounting plate2462. More specifically and with reference toFIG.59, it can be seen that a proximal end portion2359of the proximal spine portion2353extends through the rotation gear2345and is rotatably coupled to a shifter gear rack2481that is slidably affixed to the tool mounting plate2462through slots2482. The shifter drive assembly2480further comprises a shifter drive gear2483that is coupled to a corresponding second one of the driven discs or elements1304on the adapter side of the tool mounting plate2462when the tool mounting portion2460is coupled to the tool holder1270. SeeFIGS.43and59. The shifter drive assembly2480further comprises a shifter driven gear2478that is rotatably supported on the tool mounting plate2462in meshing engagement with the shifter drive gear2483and the shifter rack gear2482. Application of a second rotary output motion from the robotic system1000through the tool drive assembly1010to the corresponding driven element1304will thereby cause rotation of the shifter drive gear2483by virtue of being operably coupled thereto. Rotation of the shifter drive gear2483ultimately results in the axial movement of the shifter gear rack2482and the proximal spine portion2353as well as the drive sleeve2400and the closure clutch2410attached thereto. The direction of axial travel of the closure clutch2410depends upon the direction in which the shifter drive gear2483is rotated by the robotic system1000. Thus, rotation of the shifter drive gear2483in a first rotary direction will result in the axial movement of the closure clutch2410in the proximal direction “PD” to bring the proximal teeth2416into meshing engagement with the proximal teeth cavities2418in the closure drive nut2382. Conversely, rotation of the shifter drive gear2483in a second rotary direction (opposite to the first rotary direction) will result in the axial movement of the closure clutch2410in the distal direction “DD” to bring the distal teeth2415into meshing engagement with corresponding distal teeth cavities2426formed in the face plate portion2424of the knife drive shaft assembly2420. Once the closure clutch2410has been brought into meshing engagement with the closure drive nut2382, the closure drive nut2382is rotated by rotating the closure clutch2410. Rotation of the closure clutch2410is controlled by applying rotary output motions to a rotary drive transmission portion2490of transmission arrangement2375that is operably supported on the tool mounting plate2462as shown inFIG.59. In at least one embodiment, the rotary drive transmission2490includes a rotary drive assembly2490′ that includes a gear2491that is coupled to a corresponding third one of the driven discs or elements1304on the adapter side of the tool mounting plate2462when the tool mounting portion2460is coupled to the tool holder1270. SeeFIGS.43and59. The rotary drive transmission2490further comprises a first rotary driven gear2492that is rotatably supported on the tool mounting plate2462in meshing engagement with a second rotary driven gear2493and the rotary drive gear2491. The second rotary driven gear2493is coupled to a proximal end portion2443of the drive shaft2440. Rotation of the rotary drive gear2491in a first rotary direction will result in the rotation of the drive shaft2440in a first direction. Conversely, rotation of the rotary drive gear2491in a second rotary direction (opposite to the first rotary direction) will cause the drive shaft2440to rotate in a second direction. As indicated above, the drive shaft2440has a drive gear2444that is attached to its distal end2442and is in meshing engagement with a driven gear2450that is attached to the drive sleeve2400. Thus, rotation of the drive shaft2440results in rotation of the drive sleeve2400. A method of operating the surgical tool2300will now be described. Once the tool mounting portion2462has been operably coupled to the tool holder1270of the robotic system1000and oriented into position adjacent the target tissue to be cut and stapled, if the anvil2334is not already in the open position (FIG.56), the robotic system1000may apply the first rotary output motion to the shifter drive gear2483which results in the axial movement of the closure clutch2410into meshing engagement with the closure drive nut2382(if it is not already in meshing engagement therewith). SeeFIG.57. Once the controller1001of the robotic system1000has confirmed that the closure clutch2410is meshing engagement with the closure drive nut2382(e.g., by means of sensor(s)) in the surgical end effector2312that are in communication with the robotic control system), the robotic controller1001may then apply a second rotary output motion to the rotary drive gear2492which, as was described above, ultimately results in the rotation of the rotary drive nut2382in the first direction which results in the axial travel of the closure tube2370in the distal direction “DD”. As the closure tube2370moved in the distal direction, it contacts a portion of the anvil2323and causes the anvil2324to pivot to the closed position to clamp the target tissue between the anvil2324and the surgical staple cartridge2334. Once the robotic controller1001determines that the anvil2334has been pivoted to the closed position by corresponding sensor(s) in the surgical end effector2312in communication therewith, the robotic system1000discontinues the application of the second rotary output motion to the rotary drive gear2491. The robotic controller1001may also provide the surgeon with an indication that the anvil2334has been fully closed. The surgeon may then initiate the firing procedure. In alternative embodiments, the firing procedure may be automatically initiated by the robotic controller1001. The robotic controller1001then applies the primary rotary control motion2483to the shifter drive gear2483which results in the axial movement of the closure clutch2410into meshing engagement with the face plate portion2424of the knife drive shaft assembly2420. SeeFIG.58. Once the controller1001of the robotic system1000has confirmed that the closure clutch2410is meshing engagement with the face plate portion2424(by means of sensor(s)) in the end effector2312that are in communication with the robotic controller1001), the robotic controller1001may then apply the second rotary output motion to the rotary drive gear2492which, as was described above, ultimately results in the axial movement of the cutting instrument2332and sled portion2333in the distal direction “DD” through the surgical staple cartridge2334. As the cutting instrument2332moves distally through the surgical staple cartridge2334, the tissue clamped therein is severed. As the sled portion2333is driven distally, it causes the staples within the surgical staple cartridge to be driven through the severed tissue into forming contact with the anvil2324. Once the robotic controller1001has determined that the cutting instrument2324has reached the end position within the surgical staple cartridge2334(by means of sensor(s)) in the end effector2312that are in communication with the robotic controller1001), the robotic controller1001discontinues the application of the second rotary output motion to the rotary drive gear2491. Thereafter, the robotic controller1001applies the secondary rotary output motion to the rotary drive gear2491which ultimately results in the axial travel of the cutting instrument2332and sled portion2333in the proximal direction “PD” to the starting position. Once the robotic controller1001has determined that the cutting instrument2324has reached the staring position by means of sensor(s) in the surgical end effector2312that are in communication with the robotic controller1001, the robotic controller1001discontinues the application of the secondary rotary output motion to the rotary drive gear2491. Thereafter, the robotic controller1001applies the primary rotary output motion to the shifter drive gear2483to cause the closure clutch2410to move into engagement with the rotary drive nut2382. Once the closure clutch2410has been moved into meshing engagement with the rotary drive nut2382, the robotic controller1001then applies the secondary output motion to the rotary drive gear2491which ultimately results in the rotation of the rotary drive nut2382in the second direction to cause the closure tube2370to move in the proximal direction “PD”. As can be seen inFIGS.56-58, the closure tube2370has an opening2345therein that engages the tab2327on the anvil2324to cause the anvil2324to pivot to the open position. In alternative embodiments, a spring may also be employed to pivot the anvil2324to the open position when the closure tube2370has been returned to the starting position (FIG.56). FIGS.60-64illustrate yet another surgical tool2500that may be effectively employed in connection with the robotic system1000. In various forms, the surgical tool2500includes a surgical end effector2512that includes a “first portion” in the form of an elongated channel2522and a “second movable portion” in the form of a pivotally translatable clamping member, such as an anvil2524, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector2512. As shown in the illustrated embodiment, the surgical end effector2512may include, in addition to the previously-mentioned elongated channel2522and anvil2524, a “third movable portion” in the form of a cutting instrument2532, a sled (not shown), and a surgical staple cartridge2534that is removably seated in the elongated channel2522. The cutting instrument2532may be, for example, a knife. The anvil2524may be pivotably opened and closed at a pivot point2525connected to the proximate end of the elongated channel2522. The anvil2524may also include a tab2527at its proximate end that is configured to operably interface with a component of the mechanical closure system (described further below) to open and close the anvil2524. When actuated, the knife2532and sled travel longitudinally along the elongated channel2522, thereby cutting tissue clamped within the surgical end effector2512. The movement of the sled along the elongated channel2522causes the staples of the surgical staple cartridge2534to be driven through the severed tissue and against the closed anvil2524, which turns the staples to fasten the severed tissue. In one form, the elongated channel2522and the anvil2524may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the surgical end effector, as described above. The surgical staple cartridge2534could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge2534, as described above. It should be noted that although the embodiments of the surgical tool2500described herein employ a surgical end effector2512that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, and U.S. Pat. No. 5,688,270, entitled ELECTROSURGICAL HEMOSTATIC DEVICE WITH RECESSED AND/OR OFFSET ELECTRODES, which are incorporated herein by reference, discloses cutting instruments that use RF energy to fasten the severed tissue. U.S. patent application Ser. No. 11/267,811 now U.S. Pat. No. 7,673,783 and U.S. patent application Ser. No. 11/267,383, now U.S. Pat. No. 7,607,557, which are also incorporated herein by reference, disclose cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used. In the illustrated embodiment, the elongated channel2522of the surgical end effector2512is coupled to an elongated shaft assembly2508that is coupled to a tool mounting portion2600. As shown inFIG.60, the elongated shaft assembly2508may include an articulation joint2511of the type and construction described herein to permit the surgical end effector2512to be selectively articulated about an axis that is substantially transverse to the tool axis LT-LT. Other embodiments, however, may lack an articulation joint arrangement. In at least one embodiment, the elongated shaft assembly2508comprises a hollow spine tube2540that is non-movably coupled to a tool mounting plate2602of the tool mounting portion2600. As can be seen inFIGS.61and62, the proximal end2523of the elongated channel2522comprises a hollow tubular structure configured to be attached to the distal end2541of the spine tube2540. In one embodiment, for example, the proximal end2523of the elongated channel2522is welded or glued to the distal end of the spine tube2540. As can be further seen inFIGS.61and62, in at least one non-limiting embodiment, the surgical tool2500further includes an axially movable actuation member in the form of a closure tube2550that is constrained to move axially relative to the elongated channel2522and the spine tube1540. The closure tube2550has a proximal end2552that has an internal thread2554formed therein that is in threaded engagement with a rotatably movable portion in the form of a closure drive nut2560. More specifically, the closure drive nut2560has a proximal end portion2562that is rotatably supported relative to the elongated channel2522and the spine tube2540. For assembly purposes, the proximal end portion2562is threadably attached to a retention ring2570. The retention ring2570is received in a groove2529formed between a shoulder2527on the proximal end2523of the elongated channel2522and the distal end2541of the spine tube1540. Such arrangement serves to rotatably support the closure drive nut2560within the elongated channel2522. Rotation of the closure drive nut2560will cause the closure tube2550to move axially as represented by arrow “D” inFIG.61. Extending through the spine tube2540and the closure drive nut2560is a drive member which, in at least one embodiment, comprises a knife bar2580that has a distal end portion2582that is rotatably coupled to the cutting instrument2532such that the knife bar2580may rotate relative to the cutting instrument2582. As can be seen inFIG.61-63, the closure drive nut2560has a slot2564therein through which the knife bar2580can slidably extend. Such arrangement permits the knife bar2580to move axially relative to the closure drive nut2560. However, rotation of the knife bar2580about the longitudinal tool axis LT-LT will also result in the rotation of the closure drive nut2560. The axial direction in which the closure tube2550moves ultimately depends upon the direction in which the knife bar2580and the closure drive nut2560are rotated. As the closure tube2550is driven distally, the distal end thereof will contact the anvil2524and cause the anvil2524to pivot to a closed position. Upon application of an opening rotary output motion from the robotic system1000, the closure tube2550will be driven in the proximal direction “PD” and pivot the anvil2524to the open position by virtue of the engagement of the tab2527with the opening2555in the closure tube2550. In use, it may be desirable to rotate the surgical end effector2512about the longitudinal tool axis LT-LT. In at least one embodiment, the tool mounting portion2600is configured to receive a corresponding first rotary output motion from the robotic system1000and convert that first rotary output motion to a rotary control motion for rotating the elongated shaft assembly2508about the longitudinal tool axis LT-LT. As can be seen inFIG.64, a proximal end2542of the hollow spine tube2540is rotatably supported within a cradle arrangement2603attached to a tool mounting plate2602of the tool mounting portion2600. Various embodiments of the surgical tool2500further include a transmission arrangement, generally depicted as2605, that is operably supported on the tool mounting plate2602. In various forms the transmission arrangement2605include a rotation gear2544that is formed on or attached to the proximal end2542of the spine tube2540for meshing engagement with a rotation drive assembly2610that is operably supported on the tool mounting plate2602. In at least one embodiment, a rotation drive gear2612is coupled to a corresponding first one of the rotational bodies, driven discs or elements1304on the adapter side of the tool mounting plate2602when the tool mounting portion2600is coupled to the tool holder1270. SeeFIGS.43and64. The rotation drive assembly2610further comprises a rotary driven gear2614that is rotatably supported on the tool mounting plate2602in meshing engagement with the rotation gear2544and the rotation drive gear2612. Application of a first rotary output motion from the robotic system1000through the tool drive assembly1010to the corresponding driven rotational body1304will thereby cause rotation of the rotation drive gear2612by virtue of being operably coupled thereto. Rotation of the rotation drive gear2612ultimately results in the rotation of the elongated shaft assembly2508(and the end effector2512) about the longitudinal tool axis LT-LT. Closure of the anvil2524relative to the surgical staple cartridge2534is accomplished by axially moving the closure tube2550in the distal direction “DD”. Axial movement of the closure tube2550in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut2382. In various embodiments, the closure drive nut2560is rotated by applying a rotary output motion to the knife bar2580. Rotation of the knife bar2580is controlled by applying rotary output motions to a rotary closure system2620that is operably supported on the tool mounting plate2602as shown inFIG.64. In at least one embodiment, the rotary closure system2620includes a closure drive gear2622that is coupled to a corresponding second one of the driven rotatable body portions discs or elements1304on the adapter side of the tool mounting plate2462when the tool mounting portion2600is coupled to the tool holder1270. SeeFIGS.43and64. The closure drive gear2622, in at least one embodiment, is in meshing driving engagement with a closure gear train, generally depicted as2623. The closure gear drive rain2623comprises a first driven closure gear2624that is rotatably supported on the tool mounting plate2602. The first closure driven gear2624is attached to a second closure driven gear2626by a drive shaft2628. The second closure driven gear2626is in meshing engagement with a third closure driven gear2630that is rotatably supported on the tool mounting plate2602. Rotation of the closure drive gear2622in a second rotary direction will result in the rotation of the third closure driven gear2630in a second direction. Conversely, rotation of the closure drive gear2483in a secondary rotary direction (opposite to the second rotary direction) will cause the third closure driven gear2630to rotate in a secondary direction. As can be seen inFIG.64, a drive shaft assembly2640is coupled to a proximal end of the knife bar2580. In various embodiments, the drive shaft assembly2640includes a proximal portion2642that has a square cross-sectional shape. The proximal portion2642is configured to slidably engage a correspondingly shaped aperture in the third driven gear2630. Such arrangement results in the rotation of the drive shaft assembly2640(and knife bar2580) when the third driven gear2630is rotated. The drive shaft assembly2640is axially advanced in the distal and proximal directions by a knife drive assembly2650. One form of the knife drive assembly2650comprises a rotary drive gear2652that is coupled to a corresponding third one of the driven rotatable body portions, discs or elements1304on the adapter side of the tool mounting plate2462when the tool mounting portion2600is coupled to the tool holder1270. SeeFIGS.43and64. The rotary driven gear2652is in meshing driving engagement with a gear train, generally depicted as2653. In at least one form, the gear train2653further comprises a first rotary driven gear assembly2654that is rotatably supported on the tool mounting plate2602. The first rotary driven gear assembly2654is in meshing engagement with a third rotary driven gear assembly2656that is rotatably supported on the tool mounting plate2602and which is in meshing engagement with a fourth rotary driven gear assembly2658that is in meshing engagement with a threaded portion2644of the drive shaft assembly2640. Rotation of the rotary drive gear2652in a third rotary direction will result in the axial advancement of the drive shaft assembly2640and knife bar2580in the distal direction “DD”. Conversely, rotation of the rotary drive gear2652in a tertiary rotary direction (opposite to the third rotary direction) will cause the drive shaft assembly2640and the knife bar2580to move in the proximal direction. A method of operating the surgical tool2500will now be described. Once the tool mounting portion2600has been operably coupled to the tool holder1270of the robotic system1000, the robotic system1000can orient the surgical end effector2512in position adjacent the target tissue to be cut and stapled. If the anvil2524is not already in the open position (FIG.61), the robotic system1000may apply the second rotary output motion to the closure drive gear2622which results in the rotation of the knife bar2580in a second direction. Rotation of the knife bar2580in the second direction results in the rotation of the closure drive nut2560in a second direction. As the closure drive nut2560rotates in the second direction, the closure tube2550moves in the proximal direction “PD”. As the closure tube2550moves in the proximal direction “PD”, the tab2527on the anvil2524interfaces with the opening2555in the closure tube2550and causes the anvil2524to pivot to the open position. In addition or in alternative embodiments, a spring (not shown) may be employed to pivot the anvil2354to the open position when the closure tube2550has been returned to the starting position (FIG.61). The opened surgical end effector2512may then be manipulated by the robotic system1000to position the target tissue between the open anvil2524and the surgical staple cartridge2534. Thereafter, the surgeon may initiate the closure process by activating the robotic control system1000to apply the second rotary output motion to the closure drive gear2622which, as was described above, ultimately results in the rotation of the closure drive nut2382in the second direction which results in the axial travel of the closure tube2250in the distal direction “DD”. As the closure tube2550moves in the distal direction, it contacts a portion of the anvil2524and causes the anvil2524to pivot to the closed position to clamp the target tissue between the anvil2524and the staple cartridge2534. Once the robotic controller1001determines that the anvil2524has been pivoted to the closed position by corresponding sensor(s) in the end effector2512that are in communication therewith, the robotic controller1001discontinues the application of the second rotary output motion to the closure drive gear2622. The robotic controller1001may also provide the surgeon with an indication that the anvil2524has been fully closed. The surgeon may then initiate the firing procedure. In alternative embodiments, the firing procedure may be automatically initiated by the robotic controller1001. After the robotic controller1001has determined that the anvil2524is in the closed position, the robotic controller1001then applies the third rotary output motion to the rotary drive gear2652which results in the axial movement of the drive shaft assembly2640and knife bar2580in the distal direction “DD”. As the cutting instrument2532moves distally through the surgical staple cartridge2534, the tissue clamped therein is severed. As the sled portion (not shown) is driven distally, it causes the staples within the surgical staple cartridge2534to be driven through the severed tissue into forming contact with the anvil2524. Once the robotic controller1001has determined that the cutting instrument2532has reached the end position within the surgical staple cartridge2534by means of sensor(s) in the surgical end effector2512that are in communication with the robotic controller1001, the robotic controller1001discontinues the application of the second rotary output motion to the rotary drive gear2652. Thereafter, the robotic controller1001applies the secondary rotary control motion to the rotary drive gear2652which ultimately results in the axial travel of the cutting instrument2532and sled portion in the proximal direction “PD” to the starting position. Once the robotic controller1001has determined that the cutting instrument2524has reached the staring position by means of sensor(s) in the end effector2512that are in communication with the robotic controller1001, the robotic controller1001discontinues the application of the secondary rotary output motion to the rotary drive gear2652. Thereafter, the robotic controller1001may apply the secondary rotary output motion to the closure drive gear2622which results in the rotation of the knife bar2580in a secondary direction. Rotation of the knife bar2580in the secondary direction results in the rotation of the closure drive nut2560in a secondary direction. As the closure drive nut2560rotates in the secondary direction, the closure tube2550moves in the proximal direction “PD” to the open position. FIGS.65-70Billustrate yet another surgical tool2700that may be effectively employed in connection with the robotic system1000. In various forms, the surgical tool2700includes a surgical end effector2712that includes a “first portion” in the form of an elongated channel2722and a “second movable portion” in on form comprising a pivotally translatable clamping member, such as an anvil2724, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector2712. As shown in the illustrated embodiment, the surgical end effector2712may include, in addition to the previously-mentioned channel2722and anvil2724, a “third movable portion” in the form of a cutting instrument2732, a sled (not shown), and a surgical staple cartridge2734that is removably seated in the elongated channel2722. The cutting instrument2732may be, for example, a knife. The anvil2724may be pivotably opened and closed at a pivot point2725connected to the proximal end of the elongated channel2722. The anvil2724may also include a tab2727at its proximal end that interfaces with a component of the mechanical closure system (described further below) to open and close the anvil2724. When actuated, the knife2732and sled to travel longitudinally along the elongated channel2722, thereby cutting tissue clamped within the surgical end effector2712. The movement of the sled along the elongated channel2722causes the staples of the surgical staple cartridge2734to be driven through the severed tissue and against the closed anvil2724, which turns the staples to fasten the severed tissue. In one form, the elongated channel2722and the anvil2724may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the surgical end effector, as described above. The surgical staple cartridge2734could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge2734, as described above. It should be noted that although the embodiments of the surgical tool2500described herein employ a surgical end effector2712that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, and U.S. Pat. No. 5,688,270, entitled ELECTROSURGICAL HEMOSTATIC DEVICE WITH RECESSED AND/OR OFFSET ELECTRODES, which are incorporated herein by reference, discloses cutting instruments that use RF energy to fasten the severed tissue. U.S. patent application Ser. No. 11/267,811, now U.S. Pat. No. 7,673,783 and U.S. patent application Ser. No. 11/267,383, now U.S. Pat. No. 7,607,557, which are also incorporated herein by reference, disclose cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used. In the illustrated embodiment, the elongated channel2722of the surgical end effector2712is coupled to an elongated shaft assembly2708that is coupled to a tool mounting portion2900. Although not shown, the elongated shaft assembly2708may include an articulation joint to permit the surgical end effector2712to be selectively articulated about an axis that is substantially transverse to the tool axis LT-LT. In at least one embodiment, the elongated shaft assembly2708comprises a hollow spine tube2740that is non-movably coupled to a tool mounting plate2902of the tool mounting portion2900. As can be seen inFIGS.66and67, the proximal end2723of the elongated channel2722comprises a hollow tubular structure that is attached to the spine tube2740by means of a mounting collar2790. A cross-sectional view of the mounting collar2790is shown inFIG.69. In various embodiments, the mounting collar2790has a proximal flanged end2791that is configured for attachment to the distal end of the spine tube2740. In at least one embodiment, for example, the proximal flanged end2791of the mounting collar2790is welded or glued to the distal end of the spine tube2740. As can be further seen inFIGS.66and67, the mounting collar2790further has a mounting hub portion2792that is sized to receive the proximal end2723of the elongated channel2722thereon. The proximal end2723of the elongated channel2722is non-movably attached to the mounting hub portion2792by, for example, welding, adhesive, etc. As can be further seen inFIGS.66and67, the surgical tool2700further includes an axially movable actuation member in the form of a closure tube2750that is constrained to move axially relative to the elongated channel2722. The closure tube2750has a proximal end2752that has an internal thread2754formed therein that is in threaded engagement with a rotatably movable portion in the form of a closure drive nut2760. More specifically, the closure drive nut2760has a proximal end portion2762that is rotatably supported relative to the elongated channel2722and the spine tube2740. For assembly purposes, the proximal end portion2762is threadably attached to a retention ring2770. The retention ring2770is received in a groove2729formed between a shoulder2727on the proximal end2723of the channel2722and the mounting hub2729of the mounting collar2790. Such arrangement serves to rotatably support the closure drive nut2760within the channel2722. Rotation of the closure drive nut2760will cause the closure tube2750to move axially as represented by arrow “D” inFIG.66. Extending through the spine tube2740, the mounting collar2790, and the closure drive nut2760is a drive member, which in at least one embodiment, comprises a knife bar2780that has a distal end portion2782that is coupled to the cutting instrument2732. As can be seen inFIGS.66and67, the mounting collar2790has a passage2793therethrough for permitting the knife bar2780to slidably pass therethrough. Similarly, the closure drive nut2760has a slot2764therein through which the knife bar2780can slidably extend. Such arrangement permits the knife bar2780to move axially relative to the closure drive nut2760. Actuation of the anvil2724is controlled by a rotary driven closure shaft2800. As can be seen inFIGS.66and67, a distal end portion2802of the closure drive shaft2800extends through a passage2794in the mounting collar2790and a closure gear2804is attached thereto. The closure gear2804is configured for driving engagement with the inner surface2761of the closure drive nut2760. Thus, rotation of the closure shaft2800will also result in the rotation of the closure drive nut2760. The axial direction in which the closure tube2750moves ultimately depends upon the direction in which the closure shaft2800and the closure drive nut2760are rotated. For example, in response to one rotary closure motion received from the robotic system1000, the closure tube2750will be driven in the distal direction “DD”. As the closure tube2750is driven distally, the opening2745will engage the tab2727on the anvil2724and cause the anvil2724to pivot to a closed position. Upon application of an opening rotary motion from the robotic system1000, the closure tube2750will be driven in the proximal direction “PD” and pivot the anvil2724to the open position. In various embodiments, a spring (not shown) may be employed to bias the anvil2724to the open position (FIG.66). In use, it may be desirable to rotate the surgical end effector2712about the longitudinal tool axis LT-LT. In at least one embodiment, the tool mounting portion2900is configured to receive a corresponding first rotary output motion from the robotic system1000for rotating the elongated shaft assembly2708about the tool axis LT-LT. As can be seen in FIG.70, a proximal end2742of the hollow spine tube2740is rotatably supported within a cradle arrangement2903and a bearing assembly2904that are attached to a tool mounting plate2902of the tool mounting portion2900. A rotation gear2744is formed on or attached to the proximal end2742of the spine tube2740for meshing engagement with a rotation drive assembly2910that is operably supported on the tool mounting plate2902. In at least one embodiment, a rotation drive gear2912is coupled to a corresponding first one of the driven discs or elements1304on the adapter side of the tool mounting plate2602when the tool mounting portion2600is coupled to the tool holder1270. SeeFIGS.43and70. The rotation drive assembly2910further comprises a rotary driven gear2914that is rotatably supported on the tool mounting plate2902in meshing engagement with the rotation gear2744and the rotation drive gear2912. Application of a first rotary control motion from the robotic system1000through the tool holder1270and the adapter1240to the corresponding driven element1304will thereby cause rotation of the rotation drive gear2912by virtue of being operably coupled thereto. Rotation of the rotation drive gear2912ultimately results in the rotation of the elongated shaft assembly2708(and the end effector2712) about the longitudinal tool axis LT-LT (primary rotary motion). Closure of the anvil2724relative to the staple cartridge2734is accomplished by axially moving the closure tube2750in the distal direction “DD”. Axial movement of the closure tube2750in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut2760. In various embodiments, the closure drive nut2760is rotated by applying a rotary output motion to the closure drive shaft2800. As can be seen inFIG.70, a proximal end portion2806of the closure drive shaft2800has a driven gear2808thereon that is in meshing engagement with a closure drive assembly2920. In various embodiments, the closure drive system2920includes a closure drive gear2922that is coupled to a corresponding second one of the driven rotational bodies or elements1304on the adapter side of the tool mounting plate2462when the tool mounting portion2900is coupled to the tool holder1270. SeeFIGS.43and70. The closure drive gear2922is supported in meshing engagement with a closure gear train, generally depicted as2923. In at least one form, the closure gear rain2923comprises a first driven closure gear2924that is rotatably supported on the tool mounting plate2902. The first closure driven gear2924is attached to a second closure driven gear2926by a drive shaft2928. The second closure driven gear2926is in meshing engagement with a planetary gear assembly2930. In various embodiments, the planetary gear assembly2930includes a driven planetary closure gear2932that is rotatably supported within the bearing assembly2904that is mounted on tool mounting plate2902. As can be seen inFIGS.70and70B, the proximal end portion2806of the closure drive shaft2800is rotatably supported within the proximal end portion2742of the spine tube2740such that the driven gear2808is in meshing engagement with central gear teeth2934formed on the planetary gear2932. As can also be seen inFIG.70A, two additional support gears2936are attached to or rotatably supported relative to the proximal end portion2742of the spine tube2740to provide bearing support thereto. Such arrangement with the planetary gear assembly2930serves to accommodate rotation of the spine shaft2740by the rotation drive assembly2910while permitting the closure driven gear2808to remain in meshing engagement with the closure drive system2920. In addition, rotation of the closure drive gear2922in a first direction will ultimately result in the rotation of the closure drive shaft2800and closure drive nut2760which will ultimately result in the closure of the anvil2724as described above. Conversely, rotation of the closure drive gear2922in a second opposite direction will ultimately result in the rotation of the closure drive nut2760in an opposite direction which results in the opening of the anvil2724. As can be seen inFIG.70, the proximal end2784of the knife bar2780has a threaded shaft portion2786attached thereto which is in driving engagement with a knife drive assembly2940. In various embodiments, the threaded shaft portion2786is rotatably supported by a bearing2906attached to the tool mounting plate2902. Such arrangement permits the threaded shaft portion2786to rotate and move axially relative to the tool mounting plate2902. The knife bar2780is axially advanced in the distal and proximal directions by the knife drive assembly2940. One form of the knife drive assembly2940comprises a rotary drive gear2942that is coupled to a corresponding third one of the rotatable bodies, driven discs or elements1304on the adapter side of the tool mounting plate2902when the tool mounting portion2900is coupled to the tool holder1270. SeeFIGS.43and70. The rotary drive gear2942is in meshing engagement with a knife gear train, generally depicted as2943. In various embodiments, the knife gear train2943comprises a first rotary driven gear assembly2944that is rotatably supported on the tool mounting plate2902. The first rotary driven gear assembly2944is in meshing engagement with a third rotary driven gear assembly2946that is rotatably supported on the tool mounting plate2902and which is in meshing engagement with a fourth rotary driven gear assembly2948that is in meshing engagement with the threaded portion2786of the knife bar2780. Rotation of the rotary drive gear2942in one direction will result in the axial advancement of the knife bar2780in the distal direction “DD”. Conversely, rotation of the rotary drive gear2942in an opposite direction will cause the knife bar2780to move in the proximal direction. Tool2700may otherwise be used as described above. FIGS.71and72illustrate a surgical tool embodiment2700that is substantially identical to tool2700that was described in detail above. However tool2700′ includes a pressure sensor2950that is configured to provide feedback to the robotic controller1001concerning the amount of clamping pressure experienced by the anvil2724. In various embodiments, for example, the pressure sensor may comprise a spring biased contact switch. For a continuous signal, it would use either a cantilever beam with a strain gage on it or a dome button top with a strain gage on the inside. Another version may comprise an off switch that contacts only at a known desired load. Such arrangement would include a dome on the based wherein the dome is one electrical pole and the base is the other electrical pole. Such arrangement permits the robotic controller1001to adjust the amount of clamping pressure being applied to the tissue within the surgical end effector2712by adjusting the amount of closing pressure applied to the anvil2724. Those of ordinary skill in the art will understand that such pressure sensor arrangement may be effectively employed with several of the surgical tool embodiments described herein as well as their equivalent structures. FIG.73illustrates a portion of another surgical tool3000that may be effectively used in connection with a robotic system1000. The surgical tool3003employs on-board motor(s) for powering various components of a surgical end effector cutting instrument. In at least one non-limiting embodiment for example, the surgical tool3000includes a surgical end effector in the form of an endocutter (not shown) that has an anvil (not shown) and surgical staple cartridge arrangement (not shown) of the types and constructions described above. The surgical tool3000also includes an elongated shaft (not shown) and anvil closure arrangement (not shown) of the types described above. Thus, this portion of the Detailed Description will not repeat the description of those components beyond that which is necessary to appreciate the unique and novel attributes of the various embodiments of surgical tool3000. In the depicted embodiment, the end effector includes a cutting instrument3002that is coupled to a knife bar3003. As can be seen inFIG.73, the surgical tool3000includes a tool mounting portion3010that includes a tool mounting plate3012that is configured to mountingly interface with the adaptor portion1240′ which is coupled to the robotic system1000in the various manners described above. The tool mounting portion3010is configured to operably support a transmission arrangement3013thereon. In at least one embodiment, the adaptor portion1240′ may be identical to the adaptor portion1240described in detail above without the powered rotation bodies and disc members employed by adapter1240. In other embodiments, the adaptor portion1240′ may be identical to adaptor portion1240. Still other modifications which are considered to be within the spirit and scope of the various forms of the present invention may employ one or more of the mechanical motions (i.e., rotary motion(s)) from the tool holder portion1270(as described hereinabove) to power/actuate the transmission arrangement3013while also employing one or more motors within the tool mounting portion3010to power one or more other components of the surgical end effector. In addition, while the end effector of the depicted embodiment comprises an endocutter, those of ordinary skill in the art will understand that the unique and novel attributes of the depicted embodiment may be effectively employed in connection with other types of surgical end effectors without departing from the spirit and scope of various forms of the present invention. In various embodiments, the tool mounting plate3012is configured to at least house a first firing motor3011for supplying firing and retraction motions to the knife bar3003which is coupled to or otherwise operably interfaces with the cutting instrument3002. The tool mounting plate3012has an array of electrical connecting pins3014which are configured to interface with the slots1258(FIG.42) in the adapter1240′. Such arrangement permits the controller1001of the robotic system1000to provide control signals to the electronic control circuit3020of the surgical tool3000. While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like. Control circuit3020is shown in schematic form inFIG.73. In one form or embodiment, the control circuit3020includes a power supply in the form of a battery3022that is coupled to an on-off solenoid powered switch3024. Control circuit3020further includes an on/off firing solenoid3026that is coupled to a double pole switch3028for controlling the rotational direction of the motor3011. Thus, when the controller1001of the robotic system1000supplies an appropriate control signal, switch3024will permit battery3022to supply power to the double pole switch3028. The controller1001of the robotic system1000will also supply an appropriate signal to the double pole switch3028to supply power to the motor3011. When it is desired to fire the surgical end effector (i.e., drive the cutting instrument3002distally through tissue clamped in the surgical end effector, the double pole switch3028will be in a first position. When it is desired to retract the cutting instrument3002to the starting position, the double pole switch3028will be moved to the second position by the controller1001. Various embodiments of the surgical tool3000also employ a gear box3030that is sized, in cooperation with a firing gear train3031that, in at least one non-limiting embodiment, comprises a firing drive gear3032that is in meshing engagement with a firing driven gear3034for generating a desired amount of driving force necessary to drive the cutting instrument3002through tissue and to drive and form staples in the various manners described herein. In the embodiment depicted inFIG.73, the driven gear3034is coupled to a screw shaft3036that is in threaded engagement with a screw nut arrangement3038that is constrained to move axially (represented by arrow “D”). The screw nut arrangement3038is attached to the firing bar3003. Thus, by rotating the screw shaft3036in a first direction, the cutting instrument3002is driven in the distal direction “DD” and rotating the screw shaft in an opposite second direction, the cutting instrument3002may be retracted in the proximal direction “PD”. FIG.74illustrates a portion of another surgical tool3000′ that is substantially identical to tool3000described above, except that the driven gear3034is attached to a drive shaft3040. The drive shaft3040is attached to a second driver gear3042that is in meshing engagement with a third driven gear3044that is in meshing engagement with a screw3046coupled to the firing bar3003. FIG.75illustrates another surgical tool3200that may be effectively used in connection with a robotic system1000. In this embodiment, the surgical tool3200includes a surgical end effector3212that in one non-limiting form, comprises a component portion that is selectively movable between first and second positions relative to at least one other end effector component portion. As will be discussed in further detail below, the surgical tool3200employs on-board motors for powering various components of a transmission arrangement3305. The surgical end effector3212includes an elongated channel3222that operably supports a surgical staple cartridge3234. The elongated channel3222has a proximal end3223that slidably extends into a hollow elongated shaft assembly3208that is coupled to a tool mounting portion3300. In addition, the surgical end effector3212includes an anvil3224that is pivotally coupled to the elongated channel3222by a pair of trunnions3225that are received within corresponding openings3229in the elongated channel3222. A distal end portion3209of the shaft assembly3208includes an opening3245into which a tab3227on the anvil3224is inserted in order to open the anvil3224as the elongated channel3222is moved axially in the proximal direction “PD” relative to the distal end portion3209of the shaft assembly3208. In various embodiments, a spring (not shown) may be employed to bias the anvil3224to the open position. As indicated above, the surgical tool3200includes a tool mounting portion3300that includes a tool mounting plate3302that is configured to operably support the transmission arrangement3305and to mountingly interface with the adaptor portion1240′ which is coupled to the robotic system1000in the various manners described above. In at least one embodiment, the adaptor portion1240′ may be identical to the adaptor portion1240described in detail above without the powered disc members employed by adapter1240. In other embodiments, the adaptor portion1240′ may be identical to adaptor portion1240. However, in such embodiments, because the various components of the surgical end effector3212are all powered by motor(s) in the tool mounting portion3300, the surgical tool3200will not employ or require any of the mechanical (i.e., non-electrical) actuation motions from the tool holder portion1270to power the surgical end effector3200components. Still other modifications which are considered to be within the spirit and scope of the various forms of the present invention may employ one or more of the mechanical motions from the tool holder portion1270(as described hereinabove) to power/actuate one or more of the surgical end effector components while also employing one or more motors within the tool mounting portion to power one or more other components of the surgical end effector. In various embodiments, the tool mounting plate3302is configured to support a first firing motor3310for supplying firing and retraction motions to the transmission arrangement3305to drive a knife bar3335that is coupled to a cutting instrument3332of the type described above. As can be seen inFIG.75, the tool mounting plate3212has an array of electrical connecting pins3014which are configured to interface with the slots1258(FIG.42) in the adapter1240′. Such arrangement permits the controller1001of the robotic system1000to provide control signals to the electronic control circuits3320,3340of the surgical tool3200. While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like. In one form or embodiment, the first control circuit3320includes a first power supply in the form of a first battery3322that is coupled to a first on-off solenoid powered switch3324. The first firing control circuit3320further includes a first on/off firing solenoid3326that is coupled to a first double pole switch3328for controlling the rotational direction of the first firing motor3310. Thus, when the robotic controller1001supplies an appropriate control signal, the first switch3324will permit the first battery3322to supply power to the first double pole switch3328. The robotic controller1001will also supply an appropriate signal to the first double pole switch3328to supply power to the first firing motor3310. When it is desired to fire the surgical end effector (i.e., drive the cutting instrument3232distally through tissue clamped in the surgical end effector3212), the first switch3328will be positioned in a first position by the robotic controller1001. When it is desired to retract the cutting instrument3232to the starting position, the robotic controller1001will send the appropriate control signal to move the first switch3328to the second position. Various embodiments of the surgical tool3200also employ a first gear box3330that is sized, in cooperation with a firing drive gear3332coupled thereto that operably interfaces with a firing gear train3333. In at least one non-limiting embodiment, the firing gear train333comprises a firing driven gear3334that is in meshing engagement with drive gear3332, for generating a desired amount of driving force necessary to drive the cutting instrument3232through tissue and to drive and form staples in the various manners described herein. In the embodiment depicted inFIG.75, the driven gear3334is coupled to a drive shaft3335that has a second driven gear3336coupled thereto. The second driven gear3336is supported in meshing engagement with a third driven gear3337that is in meshing engagement with a fourth driven gear3338. The fourth driven gear3338is in meshing engagement with a threaded proximal portion3339of the knife bar3235that is constrained to move axially. Thus, by rotating the drive shaft3335in a first direction, the cutting instrument3232is driven in the distal direction “DD” and rotating the drive shaft3335in an opposite second direction, the cutting instrument3232may be retracted in the proximal direction “PD”. As indicated above, the opening and closing of the anvil3224is controlled by axially moving the elongated channel3222relative to the elongated shaft assembly3208. The axial movement of the elongated channel3222is controlled by a closure control system3339. In various embodiments, the closure control system3339includes a closure shaft3340which has a hollow threaded end portion3341that threadably engages a threaded closure rod3342. The threaded end portion3341is rotatably supported in a spine shaft3343that operably interfaces with the tool mounting portion3300and extends through a portion of the shaft assembly3208as shown. The closure system3339further comprises a closure control circuit3350that includes a second power supply in the form of a second battery3352that is coupled to a second on-off solenoid powered switch3354. Closure control circuit3350further includes a second on/off firing solenoid3356that is coupled to a second double pole switch3358for controlling the rotation of a second closure motor3360. Thus, when the robotic controller1001supplies an appropriate control signal, the second switch3354will permit the second battery3352to supply power to the second double pole switch3354. The robotic controller1001will also supply an appropriate signal to the second double pole switch3358to supply power to the second motor3360. When it is desired to close the anvil3224, the second switch3348will be in a first position. When it is desired to open the anvil3224, the second switch3348will be moved to a second position. Various embodiments of tool mounting portion3300also employ a second gear box3362that is coupled to a closure drive gear3364. The closure drive gear3364is in meshing engagement with a closure gear train3363. In various non-limiting forms, the closure gear train3363includes a closure driven gear3365that is attached to a closure drive shaft3366. Also attached to the closure drive shaft3366is a closure drive gear3367that is in meshing engagement with a closure shaft gear3360attached to the closure shaft3340.FIG.75depicts the end effector3212in the open position. As indicated above, when the threaded closure rod3342is in the position depicted inFIG.75, a spring (not shown) biases the anvil3224to the open position. When it is desired to close the anvil3224, the robotic controller1001will activate the second motor3360to rotate the closure shaft3340to draw the threaded closure rod3342and the channel3222in the proximal direction ‘PD’. As the anvil3224contacts the distal end portion3209of the shaft3208, the anvil3224is pivoted to the closed position. A method of operating the surgical tool3200will now be described. Once the tool mounting portion3302has be operably coupled to the tool holder1270of the robotic system1000, the robotic system1000can orient the end effector3212in position adjacent the target tissue to be cut and stapled. If the anvil3224is not already in the open position, the robotic controller1001may activate the second closure motor3360to drive the channel3222in the distal direction to the position depicted inFIG.75. Once the robotic controller1001determines that the surgical end effector3212is in the open position by sensor(s) in the and effector and/or the tool mounting portion3300, the robotic controller1001may provide the surgeon with a signal to inform the surgeon that the anvil3224may then be closed. Once the target tissue is positioned between the open anvil3224and the surgical staple cartridge3234, the surgeon may then commence the closure process by activating the robotic controller1001to apply a closure control signal to the second closure motor3360. The second closure motor3360applies a rotary motion to the closure shaft3340to draw the channel3222in the proximal direction “PD” until the anvil3224has been pivoted to the closed position. Once the robotic controller1001determines that the anvil3224has been moved to the closed position by sensor(s) in the surgical end effector3212and/or in the tool mounting portion3300that are in communication with the robotic control system, the motor3360may be deactivated. Thereafter, the firing process may be commenced either manually by the surgeon activating a trigger, button, etc. on the controller1001or the controller1001may automatically commence the firing process. To commence the firing process, the robotic controller1001activates the firing motor3310to drive the firing bar3235and the cutting instrument3232in the distal direction “DD”. Once robotic controller1001has determined that the cutting instrument3232has moved to the ending position within the surgical staple cartridge3234by means of sensors in the surgical end effector3212and/or the motor drive portion3300, the robotic controller1001may provide the surgeon with an indication signal. Thereafter the surgeon may manually activate the first motor3310to retract the cutting instrument3232to the starting position or the robotic controller1001may automatically activate the first motor3310to retract the cutting element3232. The embodiment depicted inFIG.75does not include an articulation joint.FIGS.64and65illustrate surgical tools3200′ and3200″ that have end effectors3212′,3212″, respectively that may be employed with an elongated shaft embodiment that has an articulation joint of the various types disclosed herein. For example, as can be seen inFIG.76, a threaded closure shaft3342is coupled to the proximal end3223of the elongated channel3222by a flexible cable or other flexible member3345. The location of an articulation joint (not shown) within the elongated shaft assembly3208will coincide with the flexible member3345to enable the flexible member3345to accommodate such articulation. In addition, in the above-described embodiment, the flexible member33345is rotatably affixed to the proximal end portion3223of the elongated channel3222to enable the flexible member3345to rotate relative thereto to prevent the flexible member3229from “winding up” relative to the channel3222. Although not shown, the cutting element may be driven in one of the above described manners by a knife bar that can also accommodate articulation of the elongated shaft assembly.FIG.77depicts a surgical end effector3212″ that is substantially identical to the surgical end effector3212described above, except that the threaded closure rod3342is attached to a closure nut3347that is constrained to only move axially within the elongated shaft assembly3208. The flexible member3345is attached to the closure nut3347. Such arrangement also prevents the threaded closure rod3342from winding-up the flexible member3345. A flexible knife bar3235′ may be employed to facilitate articulation of the surgical end effector3212″. The surgical tools3200,3200′, and3200″ described above may also employ anyone of the cutting instrument embodiments described herein. As described above, the anvil of each of the end effectors of these tools is closed by drawing the elongated channel into contact with the distal end of the elongated shaft assembly. Thus, once the target tissue has been located between the staple cartridge3234and the anvil3224, the robotic controller1001can start to draw the channel3222inward into the shaft assembly3208. In various embodiments, however, to prevent the end effector3212,3212′,3212″ from moving the target tissue with the end effector during this closing process, the controller1001may simultaneously move the tool holder and ultimately the tool such to compensate for the movement of the elongated channel3222so that, in effect, the target tissue is clamped between the anvil and the elongated channel without being otherwise moved. FIGS.78-80depict another surgical tool embodiment3201that is substantially identical to surgical tool3200″ described above, except for the differences discussed below. In this embodiment, the threaded closure rod3342′ has variable pitched grooves. More specifically, as can be seen inFIG.79, the closure rod3342′ has a distal groove section3380and a proximal groove section3382. The distal and proximal groove sections3380,3382are configured for engagement with a lug3390supported within the hollow threaded end portion3341′. As can be seen inFIG.79, the distal groove section3380has a finer pitch than the groove section3382. Thus, such variable pitch arrangement permits the elongated channel3222to be drawn into the shaft3208at a first speed or rate by virtue of the engagement between the lug3390and the proximal groove segment3382. When the lug3390engages the distal groove segment, the channel3222will be drawn into the shaft3208at a second speed or rate. Because the proximal groove segment3382is coarser than the distal groove segment3380, the first speed will be greater than the second speed. Such arrangement serves to speed up the initial closing of the end effector for tissue manipulation and then after the tissue has been properly positioned therein, generate the amount of closure forces to properly clamp the tissue for cutting and sealing. Thus, the anvil3234initially closes fast with a lower force and then applies a higher closing force as the anvil closes more slowly. The surgical end effector opening and closing motions are employed to enable the user to use the end effector to grasp and manipulate tissue prior to fully clamping it in the desired location for cutting and sealing. The user may, for example, open and close the surgical end effector numerous times during this process to orient the end effector in a proper position which enables the tissue to be held in a desired location. Thus, in at least some embodiments, to produce the high loading for firing, the fine thread may require as many as 5-10 full rotations to generate the necessary load. In some cases, for example, this action could take as long as 2-5 seconds. If it also took an equally long time to open and close the end effector each time during the positioning/tissue manipulation process, just positioning the end effector may take an undesirably long time. If that happens, it is possible that a user may abandon such use of the end effector for use of a conventional grasper device. Use of graspers, etc. may undesirably increase the costs associated with completing the surgical procedure. The above-described embodiments employ a battery or batteries to power the motors used to drive the end effector components. Activation of the motors is controlled by the robotic system1000. In alternative embodiments, the power supply may comprise alternating current “AC” that is supplied to the motors by the robotic system1000. That is, the AC power would be supplied from the system powering the robotic system1000through the tool holder and adapter. In still other embodiments, a power cord or tether may be attached to the tool mounting portion3300to supply the requisite power from a separate source of alternating or direct current. In use, the controller1001may apply an initial rotary motion to the closure shaft3340(FIG.75) to draw the elongated channel3222axially inwardly into the elongated shaft assembly3208and move the anvil from a first position to an intermediate position at a first rate that corresponds with the point wherein the distal groove section3380transitions to the proximal groove section3382. Further application of rotary motion to the closure shaft3340will cause the anvil to move from the intermediate position to the closed position relative to the surgical staple cartridge. When in the closed position, the tissue to be cut and stapled is properly clamped between the anvil and the surgical staple cartridge. FIGS.81-85illustrate another surgical tool embodiment3400of the present invention. This embodiment includes an elongated shaft assembly3408that extends from a tool mounting portion3500. The elongated shaft assembly3408includes a rotatable proximal closure tube segment3410that is rotatably journaled on a proximal spine member3420that is rigidly coupled to a tool mounting plate3502of the tool mounting portion3500. The proximal spine member3420has a distal end3422that is coupled to an elongated channel portion3522of a surgical end effector3412. For example, in at least one embodiment, the elongated channel portion3522has a distal end portion3523that “hookingly engages” the distal end3422of the spine member3420. The elongated channel3522is configured to support a surgical staple cartridge3534therein. This embodiment may employ one of the various cutting instrument embodiments disclosed herein to sever tissue that is clamped in the surgical end effector3412and fire the staples in the staple cartridge3534into the severed tissue. Surgical end effector3412has an anvil3524that is pivotally coupled to the elongated channel3522by a pair of trunnions3525that are received in corresponding openings3529in the elongated channel3522. The anvil3524is moved between the open (FIG.81) and closed positions (FIGS.82-84) by a distal closure tube segment3430. A distal end portion3432of the distal closure tube segment3430includes an opening3445into which a tab3527on the anvil3524is inserted in order to open and close the anvil3524as the distal closure tube segment3430moves axially relative thereto. In various embodiments, the opening3445is shaped such that as the closure tube segment3430is moved in the proximal direction, the closure tube segment3430causes the anvil3524to pivot to an open position. In addition or in the alternative, a spring (not shown) may be employed to bias the anvil3524to the open position. As can be seen inFIGS.81-84, the distal closure tube segment3430includes a lug3442that extends from its distal end3440into threaded engagement with a variable pitch groove/thread3414formed in the distal end3412of the rotatable proximal closure tube segment3410. The variable pitch groove/thread3414has a distal section3416and a proximal section3418. The pitch of the distal groove/thread section3416is finer than the pitch of the proximal groove/thread section3418. As can also be seen inFIGS.81-84, the distal closure tube segment3430is constrained for axial movement relative to the spine member3420by an axial retainer pin3450that is received in an axial slot3424in the distal end of the spine member3420. As indicated above, the anvil2524is open and closed by rotating the proximal closure tube segment3410. The variable pitch thread arrangement permits the distal closure tube segment3430to be driven in the distal direction “DD” at a first speed or rate by virtue of the engagement between the lug3442and the proximal groove/thread section3418. When the lug3442engages the distal groove/thread section3416, the distal closure tube segment3430will be driven in the distal direction at a second speed or rate. Because the proximal groove/thread section3418is coarser than the distal groove/thread segment3416, the first speed will be greater than the second speed. In at least one embodiment, the tool mounting portion3500is configured to receive a corresponding first rotary motion from the robotic controller1001and convert that first rotary motion to a primary rotary motion for rotating the rotatable proximal closure tube segment3410about a longitudinal tool axis LT-LT. As can be seen inFIG.85, a proximal end3460of the proximal closure tube segment3410is rotatably supported within a cradle arrangement3504attached to a tool mounting plate3502of the tool mounting portion3500. A rotation gear3462is formed on or attached to the proximal end3460of the closure tube segment3410for meshing engagement with a rotation drive assembly3470that is operably supported on the tool mounting plate3502. In at least one embodiment, a rotation drive gear3472is coupled to a corresponding first one of the driven discs or elements1304on the adapter side of the tool mounting plate3502when the tool mounting portion3500is coupled to the tool holder1270. SeeFIGS.43and85. The rotation drive assembly3470further comprises a rotary driven gear3474that is rotatably supported on the tool mounting plate3502in meshing engagement with the rotation gear3462and the rotation drive gear3472. Application of a first rotary control motion from the robotic controller1001through the tool holder1270and the adapter1240to the corresponding driven element1304will thereby cause rotation of the rotation drive gear3472by virtue of being operably coupled thereto. Rotation of the rotation drive gear3472ultimately results in the rotation of the closure tube segment3410to open and close the anvil3524as described above. As indicated above, the surgical end effector3412employs a cutting instrument of the type and constructions described above.FIG.85illustrates one form of knife drive assembly3480for axially advancing a knife bar3492that is attached to such cutting instrument. One form of the knife drive assembly3480comprises a rotary drive gear3482that is coupled to a corresponding third one of the driven discs or elements1304on the adapter side of the tool mounting plate3502when the tool drive portion3500is coupled to the tool holder1270. SeeFIGS.43and85. The knife drive assembly3480further comprises a first rotary driven gear assembly3484that is rotatably supported on the tool mounting plate5200. The first rotary driven gear assembly3484is in meshing engagement with a third rotary driven gear assembly3486that is rotatably supported on the tool mounting plate3502and which is in meshing engagement with a fourth rotary driven gear assembly3488that is in meshing engagement with a threaded portion3494of drive shaft assembly3490that is coupled to the knife bar3492. Rotation of the rotary drive gear3482in a second rotary direction will result in the axial advancement of the drive shaft assembly3490and knife bar3492in the distal direction “DD”. Conversely, rotation of the rotary drive gear3482in a secondary rotary direction (opposite to the second rotary direction) will cause the drive shaft assembly3490and the knife bar3492to move in the proximal direction. FIGS.86-95illustrate another surgical tool3600embodiment of the present invention that may be employed in connection with a robotic system1000. As can be seen inFIG.86, the tool3600includes an end effector in the form of a disposable loading unit3612. Various forms of disposable loading units that may be employed in connection with tool3600are disclosed, for example, in U.S. Patent Application Publication No. 2009/0206131, entitled END EFFECTOR ARRANGEMENTS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, the disclosure of which is herein incorporated by reference in its entirety. In at least one form, the disposable loading unit3612includes an anvil assembly3620that is supported for pivotal travel relative to a carrier3630that operably supports a staple cartridge3640therein. A mounting assembly3650is pivotally coupled to the cartridge carrier3630to enable the carrier3630to pivot about an articulation axis AA-AA relative to a longitudinal tool axis LT-LT. Referring toFIG.91, mounting assembly3650includes upper and lower mounting portions3652and3654. Each mounting portion includes a threaded bore3656on each side thereof dimensioned to receive threaded bolts (not shown) for securing the proximal end of carrier3630thereto. A pair of centrally located pivot members3658extends between upper and lower mounting portions via a pair of coupling members3660which engage a distal end of a housing portion3662. Coupling members3660each include an interlocking proximal portion3664configured to be received in grooves3666formed in the proximal end of housing portion3662to retain mounting assembly3650and housing portion3662in a longitudinally fixed position in relation thereto. In various forms, housing portion3662of disposable loading unit3614includes an upper housing half3670and a lower housing half3672contained within an outer casing3674. The proximal end of housing half3670includes engagement nubs3676for releasably engaging an elongated shaft3700and an insertion tip3678. Nubs3676form a bayonet-type coupling with the distal end of the elongated shaft3700which will be discussed in further detail below. Housing halves3670,3672define a channel3674for slidably receiving axial drive assembly3680. A second articulation link3690is dimensioned to be slidably positioned within a slot3679formed between housing halves3670,3672. A pair of blow out plates3691are positioned adjacent the distal end of housing portion3662adjacent the distal end of axial drive assembly3680to prevent outward bulging of drive assembly3680during articulation of carrier3630. In various embodiments, the second articulation link3690includes at least one elongated metallic plate. Preferably, two or more metallic plates are stacked to form link3690. The proximal end of articulation link3690includes a hook portion3692configured to engage first articulation link3710extending through the elongated shaft3700. The distal end of the second articulation link3690includes a loop3694dimensioned to engage a projection formed on mounting assembly3650. The projection is laterally offset from pivot pin3658such that linear movement of second articulation link3690causes mounting assembly3650to pivot about pivot pins3658to articulate the carrier3630. In various forms, axial drive assembly3680includes an elongated drive beam3682including a distal working head3684and a proximal engagement section3685. Drive beam3682may be constructed from a single sheet of material or, preferably, multiple stacked sheets. Engagement section3685includes a pair of engagement fingers which are dimensioned and configured to mountingly engage a pair of corresponding retention slots formed in drive member3686. Drive member3686includes a proximal porthole3687configured to receive the distal end3722of control rod2720(SeeFIG.95) when the proximal end of disposable loading unit3614is engaged with elongated shaft3700of surgical tool3600. Referring toFIGS.86and93-95, to use the surgical tool3600, a disposable loading unit3612is first secured to the distal end of elongated shaft3700. It will be appreciated that the surgical tool3600may include an articulating or a non-articulating disposable loading unit. To secure the disposable loading unit3612to the elongated shaft3700, the distal end3722of control rod3720is inserted into insertion tip3678of disposable loading unit3612, and insertion tip3678is slid longitudinally into the distal end of the elongated shaft3700in the direction indicated by arrow “A” inFIG.93such that hook portion3692of second articulation link3690slides within a channel3702in the elongated shaft3700. Nubs3676will each be aligned in a respective channel (not shown) in elongated shaft3700. When hook portion3692engages the proximal wall3704of channel3702, disposable loading unit3612is rotated in the direction indicated by arrow “B” inFIGS.92and95to move hook portion3692of second articulation link3690into engagement with finger3712of first articulation link3710. Nubs3676also form a “bayonet-type” coupling within annular channel3703in the elongated shaft3700. During rotation of loading unit3612, nubs3676engage cam surface3732(FIG.81) of block plate3730to initially move plate3730in the direction indicated by arrow “C” inFIG.93to lock engagement member3734in recess3721of control rod3720to prevent longitudinal movement of control rod3720during attachment of disposable loading unit3612. During the final degree of rotation, nubs3676disengage from cam surface3732to allow blocking plate3730to move in the direction indicated by arrow “D” inFIGS.92and95from behind engagement member3734to once again permit longitudinal movement of control rod3720. While the above-described attachment method reflects that the disposable loading unit3612is manipulated relative to the elongated shaft3700, the person of ordinary skill in the art will appreciate that the disposable loading unit3612may be supported in a stationary position and the robotic system1000may manipulate the elongated shaft portion3700relative to the disposable loading unit3612to accomplish the above-described coupling procedure. FIG.96illustrates another disposable loading unit3612′ that is attachable in a bayonet-type arrangement with the elongated shaft3700′ that is substantially identical to shaft3700except for the differences discussed below. As can be seen inFIG.96, the elongated shaft3700′ has slots3705that extend for at least a portion thereof and which are configured to receive nubs3676therein. In various embodiments, the disposable loading unit3612′ includes arms3677extending therefrom which, prior to the rotation of disposable loading unit3612′, can be aligned, or at least substantially aligned, with nubs3676extending from housing portion3662. In at least one embodiment, arms3677and nubs3676can be inserted into slots3705in elongated shaft3700′, for example, when disposable loading unit3612′ is inserted into elongated shaft3700′. When disposable loading unit3612′ is rotated, arms3677can be sufficiently confined within slots3705such that slots3705can hold them in position, whereas nubs3676can be positioned such that they are not confined within slots3705and can be rotated relative to arms3677. When rotated, the hook portion3692of the articulation link3690is engaged with the first articulation link3710extending through the elongated shaft3700′. Other methods of coupling the disposable loading units to the end of the elongated shaft may be employed. For example, as shown inFIGS.97and98, disposable loading unit3612″ can include connector portion3613which can be configured to be engaged with connector portion3740of the elongated shaft3700″. In at least one embodiment, connector portion3613can include at least one projection and/or groove which can be mated with at least one projection and/or groove of connector portion3740. In at least one such embodiment, the connector portions can include co-operating dovetail portions. In various embodiments, the connector portions can be configured to interlock with one another and prevent, or at least inhibit, distal and/or proximal movement of disposable loading unit3612″ along axis3741. In at least one embodiment, the distal end of the axial drive assembly3680′ can include aperture3681which can be configured to receive projection3721extending from control rod3720′. In various embodiments, such an arrangement can allow disposable loading unit3612″ to be assembled to elongated shaft3700in a direction which is not collinear with or parallel to axis3741. Although not illustrated, axial drive assembly3680′ and control rod3720can include any other suitable arrangement of projections and apertures to operably connect them to each other. Also in this embodiment, the first articulation link3710which can be operably engaged with second articulation link3690. As can be seen inFIGS.86and99, the surgical tool3600includes a tool mounting portion3750. The tool mounting portion3750includes a tool mounting plate3751that is configured for attachment to the tool drive assembly1010. The tool mounting portion operably supported a transmission arrangement3752thereon. In use, it may be desirable to rotate the disposable loading unit3612about the longitudinal tool axis defined by the elongated shaft3700. In at least one embodiment, the transmission arrangement3752includes a rotational transmission assembly3753that is configured to receive a corresponding rotary output motion from the tool drive assembly1010of the robotic system1000and convert that rotary output motion to a rotary control motion for rotating the elongated shaft3700(and the disposable loading unit3612) about the longitudinal tool axis LT-LT. As can be seen inFIG.99, a proximal end3701of the elongated shaft3700is rotatably supported within a cradle arrangement3754that is attached to the tool mounting plate3751of the tool mounting portion3750. A rotation gear3755is formed on or attached to the proximal end3701of the elongated shaft3700for meshing engagement with a rotation gear assembly3756operably supported on the tool mounting plate3751. In at least one embodiment, a rotation drive gear3757drivingly coupled to a corresponding first one of the driven discs or elements1304on the adapter side of the tool mounting plate3751when the tool mounting portion3750is coupled to the tool drive assembly1010. The rotation transmission assembly3753further comprises a rotary driven gear3758that is rotatably supported on the tool mounting plate3751in meshing engagement with the rotation gear3755and the rotation drive gear3757. Application of a first rotary output motion from the robotic system1000through the tool drive assembly1010to the corresponding driven element1304will thereby cause rotation of the rotation drive gear3757by virtue of being operably coupled thereto. Rotation of the rotation drive gear3757ultimately results in the rotation of the elongated shaft3700(and the disposable loading unit3612) about the longitudinal tool axis LT-LT (primary rotary motion). As can be seen inFIG.99, a drive shaft assembly3760is coupled to a proximal end of the control rod2720. In various embodiments, the control rod2720is axially advanced in the distal and proximal directions by a knife/closure drive transmission3762. One form of the knife/closure drive assembly3762comprises a rotary drive gear3763that is coupled to a corresponding second one of the driven rotatable body portions, discs or elements1304on the adapter side of the tool mounting plate3751when the tool mounting portion3750is coupled to the tool holder1270. The rotary driven gear3763is in meshing driving engagement with a gear train, generally depicted as3764. In at least one form, the gear train3764further comprises a first rotary driven gear assembly3765that is rotatably supported on the tool mounting plate3751. The first rotary driven gear assembly3765is in meshing engagement with a second rotary driven gear assembly3766that is rotatably supported on the tool mounting plate3751and which is in meshing engagement with a third rotary driven gear assembly3767that is in meshing engagement with a threaded portion3768of the drive shaft assembly3760. Rotation of the rotary drive gear3763in a second rotary direction will result in the axial advancement of the drive shaft assembly3760and control rod2720in the distal direction “DD”. Conversely, rotation of the rotary drive gear3763in a secondary rotary direction which is opposite to the second rotary direction will cause the drive shaft assembly3760and the control rod2720to move in the proximal direction. When the control rod2720moves in the distal direction, it drives the drive beam3682and the working head3684thereof distally through the surgical staple cartridge3640. As the working head3684is driven distally, it operably engages the anvil3620to pivot it to a closed position. The cartridge carrier3630may be selectively articulated about articulation axis AA-AA by applying axial articulation control motions to the first and second articulation links3710and3690. In various embodiments, the transmission arrangement3752further includes an articulation drive3770that is operably supported on the tool mounting plate3751. More specifically and with reference toFIG.99, it can be seen that a proximal end portion3772of an articulation drive shaft3771configured to operably engage with the first articulation link3710extends through the rotation gear3755and is rotatably coupled to a shifter rack gear3774that is slidably affixed to the tool mounting plate3751through slots3775. The articulation drive3770further comprises a shifter drive gear3776that is coupled to a corresponding third one of the driven discs or elements1304on the adapter side of the tool mounting plate3751when the tool mounting portion3750is coupled to the tool holder1270. The articulation drive assembly3770further comprises a shifter driven gear3778that is rotatably supported on the tool mounting plate3751in meshing engagement with the shifter drive gear3776and the shifter rack gear3774. Application of a third rotary output motion from the robotic system1000through the tool drive assembly1010to the corresponding driven element1304will thereby cause rotation of the shifter drive gear3776by virtue of being operably coupled thereto. Rotation of the shifter drive gear3776ultimately results in the axial movement of the shifter gear rack3774and the articulation drive shaft3771. The direction of axial travel of the articulation drive shaft3771depends upon the direction in which the shifter drive gear3776is rotated by the robotic system1000. Thus, rotation of the shifter drive gear3776in a first rotary direction will result in the axial movement of the articulation drive shaft3771in the proximal direction “PD” and cause the cartridge carrier3630to pivot in a first direction about articulation axis AA-AA. Conversely, rotation of the shifter drive gear3776in a second rotary direction (opposite to the first rotary direction) will result in the axial movement of the articulation drive shaft3771in the distal direction “DD” to thereby cause the cartridge carrier3630to pivot about articulation axis AA-AA in an opposite direction. FIG.100illustrates yet another surgical tool3800embodiment of the present invention that may be employed with a robotic system1000. As can be seen inFIG.100, the surgical tool3800includes a surgical end effector3812in the form of an endocutter3814that employs various cable-driven components. Various forms of cable driven endocutters are disclosed, for example, in U.S. Pat. No. 7,726,537, entitled SURGICAL STAPLER WITH UNIVERSAL ARTICULATION AND TISSUE PRE-CLAMP and U.S. Patent Application Publication No. 2008/0308603, entitled CABLE DRIVEN SURGICAL STAPLING AND CUTTING INSTRUMENT WITH IMPROVED CABLE ATTACHMENT ARRANGEMENTS, the disclosures of each are herein incorporated by reference in their respective entireties. Such endocutters3814may be referred to as a “disposable loading unit” because they are designed to be disposed of after a single use. However, the various unique and novel arrangements of various embodiments of the present invention may also be employed in connection with cable driven end effectors that are reusable. As can be seen inFIG.100, in at least one form, the endocutter3814includes an elongated channel3822that operably supports a surgical staple cartridge3834therein. An anvil3824is pivotally supported for movement relative to the surgical staple cartridge3834. The anvil3824has a cam surface3825that is configured for interaction with a preclamping collar3840that is supported for axial movement relative thereto. The end effector3814is coupled to an elongated shaft assembly3808that is attached to a tool mounting portion3900. In various embodiments, a closure cable3850is employed to move pre-clamping collar3840distally onto and over cam surface3825to close the anvil3824relative to the surgical staple cartridge3834and compress the tissue therebetween. Preferably, closure cable3850attaches to the pre-clamping collar3840at or near point3841and is fed through a passageway in anvil3824(or under a proximal portion of anvil3824) and fed proximally through shaft3808. Actuation of closure cable3850in the proximal direction “PD” forces pre-clamping collar3840distally against cam surface3825to close anvil3824relative to staple cartridge assembly3834. A return mechanism, e.g., a spring, cable system or the like, may be employed to return pre-clamping collar3840to a pre-clamping orientation which re-opens the anvil3824. The elongated shaft assembly3808may be cylindrical in shape and define a channel3811which may be dimensioned to receive a tube adapter3870. SeeFIG.101. In various embodiments, the tube adapter3870may be slidingly received in friction-fit engagement with the internal channel of elongated shaft3808. The outer surface of the tube adapter3870may further include at least one mechanical interface, e.g., a cutout or notch3871, oriented to mate with a corresponding mechanical interface, e.g., a radially inwardly extending protrusion or detent (not shown), disposed on the inner periphery of internal channel3811to lock the tube adapter3870to the elongated shaft3808. In various embodiments, the distal end of tube adapter3870may include a pair of opposing flanges3872aand3872bwhich define a cavity for pivotably receiving a pivot block3873therein. Each flange3872aand3872bmay include an aperture3874aand3874bthat is oriented to receive a pivot pin3875that extends through an aperture in pivot block3873to allow pivotable movement of pivot block3873about an axis that is perpendicular to longitudinal tool axis “LT-LT”. The channel3822may be formed with two upwardly extending flanges3823a,3823bthat have apertures therein, which are dimensioned to receive a pivot pin3827. In turn, pivot pin3875mounts through apertures in pivot block3873to permit rotation of the surgical end effector3814about the “Y” axis as needed during a given surgical procedure. Rotation of pivot block3873about pin3875along “Z” axis rotates the surgical end effector3814about the “Z” axis. SeeFIG.101. Other methods of fastening the elongated channel3822to the pivot block3873may be effectively employed without departing from the spirit and scope of the present invention. The surgical staple cartridge3834can be assembled and mounted within the elongated channel3822during the manufacturing or assembly process and sold as part of the surgical end effector3812, or the surgical staple cartridge3834may be designed for selective mounting within the elongated channel3822as needed and sold separately, e.g., as a single use replacement, replaceable or disposable staple cartridge assembly. It is within the scope of this disclosure that the surgical end effector3812may be pivotally, operatively, or integrally attached, for example, to distal end3809of the elongated shaft assembly3808of a disposable surgical stapler. As is known, a used or spent disposable loading unit3814can be removed from the elongated shaft assembly3808and replaced with an unused disposable unit. The endocutter3814may also preferably include an actuator, preferably a dynamic clamping member3860, a sled3862, as well as staple pushers (not shown) and staples (not shown) once an unspent or unused cartridge3834is mounted in the elongated channel3822. SeeFIG.101. In various embodiments, the dynamic clamping member3860is associated with, e.g., mounted on and rides on, or with or is connected to or integral with and/or rides behind sled3862. It is envisioned that dynamic clamping member3860can have cam wedges or cam surfaces attached or integrally formed or be pushed by a leading distal surface thereof. In various embodiments, dynamic clamping member3860may include an upper portion3863having a transverse aperture3864with a pin3865mountable or mounted therein, a central support or upward extension3866and substantially T-shaped bottom flange3867which cooperate to slidingly retain dynamic clamping member3860along an ideal cutting path during longitudinal, distal movement of sled3862. The leading cutting edge3868, here, knife blade3869, is dimensioned to ride within slot3835of staple cartridge assembly3834and separate tissue once stapled. As used herein, the term “knife assembly” may include the aforementioned dynamic clamping member3860, knife3869, and sled3862or other knife/beam/sled drive arrangements and cutting instrument arrangements. In addition, the various embodiments of the present invention may be employed with knife assembly/cutting instrument arrangements that may be entirely supported in the staple cartridge3834or partially supported in the staple cartridge3834and elongated channel3822or entirely supported within the elongated channel3822. In various embodiments, the dynamic clamping member3860may be driven in the proximal and distal directions by a cable drive assembly3870. In one non-limiting form, the cable drive assembly comprises a pair of advance cables3880,3882and a firing cable3884.FIGS.102and103illustrate the cables3880,3882,3884in diagrammatic form. As can be seen in those Figures, a first advance cable3880is operably supported on a first distal cable transition support3885which may comprise, for example, a pulley, rod, capstan, etc. that is attached to the distal end of the elongated channel3822and a first proximal cable transition support3886which may comprise, for example, a pulley, rod, capstan, etc. that is operably supported by the elongated channel3822. A distal end3881of the first advance cable3880is affixed to the dynamic clamping assembly3860. The second advance cable3882is operably supported on a second distal cable transition support3887which may, for example, comprise a pulley, rod, capstan etc. that is mounted to the distal end of the elongated channel3822and a second proximal cable transition support3888which may, for example, comprise a pulley, rod, capstan, etc. mounted to the proximal end of the elongated channel3822. The proximal end3883of the second advance cable3882may be attached to the dynamic clamping assembly3860. Also in these embodiments, an endless firing cable3884is employed and journaled on a support3889that may comprise a pulley, rod, capstan, etc. mounted within the elongated shaft3808. In one embodiment, the retract cable3884may be formed in a loop and coupled to a connector3889′ that is fixedly attached to the first and second advance cables3880,3882. Various non-limiting embodiments of the present invention include a cable drive transmission3920that is operably supported on a tool mounting plate3902of the tool mounting portion3900. The tool mounting portion3900has an array of electrical connecting pins3904which are configured to interface with the slots1258(FIG.42) in the adapter1240′. Such arrangement permits the robotic system1000to provide control signals to a control circuit3910of the tool3800. While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like. Control circuit3910is shown in schematic form inFIG.100. In one form or embodiment, the control circuit3910includes a power supply in the form of a battery3912that is coupled to an on-off solenoid powered switch3914. In other embodiments, however, the power supply may comprise a source of alternating current. Control circuit3910further includes an on/off solenoid3916that is coupled to a double pole switch3918for controlling motor rotation direction. Thus, when the robotic system1000supplies an appropriate control signal, switch3914will permit battery3912to supply power to the double pole switch3918. The robotic system1000will also supply an appropriate signal to the double pole switch3918to supply power to a shifter motor3922. Turning toFIGS.104-109, at least one embodiment of the cable drive transmission3920comprises a drive pulley3930that is operably mounted to a drive shaft3932that is attached to a driven element1304of the type and construction described above that is designed to interface with a corresponding drive element1250of the adapter1240. SeeFIGS.42and96. Thus, when the tool mounting portion3900is operably coupled to the tool holder1270, the robot system1000can apply rotary motion to the drive pulley3930in a desired direction. A first drive member or belt3934drivingly engages the drive pulley3930and a second drive shaft3936that is rotatably supported on a shifter yoke3940. The shifter yoke3940is operably coupled to the shifter motor3922such that rotation of the shaft3923of the shifter motor3922in a first direction will shift the shifter yoke in a first direction “FD” and rotation of the shifter motor shaft3923in a second direction will shift the shifter yoke3940in a second direction “SD”. Other embodiments of the present invention may employ a shifter solenoid arrangement for shifting the shifter yoke in said first and second directions. As can be seen inFIGS.104-107, a closure drive gear3950mounted to a second drive shaft3936and is configured to selectively mesh with a closure drive assembly, generally designated as3951. Likewise a firing drive gear3960is also mounted to the second drive shaft3936and is configured to selectively mesh with a firing drive assembly generally designated as3961. Rotation of the second drive shaft3936causes the closure drive gear3950and the firing drive gear3960to rotate. In one non-limiting embodiment, the closure drive assembly3951comprises a closure driven gear3952that is coupled to a first closure pulley3954that is rotatably supported on a third drive shaft3956. The closure cable3850is drivingly received on the first closure pulley3954such that rotation of the closure driven gear3952will drive the closure cable3850. Likewise, the firing drive assembly3961comprises a firing driven gear3962that is coupled to a first firing pulley3964that is rotatably supported on the third drive shaft3956. The first and second driving pulleys3954and3964are independently rotatable on the third drive shaft3956. The firing cable3884is drivingly received on the first firing pulley3964such that rotation of the firing driven gear3962will drive the firing cable3884. Also in various embodiments, the cable drive transmission3920further includes a braking assembly3970. In at least one embodiment, for example, the braking assembly3970includes a closure brake3972that comprises a spring arm3973that is attached to a portion of the transmission housing3971. The closure brake3972has a gear lug3974that is sized to engage the teeth of the closure driven gear3952as will be discussed in further detail below. The braking assembly3970further includes a firing brake3976that comprises a spring arm3977that is attached to another portion of the transmission housing3971. The firing brake3976has a gear lug3978that is sized to engage the teeth of the firing driven gear3962. At least one embodiment of the surgical tool3800may be used as follows. The tool mounting portion3900is operably coupled to the interface1240of the robotic system1000. The controller or control unit of the robotic system is operated to locate the tissue to be cut and stapled between the open anvil3824and the staple cartridge3834. When in that initial position, the braking assembly3970has locked the closure driven gear3952and the firing driven gear3962such that they cannot rotate. That is, as shown inFIG.105, the gear lug3974is in locking engagement with the closure driven gear3952and the gear lug3978is in locking engagement with the firing driven gear3962. Once the surgical end effector3814has been properly located, the controller1001of the robotic system1000will provide a control signal to the shifter motor3922(or shifter solenoid) to move the shifter yoke3940in the first direction. As the shifter yoke3940is moved in the first direction, the closure drive gear3950moves the gear lug3974out of engagement with the closure driven gear3952as it moves into meshing engagement with the closure driven gear3952. As can be seen inFIG.104, when in that position, the gear lug3978remains in locking engagement with the firing driven gear3962to prevent actuation of the firing system. Thereafter, the robotic controller1001provides a first rotary actuation motion to the drive pulley3930through the interface between the driven element1304and the corresponding components of the tool holder1240. As the drive pulley3930is rotated in the first direction, the closure cable3850is rotated to drive the preclamping collar3840into closing engagement with the cam surface3825of the anvil3824to move it to the closed position thereby clamping the target tissue between the anvil3824and the staple cartridge3834. SeeFIG.100. Once the anvil3824has been moved to the closed position, the robotic controller1001stops the application of the first rotary motion to the drive pulley3930. Thereafter, the robotic controller1001may commence the firing process by sending another control signal to the shifter motor3922(or shifter solenoid) to cause the shifter yoke to move in the second direction “SD” as shown inFIG.106. As the shifter yoke3940is moved in the second direction, the firing drive gear3960moves the gear lug3978out of engagement with the firing driven gear3962as it moves into meshing engagement with the firing driven gear3962. As can be seen inFIG.94, when in that position, the gear lug3974remains in locking engagement with the closure driven gear3952to prevent actuation of the closure system. Thereafter, the robotic controller1001is activated to provide the first rotary actuation motion to the drive pulley3930through the interface between the driven element1304and the corresponding components of the tool holder1240. As the drive pulley3930is rotated in the first direction, the firing cable3884is rotated to drive the dynamic clamping member3860in the distal direction “DD” thereby firing the stapes and cutting the tissue clamped in the end effector3814. Once the robotic system1000determines that the dynamic clamping member3860has reached its distal most position—either through sensors or through monitoring the amount of rotary input applied to the drive pulley3930, the controller1001may then apply a second rotary motion to the drive pulley3930to rotate the closure cable3850in an opposite direction to cause the dynamic clamping member3860to be retracted in the proximal direction “PD”. Once the dynamic clamping member has been retracted to the starting position, the application of the second rotary motion to the drive pulley3930is discontinued. Thereafter, the shifter motor3922(or shifter solenoid) is powered to move the shifter yoke3940to the closure position (FIG.104). Once the closure drive gear3950is in meshing engagement with the closure driven gear3952, the robotic controller1001may once again apply the second rotary motion to the drive pulley3930. Rotation of the drive pulley3930in the second direction causes the closure cable3850to retract the preclamping collar3840out of engagement with the cam surface3825of the anvil3824to permit the anvil3824to move to an open position (by a spring or other means) to release the stapled tissue from the surgical end effector3814. FIG.110illustrates a surgical tool4000that employs a gear driven firing bar4092as shown inFIGS.111-113. This embodiment includes an elongated shaft assembly4008that extends from a tool mounting portion4100. The tool mounting portion4100includes a tool mounting plate4102that operable supports a transmission arrangement4103thereon. The elongated shaft assembly4008includes a rotatable proximal closure tube4010that is rotatably journaled on a proximal spine member4020that is rigidly coupled to the tool mounting plate4102. The proximal spine member4020has a distal end that is coupled to an elongated channel portion4022of a surgical end effector4012. The surgical effector4012may be substantially similar to surgical end effector3412described above. In addition, the anvil4024of the surgical end effector4012may be opened and closed by a distal closure tube4030that operably interfaces with the proximal closure tube4010. Distal closure tube4030is identical to distal closure tube3430described above. Similarly, proximal closure tube4010is identical to proximal closure tube segment3410described above. Anvil4024is opened and closed by rotating the proximal closure tube4010in manner described above with respect to distal closure tube3410. In at least one embodiment, the transmission arrangement comprises a closure transmission, generally designated as4011. As will be further discussed below, the closure transmission4011is configured to receive a corresponding first rotary motion from the robotic system1000and convert that first rotary motion to a primary rotary motion for rotating the rotatable proximal closure tube4010about the longitudinal tool axis LT-LT. As can be seen inFIG.113, a proximal end4060of the proximal closure tube4010is rotatably supported within a cradle arrangement4104that is attached to a tool mounting plate4102of the tool mounting portion4100. A rotation gear4062is formed on or attached to the proximal end4060of the closure tube segment4010for meshing engagement with a rotation drive assembly4070that is operably supported on the tool mounting plate4102. In at least one embodiment, a rotation drive gear4072is coupled to a corresponding first one of the driven discs or elements1304on the adapter side of the tool mounting plate4102when the tool mounting portion4100is coupled to the tool holder1270. SeeFIGS.43and113. The rotation drive assembly4070further comprises a rotary driven gear4074that is rotatably supported on the tool mounting plate4102in meshing engagement with the rotation gear4062and the rotation drive gear4072. Application of a first rotary control motion from the robotic system1000through the tool holder1270and the adapter1240to the corresponding driven element1304will thereby cause rotation of the rotation drive gear4072by virtue of being operably coupled thereto. Rotation of the rotation drive gear4072ultimately results in the rotation of the closure tube segment4010to open and close the anvil4024as described above. As indicated above, the end effector4012employs a cutting element3860as shown inFIGS.111and112. In at least one non-limiting embodiment, the transmission arrangement4103further comprises a knife drive transmission that includes a knife drive assembly4080.FIG.113illustrates one form of knife drive assembly4080for axially advancing the knife bar4092that is attached to such cutting element using cables as described above with respect to surgical tool3800. In particular, the knife bar4092replaces the firing cable3884employed in an embodiment of surgical tool3800. One form of the knife drive assembly4080comprises a rotary drive gear4082that is coupled to a corresponding second one of the driven discs or elements1304on the adapter side of the tool mounting plate4102when the tool mounting portion4100is coupled to the tool holder1270. SeeFIGS.43and113. The knife drive assembly4080further comprises a first rotary driven gear assembly4084that is rotatably supported on the tool mounting plate4102. The first rotary driven gear assembly4084is in meshing engagement with a third rotary driven gear assembly4086that is rotatably supported on the tool mounting plate4102and which is in meshing engagement with a fourth rotary driven gear assembly4088that is in meshing engagement with a threaded portion4094of drive shaft assembly4090that is coupled to the knife bar4092. Rotation of the rotary drive gear4082in a second rotary direction will result in the axial advancement of the drive shaft assembly4090and knife bar4092in the distal direction “DD”. Conversely, rotation of the rotary drive gear4082in a secondary rotary direction (opposite to the second rotary direction) will cause the drive shaft assembly4090and the knife bar4092to move in the proximal direction. Movement of the firing bar4092in the proximal direction “PD” will drive the cutting element3860in the distal direction “DD”. Conversely, movement of the firing bar4092in the distal direction “DD” will result in the movement of the cutting element3860in the proximal direction “PD”. FIGS.114-120illustrate yet another surgical tool5000that may be effectively employed in connection with a robotic system1000. In various forms, the surgical tool5000includes a surgical end effector5012in the form of a surgical stapling instrument that includes an elongated channel5020and a pivotally translatable clamping member, such as an anvil5070, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector5012. As can be seen inFIG.116, the elongated channel5020may be substantially U-shaped in cross-section and be fabricated from, for example, titanium, 203 stainless steel, 304 stainless steel, 416 stainless steel, 17-4 stainless steel, 17-7 stainless steel, 6061 or 7075 aluminum, chromium steel, ceramic, etc. A substantially U-shaped metal channel pan5022may be supported in the bottom of the elongated channel5020as shown. Various embodiments include an actuation member in the form of a sled assembly5030that is operably supported within the surgical end effector5012and axially movable therein between a staring position and an ending position in response to control motions applied thereto. In some forms, the metal channel pan5022has a centrally-disposed slot5024therein to movably accommodate a base portion5032of the sled assembly5030. The base portion5032includes a foot portion5034that is sized to be slidably received in a slot5021in the elongated channel5020. SeeFIG.104. As can be seen inFIGS.115,116,119, and120, the base portion5032of sled assembly5030includes an axially extending threaded bore5036that is configured to be threadedly received on a threaded drive shaft5130as will be discussed in further detail below. In addition, the sled assembly5030includes an upstanding support portion5038that supports a tissue cutting blade or tissue cutting instrument5040. The upstanding support portion5038terminates in a top portion5042that has a pair of laterally extending retaining fins5044protruding therefrom. As shown inFIG.116, the fins5044are positioned to be received within corresponding slots5072in anvil5070. The fins5044and the foot5034serve to retain the anvil5070in a desired spaced closed position as the sled assembly5030is driven distally through the tissue clamped within the surgical end effector5014. As can also be seen inFIGS.118and120, the sled assembly5030further includes a reciprocatably or sequentially activatable drive assembly5050for driving staple pushers toward the closed anvil5070. More specifically and with reference toFIGS.116and117, the elongated channel5020is configured to operably support a surgical staple cartridge5080therein. In at least one form, the surgical staple cartridge5080comprises a body portion5082that may be fabricated from, for example, Vectra, Nylon (6/6 or 6/12) and include a centrally disposed slot5084for accommodating the upstanding support portion5038of the sled assembly5030. SeeFIG.116. These materials could also be filled with glass, carbon, or mineral fill of 10%-40%. The surgical staple cartridge5080further includes a plurality of cavities5086for movably supporting lines or rows of staple-supporting pushers5088therein. The cavities5086may be arranged in spaced longitudinally extending lines or rows5090,5092,5094,5096. For example, the rows5090may be referred to herein as first outboard rows. The rows5092may be referred to herein as first inboard rows. The rows5094may be referred to as second inboard rows and the rows5096may be referred to as second outboard rows. The first inboard row5090and the first outboard row5092are located on a first lateral side of the longitudinal slot5084and the second inboard row5094and the second outboard row5096are located on a second lateral side of the longitudinal slot5084. The first staple pushers5088in the first inboard row5092are staggered in relationship to the first staple pushers5088in the first outboard row5090. Similarly, the second staple pushers5088in the second outboard row5096are staggered in relationship to the second pushers5088in the second inboard row5094. Each pusher5088operably supports a surgical staple5098thereon. In various embodiments, the sequentially-activatable or reciprocatably-activatable drive assembly5050includes a pair of outboard drivers5052and a pair of inboard drivers5054that are each attached to a common shaft5056that is rotatably mounted within the base5032of the sled assembly5030. The outboard drivers5052are oriented to sequentially or reciprocatingly engage a corresponding plurality of outboard activation cavities5026provided in the channel pan5022. Likewise, the inboard drivers5054are oriented to sequentially or reciprocatingly engage a corresponding plurality of inboard activation cavities5028provided in the channel pan5022. The inboard activation cavities5028are arranged in a staggered relationship relative to the adjacent outboard activation cavities5026. SeeFIG.117. As can also be seen inFIGS.117and119, in at least one embodiment, the sled assembly5030further includes distal wedge segments5060and intermediate wedge segments5062located on each side of the bore5036to engage the pushers5088as the sled assembly5030is driven distally in the distal direction “DD”. As indicated above, the sled assembly5030is threadedly received on a threaded portion5132of a drive shaft5130that is rotatably supported within the end effector5012. In various embodiments, for example, the drive shaft5130has a distal end5134that is supported in a distal bearing5136mounted in the surgical end effector5012. SeeFIGS.104and105. In various embodiments, the surgical end effector5012is coupled to a tool mounting portion5200by an elongated shaft assembly5108. In at least one embodiment, the tool mounting portion5200operably supports a transmission arrangement generally designated as5204that is configured to receive rotary output motions from the robotic system. The elongated shaft assembly5108includes an outer closure tube5110that is rotatable and axially movable on a spine member5120that is rigidly coupled to a tool mounting plate5201of the tool mounting portion5200. The spine member5120also has a distal end5122that is coupled to the elongated channel portion5020of the surgical end effector5012. In use, it may be desirable to rotate the surgical end effector5012about a longitudinal tool axis LT-LT defined by the elongated shaft assembly5008. In various embodiments, the outer closure tube5110has a proximal end5112that is rotatably supported on the tool mounting plate5201of the tool drive portion5200by a forward support cradle5203. The proximal end5112of the outer closure tube5110is configured to operably interface with a rotation transmission portion5206of the transmission arrangement5204. In various embodiments, the proximal end5112of the outer closure tube5110is also supported on a closure sled5140that is also movably supported on the tool mounting plate5201. A closure tube gear segment5114is formed on the proximal end5112of the outer closure tube5110for meshing engagement with a rotation drive assembly5150of the rotation transmission5206. As can be seen inFIG.114, the rotation drive assembly5150, in at least one embodiment, comprises a rotation drive gear5152that is coupled to a corresponding first one of the driven discs or elements1304on the adapter side1307of the tool mounting plate5201when the tool drive portion5200is coupled to the tool holder1270. The rotation drive assembly5150further comprises a rotary driven gear5154that is rotatably supported on the tool mounting plate5201in meshing engagement with the closure tube gear segment5114and the rotation drive gear5152. Application of a first rotary control motion from the robotic system1000through the tool holder1270and the adapter1240to the corresponding driven element1304will thereby cause rotation of the rotation drive gear5152. Rotation of the rotation drive gear5152ultimately results in the rotation of the elongated shaft assembly5108(and the end effector5012) about the longitudinal tool axis LT-LT (represented by arrow “R” inFIG.114). Closure of the anvil5070relative to the surgical staple cartridge5080is accomplished by axially moving the outer closure tube5110in the distal direction “DD”. Such axial movement of the outer closure tube5110may be accomplished by a closure transmission portion closure transmission portion5144of the transmission arrangement5204. As indicated above, in various embodiments, the proximal end5112of the outer closure tube5110is supported by the closure sled5140which enables the proximal end5112to rotate relative thereto, yet travel axially with the closure sled5140. In particular, as can be seen inFIG.114, the closure sled5140has an upstanding tab5141that extends into a radial groove5115in the proximal end portion5112of the outer closure tube5110. In addition, as was described above, the closure sled5140is slidably mounted to the tool mounting plate5201. In various embodiments, the closure sled5140has an upstanding portion5142that has a closure rack gear5143formed thereon. The closure rack gear5143is configured for driving engagement with the closure transmission5144. In various forms, the closure transmission5144includes a closure spur gear5145that is coupled to a corresponding second one of the driven discs or elements1304on the adapter side1307of the tool mounting plate5201. Thus, application of a second rotary control motion from the robotic system1000through the tool holder1270and the adapter1240to the corresponding second driven element1304will cause rotation of the closure spur gear5145when the interface1230is coupled to the tool mounting portion5200. The closure transmission5144further includes a driven closure gear set5146that is supported in meshing engagement with the closure spur gear5145and the closure rack gear5143. Thus, application of a second rotary control motion from the robotic system1000through the tool holder1270and the adapter1240to the corresponding second driven element1304will cause rotation of the closure spur gear5145and ultimately drive the closure sled5140and the outer closure tube5110axially. The axial direction in which the closure tube5110moves ultimately depends upon the direction in which the second driven element1304is rotated. For example, in response to one rotary closure motion received from the robotic system1000, the closure sled5140will be driven in the distal direction “DD” and ultimately the outer closure tube5110will be driven in the distal direction as well. The outer closure tube5110has an opening5117in the distal end5116that is configured for engagement with a tab5071on the anvil5070in the manners described above. As the outer closure tube5110is driven distally, the proximal end5116of the closure tube5110will contact the anvil5070and pivot it closed. Upon application of an “opening” rotary motion from the robotic system1000, the closure sled5140and outer closure tube5110will be driven in the proximal direction “PD” and pivot the anvil5070to the open position in the manners described above. In at least one embodiment, the drive shaft5130has a proximal end5137that has a proximal shaft gear5138attached thereto. The proximal shaft gear5138is supported in meshing engagement with a distal drive gear5162attached to a rotary drive bar5160that is rotatably supported with spine member5120. Rotation of the rotary drive bar5160and ultimately rotary drive shaft5130is controlled by a rotary knife transmission5207which comprises a portion of the transmission arrangement5204supported on the tool mounting plate5210. In various embodiments, the rotary knife transmission5207comprises a rotary knife drive system5170that is operably supported on the tool mounting plate5201. In various embodiments, the knife drive system5170includes a rotary drive gear5172that is coupled to a corresponding third one of the driven discs or elements1304on the adapter side of the tool mounting plate5201when the tool drive portion5200is coupled to the tool holder1270. The knife drive system5170further comprises a first rotary driven gear5174that is rotatably supported on the tool mounting plate5201in meshing engagement with a second rotary driven gear5176and the rotary drive gear5172. The second rotary driven gear5176is coupled to a proximal end portion5164of the rotary drive bar5160. Rotation of the rotary drive gear5172in a first rotary direction will result in the rotation of the rotary drive bar5160and rotary drive shaft5130in a first direction. Conversely, rotation of the rotary drive gear5172in a second rotary direction (opposite to the first rotary direction) will cause the rotary drive bar5160and rotary drive shaft5130to rotate in a second direction.2400. Thus, rotation of the drive shaft2440results in rotation of the drive sleeve2400. One method of operating the surgical tool5000will now be described. The tool drive5200is operably coupled to the interface1240of the robotic system1000. The controller1001of the robotic system1000is operated to locate the tissue to be cut and stapled between the open anvil5070and the surgical staple cartridge5080. Once the surgical end effector5012has been positioned by the robot system1000such that the target tissue is located between the anvil5070and the surgical staple cartridge5080, the controller1001of the robotic system1000may be activated to apply the second rotary output motion to the second driven element1304coupled to the closure spur gear5145to drive the closure sled5140and the outer closure tube5110axially in the distal direction to pivot the anvil5070closed in the manner described above. Once the robotic controller1001determines that the anvil5070has been closed by, for example, sensors in the surgical end effector5012and/or the tool drive portion5200, the robotic controller1001system may provide the surgeon with an indication that signifies the closure of the anvil. Such indication may be, for example, in the form of a light and/or audible sound, tactile feedback on the control members, etc. Then the surgeon may initiate the firing process. In alternative embodiments, however, the robotic controller1001may automatically commence the firing process. To commence the firing process, the robotic controller applies a third rotary output motion to the third driven disc or element1304coupled to the rotary drive gear5172. Rotation of the rotary drive gear5172results in the rotation of the rotary drive bar5160and rotary drive shaft5130in the manner described above. Firing and formation of the surgical staples5098can be best understood from reference toFIGS.115,117, and118. As the sled assembly5030is driven in the distal direction “DD” through the surgical staple cartridge5080, the distal wedge segments5060first contact the staple pushers5088and start to move them toward the closed anvil5070. As the sled assembly5030continues to move distally, the outboard drivers5052will drop into the corresponding activation cavity5026in the channel pan5022. The opposite end of each outboard driver5052will then contact the corresponding outboard pusher5088that has moved up the distal and intermediate wedge segments5060,5062. Further distal movement of the sled assembly5030causes the outboard drivers5052to rotate and drive the corresponding pushers5088toward the anvil5070to cause the staples5098supported thereon to be formed as they are driven into the anvil5070. It will be understood that as the sled assembly5030moves distally, the knife blade5040cuts through the tissue that is clamped between the anvil and the staple cartridge. Because the inboard drivers5054and outboard drivers5052are attached to the same shaft5056and the inboard drivers5054are radially offset from the outboard drivers5052on the shaft5056, as the outboard drivers5052are driving their corresponding pushers5088toward the anvil5070, the inboard drivers5054drop into their next corresponding activation cavity5028to cause them to rotatably or reciprocatingly drive the corresponding inboard pushers5088towards the closed anvil5070in the same manner. Thus, the laterally corresponding outboard staples5098on each side of the centrally disposed slot5084are simultaneously formed together and the laterally corresponding inboard staples5098on each side of the slot5084are simultaneously formed together as the sled assembly5030is driven distally. Once the robotic controller1001determines that the sled assembly5030has reached its distal most position—either through sensors or through monitoring the amount of rotary input applied to the drive shaft5130and/or the rotary drive bar5160, the controller1001may then apply a third rotary output motion to the drive shaft5130to rotate the drive shaft5130in an opposite direction to retract the sled assembly5030back to its starting position. Once the sled assembly5030has been retracted to the starting position (as signaled by sensors in the end effector5012and/or the tool drive portion5200), the application of the second rotary motion to the drive shaft5130is discontinued. Thereafter, the surgeon may manually activate the anvil opening process or it may be automatically commenced by the robotic controller1001. To open the anvil5070, the second rotary output motion is applied to the closure spur gear5145to drive the closure sled5140and the outer closure tube5110axially in the proximal direction. As the closure tube5110moves proximally, the opening5117in the distal end5116of the closure tube5110contacts the tab5071on the anvil5070to pivot the anvil5070to the open position. A spring may also be employed to bias the anvil5070to the open position when the closure tube5116has been returned to the starting position. Again, sensors in the surgical end effector5012and/or the tool mounting portion5200may provide the robotic controller1001with a signal indicating that the anvil5070is now open. Thereafter, the surgical end effector5012may be withdrawn from the surgical site. FIGS.121-126diagrammatically depict the sequential firing of staples in a surgical tool assembly5000′ that is substantially similar to the surgical tool assembly5000described above. In this embodiment, the inboard and outboard drivers5052′,5054′ have a cam-like shape with a cam surface5053and an actuator protrusion5055as shown inFIGS.121-127. The drivers5052′,5054′ are journaled on the same shaft5056′ that is rotatably supported by the sled assembly5030′. In this embodiment, the sled assembly5030′ has distal wedge segments5060′ for engaging the pushers5088.FIG.121illustrates an initial position of two inboard or outboard drivers5052′,5054′ as the sled assembly5030′ is driven in the distal direction “DD”. As can be seen in that Figure, the pusher5088ahas advanced up the wedge segment5060′ and has contacted the driver5052′,5054′. Further travel of the sled assembly5030′ in the distal direction causes the driver5052′,5054′ to pivot in the “P” direction (FIG.122) until the actuator portion5055contacts the end wall5029aof the activation cavity5026,5028as shown inFIG.123. Continued advancement of the sled assembly5030′ in the distal direction “DD” causes the driver5052′,5054′ to rotate in the “D” direction as shown inFIG.124. As the driver5052′,5054′ rotates, the pusher5088arides up the cam surface5053to the final vertical position shown inFIG.125. When the pusher5088areaches the final vertical position shown inFIGS.125and126, the staple (not shown) supported thereon has been driven into the staple forming surface of the anvil to form the staple. FIGS.128-133illustrate a surgical end effector5312that may be employed for example, in connection with the tool mounting portion1300and shaft2008described in detail above. In various forms, the surgical end effector5312includes an elongated channel5322that is constructed as described above for supporting a surgical staple cartridge5330therein. The surgical staple cartridge5330comprises a body portion5332that includes a centrally disposed slot5334for accommodating an upstanding support portion5386of a sled assembly5380. SeeFIGS.128-130. The surgical staple cartridge body portion5332further includes a plurality of cavities5336for movably supporting staple-supporting pushers5350therein. The cavities5336may be arranged in spaced longitudinally extending rows5340,5342,5344,5346. The rows5340,5342are located on one lateral side of the longitudinal slot5334and the rows5344,5346are located on the other side of longitudinal slot5334. In at least one embodiment, the pushers5350are configured to support two surgical staples5352thereon. In particular, each pusher5350located on one side of the elongated slot5334supports one staple5352in row5340and one staple5352in row5342in a staggered orientation. Likewise, each pusher5350located on the other side of the elongated slot5334supports one surgical staple5352in row5344and another surgical staple5352in row5346in a staggered orientation. Thus, every pusher5350supports two surgical staples5352. As can be further seen inFIGS.128,129, the surgical staple cartridge5330includes a plurality of rotary drivers5360. More particularly, the rotary drivers5360on one side of the elongated slot5334are arranged in a single line5370and correspond to the pushers5350in lines5340,5342. In addition, the rotary drivers5360on the other side of the elongated slot5334are arranged in a single line5372and correspond to the pushers5350in lines5344,5346. As can be seen inFIG.128, each rotary driver5360is rotatably supported within the staple cartridge body5332. More particularly, each rotary driver5360is rotatably received on a corresponding driver shaft5362. Each driver5360has an arcuate ramp portion5364formed thereon that is configured to engage an arcuate lower surface5354formed on each pusher5350. SeeFIG.133. In addition, each driver5360has a lower support portion5366extend therefrom to slidably support the pusher5360on the channel5322. Each driver5360has a downwardly extending actuation rod5368that is configured for engagement with a sled assembly5380. As can be seen inFIG.130, in at least one embodiment, the sled assembly5380includes a base portion5382that has a foot portion5384that is sized to be slidably received in a slot5333in the channel5322. SeeFIG.128. The sled assembly5380includes an upstanding support portion5386that supports a tissue cutting blade or tissue cutting instrument5388. The upstanding support portion5386terminates in a top portion5390that has a pair of laterally extending retaining fins5392protruding therefrom. The fins5392are positioned to be received within corresponding slots (not shown) in the anvil (not shown). As with the above-described embodiments, the fins5392and the foot portion5384serve to retain the anvil (not shown) in a desired spaced closed position as the sled assembly5380is driven distally through the tissue clamped within the surgical end effector5312. The upstanding support portion5386is configured for attachment to a knife bar2200(FIG.49). The sled assembly5380further has a horizontally-extending actuator plate5394that is shaped for actuating engagement with each of the actuation rods5368on the pushers5360. Operation of the surgical end effector5312will now be explained with reference toFIGS.128and129. As the sled assembly5380is driven in the distal direction “DD” through the staple cartridge5330, the actuator plate5394sequentially contacts the actuation rods5368on the pushers5360. As the sled assembly5380continues to move distally, the actuator plate5394sequentially contacts the actuator rods5368of the drivers5360on each side of the elongated slot5334. Such action causes the drivers5360to rotate from a first unactuated position to an actuated portion wherein the pushers5350are driven towards the closed anvil. As the pushers5350are driven toward the anvil, the surgical staples5352thereon are driven into forming contact with the underside of the anvil. Once the robotic system1000determines that the sled assembly5080has reached its distal most position through sensors or other means, the control system of the robotic system1000may then retract the knife bar and sled assembly5380back to the starting position. Thereafter, the robotic control system may then activate the procedure for returning the anvil to the open position to release the stapled tissue. FIGS.134-138depict one form of an automated reloading system embodiment of the present invention, generally designated as5500. In one form, the automated reloading system5500is configured to replace a “spent” surgical end effector component in a manipulatable surgical tool portion of a robotic surgical system with a “new” surgical end effector component. As used herein, the term “surgical end effector component” may comprise, for example, a surgical staple cartridge, a disposable loading unit or other end effector components that, when used, are spent and must be replaced with a new component. Furthermore, the term “spent” means that the end effector component has been activated and is no longer useable for its intended purpose in its present state. For example, in the context of a surgical staple cartridge or disposable loading unit, the term “spent” means that at least some of the unformed staples that were previously supported therein have been “fired” therefrom. As used herein, the term “new” surgical end effector component refers to an end effector component that is in condition for its intended use. In the context of a surgical staple cartridge or disposable loading unit, for example, the term “new” refers to such a component that has unformed staples therein and which is otherwise ready for use. In various embodiments, the automated reloading system5500includes a base portion5502that may be strategically located within a work envelope1109of a robotic arm cart1100(FIG.35) of a robotic system1000. As used herein, the term “manipulatable surgical tool portion” collectively refers to a surgical tool of the various types disclosed herein and other forms of surgical robotically-actuated tools that are operably attached to, for example, a robotic arm cart1100or similar device that is configured to automatically manipulate and actuate the surgical tool. The term “work envelope” as used herein refers to the range of movement of the manipulatable surgical tool portion of the robotic system.FIG.35generally depicts an area that may comprise a work envelope of the robotic arm cart1100. Those of ordinary skill in the art will understand that the shape and size of the work envelope depicted therein is merely illustrative. The ultimate size, shape and location of a work envelope will ultimately depend upon the construction, range of travel limitations, and location of the manipulatable surgical tool portion. Thus, the term “work envelope” as used herein is intended to cover a variety of different sizes and shapes of work envelopes and should not be limited to the specific size and shape of the sample work envelope depicted inFIG.35. As can be seen inFIG.122, the base portion5502includes a new component support section or arrangement5510that is configured to operably support at least one new surgical end effector component in a “loading orientation”. As used herein, the term “loading orientation” means that the new end effector component is supported in such away so as to permit the corresponding component support portion of the manipulatable surgical tool portion to be brought into loading engagement with (i.e., operably seated or operably attached to) the new end effector component (or the new end effector component to be brought into loading engagement with the corresponding component support portion of the manipulatable surgical tool portion) without human intervention beyond that which may be necessary to actuate the robotic system. As will be further appreciated as the present Detailed Description proceeds, in at least one embodiment, the preparation nurse will load the new component support section before the surgery with the appropriate length and color cartridges (some surgical staple cartridges may support certain sizes of staples the size of which may be indicated by the color of the cartridge body) required for completing the surgical procedure. However, no direct human interaction is necessary during the surgery to reload the robotic endocutter. In one form, the surgical end effector component comprises a staple cartridge2034that is configured to be operably seated within a component support portion (elongated channel) of any of the various other end effector arrangements described above. For explanation purposes, new (unused) cartridges will be designated as “2034a” and spent cartridges will be designated as “2034b”. The Figures depict cartridges2034a,2034bdesigned for use with a surgical end effector2012that includes a channel2022and an anvil2024, the construction and operation of which were discussed in detail above. Cartridges2034a,2034bare identical to cartridges2034described above. In various embodiments, the cartridges2034a,2034bare configured to be snappingly retained (i.e., loading engagement) within the channel2022of a surgical end effector2012. As the present Detailed Description proceeds, however, those of ordinary skill in the art will appreciate that the unique and novel features of the automated cartridge reloading system5500may be effectively employed in connection with the automated removal and installation of other cartridge arrangements without departing from the spirit and scope of the present invention. In the depicted embodiment, the term “loading orientation” means that the distal tip portion2035aof the a new surgical staple cartridge2034ais inserted into a corresponding support cavity5512in the new cartridge support section5510such that the proximal end portion2037aof the new surgical staple cartridge2034ais located in a convenient orientation for enabling the arm cart1100to manipulate the surgical end effector2012into a position wherein the new cartridge2034amay be automatically loaded into the channel2022of the surgical end effector2012. In various embodiments, the base5502includes at least one sensor5504which communicates with the control system1003of the robotic controller1001to provide the control system1003with the location of the base5502and/or the reload length and color doe each staged or new cartridge2034a. As can also be seen in the Figures, the base5502further includes a collection receptacle5520that is configured to collect spent cartridges2034bthat have been removed or disengaged from the surgical end effector2012that is operably attached to the robotic system1000. In addition, in one form, the automated reloading system5500includes an extraction system5530for automatically removing the spent end effector component from the corresponding support portion of the end effector or manipulatable surgical tool portion without specific human intervention beyond that which may be necessary to activate the robotic system. In various embodiments, the extraction system5530includes an extraction hook member5532. In one form, for example, the extraction hook member5532is rigidly supported on the base portion5502. In one embodiment, the extraction hook member has at least one hook5534formed thereon that is configured to hookingly engage the distal end2035of a spent cartridge2034bwhen it is supported in the elongated channel2022of the surgical end effector2012. In various forms, the extraction hook member5532is conveniently located within a portion of the collection receptacle5520such that when the spent end effector component (cartridge2034b) is brought into extractive engagement with the extraction hook member5532, the spent end effector component (cartridge2034b) is dislodged from the corresponding component support portion (elongated channel2022), and falls into the collection receptacle5020. Thus, to use this embodiment, the manipulatable surgical tool portion manipulates the end effector attached thereto to bring the distal end2035of the spent cartridge2034btherein into hooking engagement with the hook5534and then moves the end effector in such a way to dislodge the spent cartridge2034bfrom the elongated channel2022. In other arrangements, the extraction hook member5532comprises a rotatable wheel configuration that has a pair of diametrically-opposed hooks5334protruding therefrom. SeeFIGS.134and137. The extraction hook member5532is rotatably supported within the collection receptacle5520and is coupled to an extraction motor5540that is controlled by the controller1001of the robotic system. This form of the automated reloading system5500may be used as follows.FIG.136illustrates the introduction of the surgical end effector2012that is operably attached to the manipulatable surgical tool portion1200. As can be seen in that Figure, the arm cart1100of the robotic system1000locates the surgical end effector2012in the shown position wherein the hook end5534of the extraction member5532hookingly engages the distal end2035of the spent cartridge2034bin the surgical end effector2012. The anvil2024of the surgical end effector2012is in the open position. After the distal end2035of the spent cartridge2034bis engaged with the hook end5532, the extraction motor5540is actuated to rotate the extraction wheel5532to disengage the spent cartridge2034bfrom the channel2022. To assist with the disengagement of the spent cartridge2034bfrom the channel2022(or if the extraction member5530is stationary), the robotic system1000may move the surgical end effector2012in an upward direction (arrow “U” inFIG.137). As the spent cartridge2034bis dislodged from the channel2022, the spent cartridge2034bfalls into the collection receptacle5520. Once the spent cartridge2034bhas been removed from the surgical end effector2012, the robotic system1000moves the surgical end effector2012to the position shown inFIG.138. In various embodiments, a sensor arrangement5533is located adjacent to the extraction member5532that is in communication with the controller1001of the robotic system1000. The sensor arrangement5533may comprise a sensor that is configured to sense the presence of the surgical end effector2012and, more particularly the tip2035bof the spent surgical staple cartridge2034bthereof as the distal tip portion2035bis brought into engagement with the extraction member5532. In some embodiments, the sensor arrangement5533may comprise, for example, a light curtain arrangement. However, other forms of proximity sensors may be employed. In such arrangement, when the surgical end effector2012with the spent surgical staple cartridge2034bis brought into extractive engagement with the extraction member5532, the sensor senses the distal tip2035bof the surgical staple cartridge2034b(e.g., the light curtain is broken). When the extraction member5532spins and pops the surgical staple cartridge2034bloose and it falls into the collection receptacle5520, the light curtain is again unbroken. Because the surgical end effector2012was not moved during this procedure, the robotic controller1001is assured that the spent surgical staple cartridge2034bhas been removed therefrom. Other sensor arrangements may also be successfully employed to provide the robotic controller1001with an indication that the spent surgical staple cartridge2034bhas been removed from the surgical end effector2012. As can be seen inFIG.138, the surgical end effector2012is positioned to grasp a new surgical staple cartridge2034abetween the channel2022and the anvil2024. More specifically, as shown inFIGS.135and138, each cavity5512has a corresponding upstanding pressure pad5514associated with it. The surgical end effector2012is located such that the pressure pad5514is located between the new cartridge2034aand the anvil2024. Once in that position, the robotic system1000closes the anvil2024onto the pressure pad5514which serves to push the new cartridge2034ainto snapping engagement with the channel2022of the surgical end effector2012. Once the new cartridge2034ahas been snapped into position within the elongated channel2022, the robotic system1000then withdraws the surgical end effector2012from the automated cartridge reloading system5500for use in connection with performing another surgical procedure. FIGS.139-143depict another automated reloading system5600that may be used to remove a spent disposable loading unit3612from a manipulatable surgical tool arrangement3600(FIGS.86-99) that is operably attached to an arm cart1100or other portion of a robotic system1000and reload a new disposable loading unit3612therein. As can be seen inFIGS.139and140, one form of the automated reloading system5600includes a housing5610that has a movable support assembly in the form of a rotary carrousel top plate5620supported thereon which cooperates with the housing5610to form a hollow enclosed area5612. The automated reloading system5600is configured to be operably supported within the work envelop of the manipulatable surgical tool portion of a robotic system as was described above. In various embodiments, the rotary carrousel plate5620has a plurality of holes5622for supporting a plurality of orientation tubes5660therein. As can be seen inFIGS.140and141, the rotary carrousel plate5620is affixed to a spindle shaft5624. The spindle shaft5624is centrally disposed within the enclosed area5612and has a spindle gear5626attached thereto. The spindle gear5626is in meshing engagement with a carrousel drive gear5628that is coupled to a carrousel drive motor5630that is in operative communication with the robotic controller1001of the robotic system1000. Various embodiments of the automated reloading system5600may also include a carrousel locking assembly, generally designated as5640. In various forms, the carrousel locking assembly5640includes a cam disc5642that is affixed to the spindle shaft5624. The spindle gear5626may be attached to the underside of the cam disc5642and the cam disc5642may be keyed onto the spindle shaft5624. In alternative arrangements, the spindle gear5626and the cam disc5642may be independently non-rotatably affixed to the spindle shaft5624. As can be seen inFIGS.140and141, a plurality of notches5644are spaced around the perimeter of the cam disc5642. A locking arm5648is pivotally mounted within the housing5610and is biased into engagement with the perimeter of the cam disc5642by a locking spring5649. As can be seen inFIG.139, the outer perimeter of the cam disc5642is rounded to facilitate rotation of the cam disc5642relative to the locking arm5648. The edges of each notch5644are also rounded such that when the cam disc5642is rotated, the locking arm5648is cammed out of engagement with the notches5644by the perimeter of the cam disc5642. Various forms of the automated reloading system5600are configured to support a portable/replaceable tray assembly5650that is configured to support a plurality of disposable loading units3612in individual orientation tubes5660. More specifically and with reference toFIGS.140and141, the replaceable tray assembly5650comprises a tray5652that has a centrally-disposed locator spindle5654protruding from the underside thereof. The locator spindle5654is sized to be received within a hollow end5625of spindle shaft5624. The tray5652has a plurality of holes5656therein that are configured to support an orientation tube5660therein. Each orientation tube5660is oriented within a corresponding hole5656in the replaceable tray assembly5650in a desired orientation by a locating fin5666on the orientation tube5660that is designed to be received within a corresponding locating slot5658in the tray assembly5650. In at least one embodiment, the locating fin5666has a substantially V-shaped cross-sectional shape that is sized to fit within a V-shaped locating slot5658. Such arrangement serves to orient the orientation tube5660in a desired starting position while enabling it to rotate within the hole5656when a rotary motion is applied thereto. That is, when a rotary motion is applied to the orientation tube5660the V-shaped locating fin5666will pop out of its corresponding locating slot enabling the tube5660to rotate relative to the tray5652as will be discussed in further detail below. As can also be seen inFIGS.139-141, the replaceable tray5652may be provided with one or more handle portions5653to facilitate transport of the tray assembly5652when loaded with orientation tubes5660. As can be seen inFIG.143, each orientation tube5660comprises a body portion5662that has a flanged open end5664. The body portion5662defines a cavity5668that is sized to receive a portion of a disposable loading unit3612therein. To properly orient the disposable loading unit3612within the orientation tube5660, the cavity5668has a flat locating surface5670formed therein. As can be seen inFIG.143, the flat locating surface5670is configured to facilitate the insertion of the disposable loading unit into the cavity5668in a desired or predetermined non-rotatable orientation. In addition, the end5669of the cavity5668may include a foam or cushion material5672that is designed to cushion the distal end of the disposable loading unit3612within the cavity5668. Also, the length of the locating surface may cooperate with a sliding support member3689of the axial drive assembly3680of the disposable loading unit3612to further locate the disposable loading unit3612at a desired position within the orientation tube5660. The orientation tubes5660may be fabricated from Nylon, polycarbonate, polyethylene, liquid crystal polymer, 6061 or 7075 aluminum, titanium, 300 or 400 series stainless steel, coated or painted steel, plated steel, etc. and, when loaded in the replaceable tray5662and the locator spindle5654is inserted into the hollow end5625of spindle shaft5624, the orientation tubes5660extend through corresponding holes5662in the carrousel top plate5620. Each replaceable tray5662is equipped with a location sensor5663that communicates with the control system1003of the controller1001of the robotic system1000. The sensor5663serves to identify the location of the reload system, and the number, length, color and fired status of each reload housed in the tray. In addition, an optical sensor or sensors5665that communicate with the robotic controller1001may be employed to sense the type/size/length of disposable loading units that are loaded within the tray5662. Various embodiments of the automated reloading system5600further include a drive assembly5680for applying a rotary motion to the orientation tube5660holding the disposable loading unit3612to be attached to the shaft3700of the surgical tool3600(collectively the “manipulatable surgical tool portion”) that is operably coupled to the robotic system. The drive assembly5680includes a support yoke5682that is attached to the locking arm5648. Thus, the support yoke5682pivots with the locking arm5648. The support yoke5682rotatably supports a tube idler wheel5684and a tube drive wheel5686that is driven by a tube motor5688attached thereto. Tube motor5688communicates with the control system1003and is controlled thereby. The tube idler wheel5684and tube drive wheel5686are fabricated from, for example, natural rubber, sanoprene, isoplast, etc. such that the outer surfaces thereof create sufficient amount of friction to result in the rotation of an orientation tube5660in contact therewith upon activation of the tube motor5688. The idler wheel5684and tube drive wheel5686are oriented relative to each other to create a cradle area5687therebetween for receiving an orientation tube5060in driving engagement therein. In use, one or more of the orientation tubes5660loaded in the automated reloading system5600are left empty, while the other orientation tubes5660may operably support a corresponding new disposable loading unit3612therein. As will be discussed in further detail below, the empty orientation tubes5660are employed to receive a spent disposable loading unit3612therein. The automated reloading system5600may be employed as follows after the system5600is located within the work envelope of the manipulatable surgical tool portion of a robotic system. If the manipulatable surgical tool portion has a spent disposable loading unit3612operably coupled thereto, one of the orientation tubes5660that are supported on the replaceable tray5662is left empty to receive the spent disposable loading unit3612therein. If, however, the manipulatable surgical tool portion does not have a disposable loading unit3612operably coupled thereto, each of the orientation tubes5660may be provided with a properly oriented new disposable loading unit3612. As described hereinabove, the disposable loading unit3612employs a rotary “bayonet-type” coupling arrangement for operably coupling the disposable loading unit3612to a corresponding portion of the manipulatable surgical tool portion. That is, to attach a disposable loading unit3612to the corresponding portion of the manipulatable surgical tool portion (3700—seeFIG.92,93), a rotary installation motion must be applied to the disposable loading unit3612and/or the corresponding portion of the manipulatable surgical tool portion when those components have been moved into loading engagement with each other. Such installation motions are collectively referred to herein as “loading motions”. Likewise, to decouple a spent disposable loading unit3612from the corresponding portion of the manipulatable surgical tool, a rotary decoupling motion must be applied to the spent disposable loading unit3612and/or the corresponding portion of the manipulatable surgical tool portion while simultaneously moving the spent disposable loading unit and the corresponding portion of the manipulatable surgical tool away from each other. Such decoupling motions are collectively referred to herein as “extraction motions”. To commence the loading process, the robotic system1000is activated to manipulate the manipulatable surgical tool portion and/or the automated reloading system5600to bring the manipulatable surgical tool portion into loading engagement with the new disposable loading unit3612that is supported in the orientation tube5660that is in driving engagement with the drive assembly5680. Once the robotic controller1001(FIG.34) of the robotic control system1000has located the manipulatable surgical tool portion in loading engagement with the new disposable loading unit3612, the robotic controller1001activates the drive assembly5680to apply a rotary loading motion to the orientation tube5660in which the new disposable loading unit3612is supported and/or applies another rotary loading motion to the corresponding portion of the manipulatable surgical tool portion. Upon application of such rotary loading motions(s), the robotic controller1001also causes the corresponding portion of the manipulatable surgical tool portion to be moved towards the new disposable loading unit3612into loading engagement therewith. Once the disposable loading unit3612is in loading engagement with the corresponding portion of the manipulatable tool portion, the loading motions are discontinued and the manipulatable surgical tool portion may be moved away from the automated reloading system5600carrying with it the new disposable loading unit3612that has been operably coupled thereto. To decouple a spent disposable loading unit3612from a corresponding manipulatable surgical tool portion, the robotic controller1001of the robotic system manipulates the manipulatable surgical tool portion so as to insert the distal end of the spent disposable loading unit3612into the empty orientation tube5660that remains in driving engagement with the drive assembly5680. Thereafter, the robotic controller1001activates the drive assembly5680to apply a rotary extraction motion to the orientation tube5660in which the spent disposable loading unit3612is supported and/or applies a rotary extraction motion to the corresponding portion of the manipulatable surgical tool portion. The robotic controller1001also causes the manipulatable surgical tool portion to withdraw away from the spent rotary disposable loading unit3612. Thereafter the rotary extraction motion(s) are discontinued. After the spent disposable loading unit3612has been removed from the manipulatable surgical tool portion, the robotic controller1001may activate the carrousel drive motor5630to index the carrousel top plate5620to bring another orientation tube5660that supports a new disposable loading unit3612therein into driving engagement with the drive assembly5680. Thereafter, the loading process may be repeated to attach the new disposable loading unit3612therein to the portion of the manipulatable surgical tool portion. The robotic controller1001may record the number of disposable loading units that have been used from a particular replaceable tray5652. Once the controller1001determines that all of the new disposable loading units3612have been used from that tray, the controller1001may provide the surgeon with a signal (visual and/or audible) indicating that the tray5652supporting all of the spent disposable loading units3612must be replaced with a new tray5652containing new disposable loading units3612. FIGS.144-149depicts another non-limiting embodiment of a surgical tool6000of the present invention that is well-adapted for use with a robotic system1000that has a tool drive assembly1010(FIG.39) that is operatively coupled to a master controller1001that is operable by inputs from an operator (i.e., a surgeon). As can be seen inFIG.144, the surgical tool6000includes a surgical end effector6012that comprises an endocutter. In at least one form, the surgical tool6000generally includes an elongated shaft assembly6008that has a proximal closure tube6040and a distal closure tube6042that are coupled together by an articulation joint6100. The surgical tool6000is operably coupled to the manipulator by a tool mounting portion, generally designated as6200. The surgical tool6000further includes an interface6030which may mechanically and electrically couple the tool mounting portion6200to the manipulator in the various manners described in detail above. In at least one embodiment, the surgical tool6000includes a surgical end effector6012that comprises, among other things, at least one component6024that is selectively movable between first and second positions relative to at least one other component6022in response to various control motions applied to component6024as will be discussed in further detail below to perform a surgical procedure. In various embodiments, component6022comprises an elongated channel6022configured to operably support a surgical staple cartridge6034therein and component6024comprises a pivotally translatable clamping member, such as an anvil6024. Various embodiments of the surgical end effector6012are configured to maintain the anvil6024and elongated channel6022at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector6012. Unless otherwise stated, the end effector6012is similar to the surgical end effector2012described above and includes a cutting instrument (not shown) and a sled (not shown). The anvil6024may include a tab6027at its proximal end that interacts with a component of the mechanical closure system (described further below) to facilitate the opening of the anvil6024. The elongated channel6022and the anvil6024may be made of an electrically conductive material (such as metal) so that they may serve as part of an antenna that communicates with sensor(s) in the end effector, as described above. The surgical staple cartridge6034could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge6034, as was also described above. As can be seen inFIG.144, the surgical end effector6012is attached to the tool mounting portion6200by the elongated shaft assembly6008according to various embodiments. As shown in the illustrated embodiment, the elongated shaft assembly6008includes an articulation joint generally designated as6100that enables the surgical end effector6012to be selectively articulated about a first tool articulation axis AA1-AA1that is substantially transverse to a longitudinal tool axis LT-LT and a second tool articulation axis AA2-AA2that is substantially transverse to the longitudinal tool axis LT-LT as well as the first articulation axis AA1-AA1. SeeFIG.145. In various embodiments, the elongated shaft assembly6008includes a closure tube assembly6009that comprises a proximal closure tube6040and a distal closure tube6042that are pivotably linked by a pivot links6044and6046. The closure tube assembly6009is movably supported on a spine assembly generally designated as6102. As can be seen inFIG.146, the proximal closure tube6040is pivotally linked to an intermediate closure tube joint6043by an upper pivot link6044U and a lower pivot link6044L such that the intermediate closure tube joint6043is pivotable relative to the proximal closure tube6040about a first closure axis CA1-CA1and a second closure axis CA2-CA2. In various embodiments, the first closure axis CA1-CA1is substantially parallel to the second closure axis CA2-CA2and both closure axes CA1-CA1, CA2-CA2are substantially transverse to the longitudinal tool axis LT-LT. As can be further seen inFIG.146, the intermediate closure tube joint6043is pivotally linked to the distal closure tube6042by a left pivot link6046L and a right pivot link6046R such that the intermediate closure tube joint6043is pivotable relative to the distal closure tube6042about a third closure axis CA3-CA3and a fourth closure axis CA4-CA4. In various embodiments, the third closure axis CA3-CA3is substantially parallel to the fourth closure axis CA4-CA4and both closure axes CA3-CA3, CA4-CA4are substantially transverse to the first and second closure axes CA1-CA1, CA2-CA2as well as to longitudinal tool axis LT-LT. The closure tube assembly6009is configured to axially slide on the spine assembly6102in response to actuation motions applied thereto. The distal closure tube6042includes an opening6045which interfaces with the tab6027on the anvil6024to facilitate opening of the anvil6024as the distal closure tube6042is moved axially in the proximal direction “PD”. The closure tubes6040,6042may be made of electrically conductive material (such as metal) so that they may serve as part of the antenna, as described above. Components of the spine assembly6102may be made of a nonconductive material (such as plastic). As indicated above, the surgical tool6000includes a tool mounting portion6200that is configured for operable attachment to the tool mounting assembly1010of the robotic system1000in the various manners described in detail above. As can be seen inFIG.148, the tool mounting portion6200comprises a tool mounting plate6202that operably supports a transmission arrangement6204thereon. In various embodiments, the transmission arrangement6204includes an articulation transmission6142that comprises a portion of an articulation system6140for articulating the surgical end effector6012about a first tool articulation axis TA1-TA1and a second tool articulation axis TA2-TA2. The first tool articulation axis TA1-TA1is substantially transverse to the second tool articulation axis TA2-TA2and both of the first and second tool articulation axes are substantially transverse to the longitudinal tool axis LT-LT. SeeFIG.145. To facilitate selective articulation of the surgical end effector6012about the first and second tool articulation axes TA1-TA1, TA2-TA2, the spine assembly6102comprises a proximal spine portion6110that is pivotally coupled to a distal spine portion6120by pivot pins6122for selective pivotal travel about TA1-TA1. Similarly, the distal spine portion6120is pivotally attached to the elongated channel6022of the surgical end effector6012by pivot pins6124to enable the surgical end effector6012to selectively pivot about the second tool axis TA2-TA2relative to the distal spine portion6120. In various embodiments, the articulation system6140further includes a plurality of articulation elements that operably interface with the surgical end effector6012and an articulation control arrangement6160that is operably supported in the tool mounting member6200as will described in further detail below. In at least one embodiment, the articulation elements comprise a first pair of first articulation cables6144and6146. The first articulation cables are located on a first or right side of the longitudinal tool axis. Thus, the first articulation cables are referred to herein as a right upper cable6144and a right lower cable6146. The right upper cable6144and the right lower cable6146extend through corresponding passages6147,6148, respectively along the right side of the proximal spine portion6110. SeeFIG.149. The articulation system6140further includes a second pair of second articulation cables6150,6152. The second articulation cables are located on a second or left side of the longitudinal tool axis. Thus, the second articulation cables are referred to herein as a left upper articulation cable6150and a left articulation cable6152. The left upper articulation cable6150and the left lower articulation cable6152extend through passages6153,6154, respectively in the proximal spine portion6110. As can be seen inFIG.145, the right upper cable6144extends around an upper pivot joint6123and is attached to a left upper side of the elongated channel6022at a left pivot joint6125. The right lower cable6146extends around a lower pivot joint6126and is attached to a left lower side of the elongated channel6022at left pivot joint6125. The left upper cable6150extends around the upper pivot joint6123and is attached to a right upper side of the elongated channel6022at a right pivot joint6127. The left lower cable6152extends around the lower pivot joint6126and is attached to a right lower side of the elongated channel6022at right pivot joint6127. Thus, to pivot the surgical end effector6012about the first tool articulation axis TA1-TA1to the left (arrow “L”), the right upper cable6144and the right lower cable6146must be pulled in the proximal direction “PD”. To articulate the surgical end effector6012to the right (arrow “R”) about the first tool articulation axis TA1-TA1, the left upper cable6150and the left lower cable6152must be pulled in the proximal direction “PD”. To articulate the surgical end effector6012about the second tool articulation axis TA2-TA2, in an upward direction (arrow “U”), the right upper cable6144and the left upper cable6150must be pulled in the proximal direction “PD”. To articulate the surgical end effector6012in the downward direction (arrow “DW”) about the second tool articulation axis TA2-TA2, the right lower cable6146and the left lower cable6152must be pulled in the proximal direction “PD”. The proximal ends of the articulation cables6144,6146,6150,6152are coupled to the articulation control arrangement6160which comprises a ball joint assembly that is a part of the articulation transmission6142. More specifically and with reference toFIG.137, the ball joint assembly6160includes a ball-shaped member6162that is formed on a proximal portion of the proximal spine6110. Movably supported on the ball-shaped member6162is an articulation control ring6164. As can be further seen inFIG.149, the proximal ends of the articulation cables6144,6146,6150,6152are coupled to the articulation control ring6164by corresponding ball joint arrangements6166. The articulation control ring6164is controlled by an articulation drive assembly6170. As can be most particularly seen inFIG.149, the proximal ends of the first articulation cables6144,6146are attached to the articulation control ring6164at corresponding spaced first points6149,6151that are located on plane6159. Likewise, the proximal ends of the second articulation cables6150,6152are attached to the articulation control ring6164at corresponding spaced second points6153,6155that are also located along plane6159. As the present Detailed Description proceeds, those of ordinary skill in the art will appreciate that such cable attachment configuration on the articulation control ring6164facilitates the desired range of articulation motions as the articulation control ring6164is manipulated by the articulation drive assembly6170. In various forms, the articulation drive assembly6170comprises a horizontal articulation assembly generally designated as6171. In at least one form, the horizontal articulation assembly6171comprises a horizontal push cable6172that is attached to a horizontal gear arrangement6180. The articulation drive assembly6170further comprises a vertically articulation assembly generally designated as6173. In at least one form, the vertical articulation assembly6173comprises a vertical push cable6174that is attached to a vertical gear arrangement6190. As can be seen inFIGS.148and149, the horizontal push cable6172extends through a support plate6167that is attached to the proximal spine portion6110. The distal end of the horizontal push cable6174is attached to the articulation control ring6164by a corresponding ball/pivot joint6168. The vertical push cable6174extends through the support plate6167and the distal end thereof is attached to the articulation control ring6164by a corresponding ball/pivot joint6169. The horizontal gear arrangement6180includes a horizontal driven gear6182that is pivotally mounted on a horizontal shaft6181that is attached to a proximal portion of the proximal spine portion6110. The proximal end of the horizontal push cable6172is pivotally attached to the horizontal driven gear6182such that, as the horizontal driven gear6172is rotated about horizontal pivot axis HA, the horizontal push cable6172applies a first pivot motion to the articulation control ring6164. Likewise, the vertical gear arrangement6190includes a vertical driven gear6192that is pivotally supported on a vertical shaft6191attached to the proximal portion of the proximal spine portion6110for pivotal travel about a vertical pivot axis VA. The proximal end of the vertical push cable6174is pivotally attached to the vertical driven gear6192such that as the vertical driven gear6192is rotated about vertical pivot axis VA, the vertical push cable6174applies a second pivot motion to the articulation control ring6164. The horizontal driven gear6182and the vertical driven gear6192are driven by an articulation gear train6300that operably interfaces with an articulation shifter assembly6320. In at least one form, the articulation shifter assembly comprises an articulation drive gear6322that is coupled to a corresponding one of the driven discs or elements1304on the adapter side1307of the tool mounting plate6202. SeeFIG.43. Thus, application of a rotary input motion from the robotic system1000through the tool drive assembly1010to the corresponding driven element1304will cause rotation of the articulation drive gear6322when the interface1230is coupled to the tool holder1270. An articulation driven gear6324is attached to a splined shifter shaft6330that is rotatably supported on the tool mounting plate6202. The articulation driven gear6324is in meshing engagement with the articulation drive gear6322as shown. Thus, rotation of the articulation drive gear6322will result in the rotation of the shaft6330. In various forms, a shifter driven gear assembly6340is movably supported on the splined portion6332of the shifter shaft6330. In various embodiments, the shifter driven gear assembly6340includes a driven shifter gear6342that is attached to a shifter plate6344. The shifter plate6344operably interfaces with a shifter solenoid assembly6350. The shifter solenoid assembly6350is coupled to corresponding pins6352by conductors6352. SeeFIG.136. Pins6352are oriented to electrically communicate with slots1258(FIG.42) on the tool side1244of the adaptor1240. Such arrangement serves to electrically couple the shifter solenoid assembly6350to the robotic controller1001. Thus, activation of the shifter solenoid6350will shift the shifter driven gear assembly6340on the splined portion6332of the shifter shaft6330as represented by arrow “S” inFIGS.148and149. Various embodiments of the articulation gear train6300further include a horizontal gear assembly6360that includes a first horizontal drive gear6362that is mounted on a shaft6361that is rotatably attached to the tool mounting plate6202. The first horizontal drive gear6362is supported in meshing engagement with a second horizontal drive gear6364. As can be seen inFIG.149, the horizontal driven gear6182is in meshing engagement with the distal face portion6365of the second horizontal driven gear6364. Various embodiments of the articulation gear train6300further include a vertical gear assembly6370that includes a first vertical drive gear6372that is mounted on a shaft6371that is rotatably supported on the tool mounting plate6202. The first vertical drive gear6372is supported in meshing engagement with a second vertical drive gear6374that is concentrically supported with the second horizontal drive gear6364. The second vertical drive gear6374is rotatably supported on the proximal spine portion6110for travel therearound. The second horizontal drive gear6364is rotatably supported on a portion of said second vertical drive gear6374for independent rotatable travel thereon. As can be seen inFIG.149, the vertical driven gear6192is in meshing engagement with the distal face portion6375of the second vertical driven gear6374. In various forms, the first horizontal drive gear6362has a first diameter and the first vertical drive gear6372has a second diameter. As can be seen inFIGS.148and149, the shaft6361is not on a common axis with shaft6371. That is, the first horizontal driven gear6362and the first vertical driven gear6372do not rotate about a common axis. Thus, when the shifter gear6342is positioned in a center “locking” position such that the shifter gear6342is in meshing engagement with both the first horizontal driven gear6362and the first vertical drive gear6372, the components of the articulation system6140are locked in position. Thus, the shiftable shifter gear6342and the arrangement of first horizontal and vertical drive gears6362,6372as well as the articulation shifter assembly6320collectively may be referred to as an articulation locking system, generally designated as6380. In use, the robotic controller1001of the robotic system1000may control the articulation system6140as follows. To articulate the end effector6012to the left about the first tool articulation axis TA1-TA1, the robotic controller1001activates the shifter solenoid assembly6350to bring the shifter gear6342into meshing engagement with the first horizontal drive gear6362. Thereafter, the controller1001causes a first rotary output motion to be applied to the articulation drive gear6322to drive the shifter gear in a first direction to ultimately drive the horizontal driven gear6182in another first direction. The horizontal driven gear6182is driven to pivot the articulation ring6164on the ball-shaped portion6162to thereby pull right upper cable6144and the right lower cable6146in the proximal direction “PD”. To articulate the end effector6012to the right about the first tool articulation axis TA1-TA1, the robotic controller1001activates the shifter solenoid assembly6350to bring the shifter gear6342into meshing engagement with the first horizontal drive gear6362. Thereafter, the controller1001causes the first rotary output motion in an opposite direction to be applied to the articulation drive gear6322to drive the shifter gear6342in a second direction to ultimately drive the horizontal driven gear6182in another second direction. Such actions result in the articulation control ring6164moving in such a manner as to pull the left upper cable6150and the left lower cable6152in the proximal direction “PD”. In various embodiments the gear ratios and frictional forces generated between the gears of the vertical gear assembly6370serve to prevent rotation of the vertical driven gear6192as the horizontal gear assembly6360is actuated. To articulate the end effector6012in the upper direction about the second tool articulation axis TA2-TA2, the robotic controller1001activates the shifter solenoid assembly6350to bring the shifter gear6342into meshing engagement with the first vertical drive gear6372. Thereafter, the controller1001causes the first rotary output motion to be applied to the articulation drive gear6322to drive the shifter gear6342in a first direction to ultimately drive the vertical driven gear6192in another first direction. The vertical driven gear6192is driven to pivot the articulation ring6164on the ball-shaped portion6162of the proximal spine portion6110to thereby pull right upper cable6144and the left upper cable6150in the proximal direction “PD”. To articulate the end effector6012in the downward direction about the second tool articulation axis TA2-TA2, the robotic controller1001activates the shifter solenoid assembly6350to bring the shifter gear6342into meshing engagement with the first vertical drive gear6372. Thereafter, the controller1001causes the first rotary output motion to be applied in an opposite direction to the articulation drive gear6322to drive the shifter gear6342in a second direction to ultimately drive the vertical driven gear6192in another second direction. Such actions thereby cause the articulation control ring6164to pull the right lower cable6146and the left lower cable6152in the proximal direction “PD”. In various embodiments, the gear ratios and frictional forces generated between the gears of the horizontal gear assembly6360serve to prevent rotation of the horizontal driven gear6182as the vertical gear assembly6370is actuated. In various embodiments, a variety of sensors may communicate with the robotic controller1001to determine the articulated position of the end effector6012. Such sensors may interface with, for example, the articulation joint6100or be located within the tool mounting portion6200. For example, sensors may be employed to detect the position of the articulation control ring6164on the ball-shaped portion6162of the proximal spine portion6110. Such feedback from the sensors to the controller1001permits the controller1001to adjust the amount of rotation and the direction of the rotary output to the articulation drive gear6322. Further, as indicated above, when the shifter drive gear6342is centrally positioned in meshing engagement with the first horizontal drive gear6362and the first vertical drive gear6372, the end effector6012is locked in the articulated position. Thus, after the desired amount of articulation has been attained, the controller1001may activate the shifter solenoid assembly6350to bring the shifter gear6342into meshing engagement with the first horizontal drive gear6362and the first vertical drive gear6372. In alternative embodiments, the shifter solenoid assembly6350may be spring activated to the central locked position. In use, it may be desirable to rotate the surgical end effector6012about the longitudinal tool axis LT-LT. In at least one embodiment, the transmission arrangement6204on the tool mounting portion includes a rotational transmission assembly6400that is configured to receive a corresponding rotary output motion from the tool drive assembly1010of the robotic system1000and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly6008(and surgical end effector6012) about the longitudinal tool axis LT-LT. In various embodiments, for example, a proximal end portion6041of the proximal closure tube6040is rotatably supported on the tool mounting plate6202of the tool mounting portion6200by a forward support cradle6205and a closure sled6510that is also movably supported on the tool mounting plate6202. In at least one form, the rotational transmission assembly6400includes a tube gear segment6402that is formed on (or attached to) the proximal end6041of the proximal closure tube6040for operable engagement by a rotational gear assembly6410that is operably supported on the tool mounting plate6202. As can be seen inFIG.148, the rotational gear assembly6410, in at least one embodiment, comprises a rotation drive gear6412that is coupled to a corresponding second one of the driven discs or elements1304on the adapter side1307of the tool mounting plate6202when the tool mounting portion6200is coupled to the tool drive assembly1010. SeeFIG.43. The rotational gear assembly6410further comprises a first rotary driven gear6414that is rotatably supported on the tool mounting plate6202in meshing engagement with the rotation drive gear6412. The first rotary driven gear6414is attached to a drive shaft6416that is rotatably supported on the tool mounting plate6202. A second rotary driven gear6418is attached to the drive shaft6416and is in meshing engagement with tube gear segment6402on the proximal closure tube6040. Application of a second rotary output motion from the tool drive assembly1010of the robotic system1000to the corresponding driven element1304will thereby cause rotation of the rotation drive gear6412. Rotation of the rotation drive gear6412ultimately results in the rotation of the elongated shaft assembly6008(and the surgical end effector6012) about the longitudinal tool axis LT-LT. It will be appreciated that the application of a rotary output motion from the tool drive assembly1010in one direction will result in the rotation of the elongated shaft assembly6008and surgical end effector6012about the longitudinal tool axis LT-LT in a first direction and an application of the rotary output motion in an opposite direction will result in the rotation of the elongated shaft assembly6008and surgical end effector6012in a second direction that is opposite to the first direction. In at least one embodiment, the closure of the anvil2024relative to the staple cartridge2034is accomplished by axially moving a closure portion of the elongated shaft assembly2008in the distal direction “DD” on the spine assembly2049. As indicated above, in various embodiments, the proximal end portion6041of the proximal closure tube6040is supported by the closure sled6510which comprises a portion of a closure transmission, generally depicted as6512. As can be seen inFIG.148, the proximal end portion6041of the proximal closure tube portion6040has a collar6048formed thereon. The closure sled6510is coupled to the collar6048by a yoke6514that engages an annular groove6049in the collar6048. Such arrangement serves to enable the collar6048to rotate about the longitudinal tool axis LT-LT while still being coupled to the closure transmission6512. In various embodiments, the closure sled6510has an upstanding portion6516that has a closure rack gear6518formed thereon. The closure rack gear6518is configured for driving engagement with a closure gear assembly6520. SeeFIG.148. In various forms, the closure gear assembly6520includes a closure spur gear6522that is coupled to a corresponding second one of the driven discs or elements1304on the adapter side1307of the tool mounting plate6202. SeeFIG.43. Thus, application of a third rotary output motion from the tool drive assembly1010of the robotic system1000to the corresponding second driven element1304will cause rotation of the closure spur gear6522when the tool mounting portion6202is coupled to the tool drive assembly1010. The closure gear assembly6520further includes a closure reduction gear set6524that is supported in meshing engagement with the closure spur gear6522and the closure rack gear2106. Thus, application of a third rotary output motion from the tool drive assembly1010of the robotic system1000to the corresponding second driven element1304will cause rotation of the closure spur gear6522and the closure transmission6512and ultimately drive the closure sled6510and the proximal closure tube6040axially on the proximal spine portion6110. The axial direction in which the proximal closure tube6040moves ultimately depends upon the direction in which the third driven element1304is rotated. For example, in response to one rotary output motion received from the tool drive assembly1010of the robotic system1000, the closure sled6510will be driven in the distal direction “DD” and ultimately drive the proximal closure tube6040in the distal direction “DD”. As the proximal closure tube6040is driven distally, the distal closure tube6042is also driven distally by virtue of it connection with the proximal closure tube6040. As the distal closure tube6042is driven distally, the end of the closure tube6042will engage a portion of the anvil6024and cause the anvil6024to pivot to a closed position. Upon application of an “opening” out put motion from the tool drive assembly1010of the robotic system1000, the closure sled6510and the proximal closure tube6040will be driven in the proximal direction “PD” on the proximal spine portion6110. As the proximal closure tube6040is driven in the proximal direction “PD”, the distal closure tube6042will also be driven in the proximal direction “PD”. As the distal closure tube6042is driven in the proximal direction “PD”, the opening6045therein interacts with the tab6027on the anvil6024to facilitate the opening thereof. In various embodiments, a spring (not shown) may be employed to bias the anvil6024to the open position when the distal closure tube6042has been moved to its starting position. In various embodiments, the various gears of the closure gear assembly6520are sized to generate the necessary closure forces needed to satisfactorily close the anvil6024onto the tissue to be cut and stapled by the surgical end effector6012. For example, the gears of the closure transmission6520may be sized to generate approximately 70-120 pounds of closure forces. In various embodiments, the cutting instrument is driven through the surgical end effector6012by a knife bar6530. SeeFIG.148. In at least one form, the knife bar6530is fabricated with a joint arrangement (not shown) and/or is fabricated from material that can accommodate the articulation of the surgical end effector6102about the first and second tool articulation axes while remaining sufficiently rigid so as to push the cutting instrument through tissue clamped in the surgical end effector6012. The knife bar6530extends through a hollow passage6532in the proximal spine portion6110. In various embodiments, a proximal end6534of the knife bar6530is rotatably affixed to a knife rack gear6540such that the knife bar6530is free to rotate relative to the knife rack gear6540. The distal end of the knife bar6530is attached to the cutting instrument in the various manners described above. As can be seen inFIG.148, the knife rack gear6540is slidably supported within a rack housing6542that is attached to the tool mounting plate6202such that the knife rack gear6540is retained in meshing engagement with a knife drive transmission portion6550of the transmission arrangement6204. In various embodiments, the knife drive transmission portion6550comprises a knife gear assembly6560. More specifically and with reference toFIG.148, in at least one embodiment, the knife gear assembly6560includes a knife spur gear6562that is coupled to a corresponding fourth one of the driven discs or elements1304on the adapter side1307of the tool mounting plate6202. SeeFIG.43. Thus, application of another rotary output motion from the robotic system1000through the tool drive assembly1010to the corresponding fourth driven element1304will cause rotation of the knife spur gear6562. The knife gear assembly6560further includes a knife gear reduction set6564that includes a first knife driven gear6566and a second knife drive gear6568. The knife gear reduction set6564is rotatably mounted to the tool mounting plate6202such that the first knife driven gear6566is in meshing engagement with the knife spur gear6562. Likewise, the second knife drive gear6568is in meshing engagement with a third knife drive gear assembly6570. As shown inFIG.148, the second knife driven gear6568is in meshing engagement with a fourth knife driven gear6572of the third knife drive gear assembly6570. The fourth knife driven gear6572is in meshing engagement with a fifth knife driven gear assembly6574that is in meshing engagement with the knife rack gear6540. In various embodiments, the gears of the knife gear assembly6560are sized to generate the forces needed to drive the cutting instrument through the tissue clamped in the surgical end effector6012and actuate the staples therein. For example, the gears of the knife gear assembly6560may be sized to generate approximately 40 to 100 pounds of driving force. It will be appreciated that the application of a rotary output motion from the tool drive assembly1010in one direction will result in the axial movement of the cutting instrument in a distal direction and application of the rotary output motion in an opposite direction will result in the axial travel of the cutting instrument in a proximal direction. As can be appreciated from the foregoing description, the surgical tool6000represents a vast improvement over prior robotic tool arrangements. The unique and novel transmission arrangement employed by the surgical tool6000enables the tool to be operably coupled to a tool holder portion1010of a robotic system that only has four rotary output bodies, yet obtain the rotary output motions therefrom to: (i) articulate the end effector about two different articulation axes that are substantially transverse to each other as well as the longitudinal tool axis; (ii) rotate the end effector6012about the longitudinal tool axis; (iii) close the anvil6024relative to the surgical staple cartridge6034to varying degrees to enable the end effector6012to be used to manipulate tissue and then clamp it into position for cutting and stapling; and (iv) firing the cutting instrument to cut through the tissue clamped within the end effector6012. The unique and novel shifter arrangements of various embodiments of the present invention described above enable two different articulation actions to be powered from a single rotatable body portion of the robotic system. The various embodiments of the present invention have been described above in connection with cutting-type surgical instruments. It should be noted, however, that in other embodiments, the inventive surgical instrument disclosed herein need not be a cutting-type surgical instrument, but rather could be used in any type of surgical instrument including remote sensor transponders. For example, it could be a non-cutting endoscopic instrument, a grasper, a stapler, a clip applier, an access device, a drug/gene therapy delivery device, an energy device using ultrasound, RF, laser, etc. In addition, the present invention may be in laparoscopic instruments, for example. The present invention also has application in conventional endoscopic and open surgical instrumentation as well as robotic-assisted surgery. FIG.150depicts use of various aspects of certain embodiments of the present invention in connection with a surgical tool7000that has an ultrasonically powered end effector7012. The end effector7012is operably attached to a tool mounting portion7100by an elongated shaft assembly7008. The tool mounting portion7100may be substantially similar to the various tool mounting portions described hereinabove. In one embodiment, the end effector7012includes an ultrasonically powered jaw portion7014that is powered by alternating current or direct current in a known manner. Such ultrasonically-powered devices are disclosed, for example, in U.S. Pat. No. 6,783,524, entitled ROBOTIC SURGICAL TOOL WITH ULTRASOUND CAUTERIZING AND CUTTING INSTRUMENT, the entire disclosure of which is herein incorporated by reference. In the illustrated embodiment, a separate power cord7020is shown. It will be understood, however, that the power may be supplied thereto from the robotic controller1001through the tool mounting portion7100. The surgical end effector7012further includes a movable jaw7016that may be used to clamp tissue onto the ultrasonic jaw portion7014. The movable jaw portion7016may be selectively actuated by the robotic controller1001through the tool mounting portion7100in anyone of the various manners herein described. FIG.151illustrates use of various aspects of certain embodiments of the present invention in connection with a surgical tool8000that has an end effector8012that comprises a linear stapling device. The end effector8012is operably attached to a tool mounting portion8100by an elongated shaft assembly3700of the type and construction describe above. However, the end effector8012may be attached to the tool mounting portion8100by a variety of other elongated shaft assemblies described herein. In one embodiment, the tool mounting portion8100may be substantially similar to tool mounting portion3750. However, various other tool mounting portions and their respective transmission arrangements describe in detail herein may also be employed. Such linear stapling head portions are also disclosed, for example, in U.S. Pat. No. 7,673,781, entitled SURGICAL STAPLING DEVICE WITH STAPLE DRIVER THAT SUPPORTS MULTIPLE WIRE DIAMETER STAPLES, the entire disclosure of which is herein incorporated by reference. Various sensor embodiments described in U.S. Patent Application Publication No. 2011/0062212, now U.S. Pat. No. 8,167,185, the disclosure of which is herein incorporated by reference in its entirety, may be employed with many of the surgical tool embodiments disclosed herein. As was indicated above, the master controller1001generally includes master controllers (generally represented by1003) which are grasped by the surgeon and manipulated in space while the surgeon views the procedure via a stereo display1002. SeeFIG.34. The master controllers1001are manual input devices which preferably move with multiple degrees of freedom, and which often further have an actuatable handle for actuating the surgical tools. Some of the surgical tool embodiments disclosed herein employ a motor or motors in their tool drive portion to supply various control motions to the tool's end effector. Such embodiments may also obtain additional control motion(s) from the motor arrangement employed in the robotic system components. Other embodiments disclosed herein obtain all of the control motions from motor arrangements within the robotic system. Such motor powered arrangements may employ various sensor arrangements that are disclosed in the published U.S. patent application cited above to provide the surgeon with a variety of forms of feedback without departing from the spirit and scope of the present invention. For example, those master controller arrangements1003that employ a manually actuatable firing trigger can employ run motor sensor(s) to provide the surgeon with feedback relating to the amount of force applied to or being experienced by the cutting member. The run motor sensor(s) may be configured for communication with the firing trigger portion to detect when the firing trigger portion has been actuated to commence the cutting/stapling operation by the end effector. The run motor sensor may be a proportional sensor such as, for example, a rheostat or variable resistor. When the firing trigger is drawn in, the sensor detects the movement, and sends an electrical signal indicative of the voltage (or power) to be supplied to the corresponding motor. When the sensor is a variable resistor or the like, the rotation of the motor may be generally proportional to the amount of movement of the firing trigger. That is, if the operator only draws or closes the firing trigger in a small amount, the rotation of the motor is relatively low. When the firing trigger is fully drawn in (or in the fully closed position), the rotation of the motor is at its maximum. In other words, the harder the surgeon pulls on the firing trigger, the more voltage is applied to the motor causing greater rates of rotation. Other arrangements may provide the surgeon with a feed back meter1005that may be viewed through the display1002and provide the surgeon with a visual indication of the amount of force being applied to the cutting instrument or dynamic clamping member. Other sensor arrangements may be employed to provide the master controller1001with an indication as to whether a staple cartridge has been loaded into the end effector, whether the anvil has been moved to a closed position prior to firing, etc. In alternative embodiments, a motor-controlled interface may be employed in connection with the controller1001that limit the maximum trigger pull based on the amount of loading (e.g., clamping force, cutting force, etc.) experienced by the surgical end effector. For example, the harder it is to drive the cutting instrument through the tissue clamped within the end effector, the harder it would be to pull/actuate the activation trigger. In still other embodiments, the trigger on the controller1001is arranged such that the trigger pull location is proportionate to the end effector-location/condition. For example, the trigger is only fully depressed when the end effector is fully fired. The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application. Although the present invention has been described herein in connection with certain disclosed embodiments, many modifications and variations to those embodiments may be implemented. For example, different types of end effectors may be employed. Also, where materials are disclosed for certain components, other materials may be used. The foregoing description and following claims are intended to cover all such modification and variations. Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated materials does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.

11857182

DETAILED DESCRIPTION Applicant of the present application owns the following U.S. Patent Applications that were filed on Jun. 28, 2021 and which are each herein incorporated by reference in their respective entireties:U.S. patent application Ser. No. 17/360,133, entitled SURGICAL INSTRUMENTS WITH TORSION SPINE DRIVE ARRANGEMENTS, now U.S. Patent Application Publication No. 2022-0031313;U.S. patent application Ser. No. 17/360,139, entitled SURGICAL INSTRUMENTS WITH FIRING MEMBER CLOSURE FEATURES, now U.S. Patent Application Publication No. 2022-0031322;U.S. patent application Ser. No. 17/360,149, entitled SURGICAL INSTRUMENTS WITH SEGMENTED FLEXIBLE DRIVE ARRANGEMENTS, now U.S. Patent Application Publication No. 2022-0031314;U.S. patent application Ser. No. 17/360,162, entitled SURGICAL INSTRUMENTS WITH FLEXIBLE BALL CHAIN DRIVE ARRANGEMENTS, now U.S. Patent Application Publication No. 2022-0031319;U.S. patent application Ser. No. 17/360,176, entitled SURGICAL INSTRUMENTS WITH DOUBLE SPHERICAL ARTICULATION JOINTS WITH PIVOTABLE LINKS, now U.S. Patent Application Publication No. 2022-0031345;U.S. patent application Ser. No. 17/360,192 entitled SURGICAL INSTRUMENTS WITH DOUBLE PIVOT ARTICULATION JOINT ARRANGEMENTS, now U.S. Patent Application Publication No. 2022-0031350;U.S. patent application Ser. No. 17/360,199, entitled METHOD OF OPERATING A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2022-0031315;U.S. patent application Ser. No. 17/360,211, entitled SURGICAL INSTRUMENTS WITH DUAL SPHERICAL ARTICULATION JOINT ARRANGEMENTS, now U.S. Patent Application Publication No. 2022-0031324;U.S. patent application Ser. No. 17/360,220, entitled SURGICAL INSTRUMENTS WITH FLEXIBLE FIRING MEMBER ACTUATOR CONSTRAINT ARRANGEMENTS, now U.S. Patent Application Publication No. 2022-0031320;U.S. patent application Ser. No. 17/360,244, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION JOINTS COMPRISING FLEXIBLE EXOSKELETON ARRANGEMENTS, now U.S. Patent Application Publication No. 2022-0031346; andU.S. patent application Ser. No. 17/360,249, entitled SURGICAL INSTRUMENTS WITH DIFFERENTIAL ARTICULATION JOINT ARRANGEMENTS FOR ACCOMMODATING FLEXIBLE ACTUATORS, now U.S. Patent Application Publication No. 2022-0031351. Numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus it can be appreciated that the specific structural and functional details disclosed herein may be representative and illustrative. Variations and changes thereto may be made without departing from the scope of the claims. The terms “comprise” (and any form of comprise, such as “comprises” and “comprising”), “have” (and any form of have, such as “has” and “having”), “include” (and any form of include, such as “includes” and “including”) and “contain” (and any form of contain, such as “contains” and “containing”) are open-ended linking verbs. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, an element of a system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more features possesses those one or more features, but is not limited to possessing only those one or more features. The terms “proximal” and “distal” are used herein with reference to a clinician manipulating the handle portion of the surgical instrument. The term “proximal” refers to the portion closest to the clinician and the term “distal” refers to the portion located away from the clinician. It will be further appreciated that, for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute. References to items in the singular should be understood to include items in the plural, and vice versa, unless explicitly stated otherwise or clear from the text. Grammatical conjunctions are intended to express any and all disjunctive and conjunctive combinations of conjoined clauses, sentences, words, and the like, unless otherwise stated or clear from the context. Thus, the term “or” should generally be understood to mean “and/or”, etc. Recitation of ranges of values herein are not intended to be limiting, referring instead individually to any and all values falling within the range, unless otherwise indicated herein, and each separate value within such a range is incorporated into the disclosure as if it were individually recited herein. The words “about,” “approximately” or the like, when accompanying a numerical value, are to be construed as indicating a deviation as would be appreciated by one of ordinary skill in the art to operate satisfactorily for an intended purpose. Similarly, words of approximation such as “approximately” or “substantially” when used in reference to physical characteristics, should be construed to contemplate a range of deviations that would be appreciated by one of ordinary skill in the art to operate satisfactorily for a corresponding use, function, purpose or the like. The use of any and all examples, or exemplary language (“e.g.,” “such as,” or the like) provided herein, is intended merely to better illuminate the embodiments and does not pose a limitation on the scope of the embodiments. No language in the specification should be construed as indicating any unclaimed element as essential to the practice of the embodiments. Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in numerous surgical procedures and applications including, for example, in connection with open surgical procedures. As the present Detailed Description proceeds, the reader will further appreciate that the various instruments disclosed herein can be inserted into a body in any way, such as through a natural orifice, through an incision or puncture hole formed in tissue, etc. The working portions or end effector portions of the instruments can be inserted directly into a patient's body or can be inserted through an access device that has a working channel through which the end effector and elongate shaft of a surgical instrument can be advanced. It is common practice during various laparoscopic surgical procedures to insert a surgical end effector portion of a surgical instrument through a trocar that has been installed in the abdominal wall of a patient to access a surgical site located inside the patient's abdomen. In its simplest form, a trocar is a pen-shaped instrument with a sharp triangular point at one end that is typically used inside a hollow tube, known as a cannula or sleeve, to create an opening into the body through which surgical end effectors may be introduced. Such arrangement forms an access port into the body cavity through which surgical end effectors may be inserted. The inner diameter of the trocar's cannula necessarily limits the size of the end effector and drive-supporting shaft of the surgical instrument that may be inserted through the trocar. Regardless of the specific type of surgical procedure being performed, once the surgical end effector has been inserted into the patient through the trocar cannula, it is often necessary to move the surgical end effector relative to the shaft assembly that is positioned within the trocar cannula in order to properly position the surgical end effector relative to the tissue or organ to be treated. This movement or positioning of the surgical end effector relative to the portion of the shaft that remains within the trocar cannula is often referred to as “articulation” of the surgical end effector. A variety of articulation joints have been developed to attach a surgical end effector to an associated shaft in order to facilitate such articulation of the surgical end effector. As one might expect, in many surgical procedures, it is desirable to employ a surgical end effector that has as large a range of articulation as possible. Due to the size constraints imposed by the size of the trocar cannula, the articulation joint components must be sized so as to be freely insertable through the trocar cannula. These size constraints also limit the size and composition of various drive members and components that operably interface with the motors and/or other control systems that are supported in a housing that may be handheld or comprise a portion of a larger automated system. In many instances, these drive members must operably pass through the articulation joint to be operably coupled to or operably interface with the surgical end effector. For example, one such drive member is commonly employed to apply articulation control motions to the surgical end effector. During use, the articulation drive member may be unactuated to position the surgical end effector in an unarticulated position to facilitate insertion of the surgical end effector through the trocar and then be actuated to articulate the surgical end effector to a desired position once the surgical end effector has entered the patient. Thus, the aforementioned size constraints form many challenges to developing an articulation system that can effectuate a desired range of articulation, yet accommodate a variety of different drive systems that are necessary to operate various features of the surgical end effector. Further, once the surgical end effector has been positioned in a desired articulated position, the articulation system and articulation joint must be able to retain the surgical end effector in that locked position during the actuation of the end effector and completion of the surgical procedure. Such articulation joint arrangements must also be able to withstand external forces that are experienced by the end effector during use. A variety of surgical end effectors exist that are configured to cut and staple tissue. Such surgical end effectors commonly include a first jaw feature that supports a surgical staple cartridge and a second jaw that comprises an anvil. The jaws are supported relative to each other such that they can move between an open position and a closed position to position and clamp target tissue therebetween. Many of these surgical end effectors employ an axially moving firing member. In some end effector designs, the firing member is configured to engage the first and second jaws such that as the firing member is initially advanced distally, the firing member moves the jaws to the closed position. Other end effector designs employ a separate closure system that is independent and distinct from the system that operates the firing member. The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Thereafter, staples removably stored in the cartridge body can be deployed into the tissue. The cartridge body includes staple cavities defined therein wherein staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible. The staples are supported by staple drivers in the cartridge body. The drivers are movable between a first, or unfired position, and a second, or fired, position to eject the staples from the staple cavities. The drivers are retained in the cartridge body by a retainer which extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and hold the retainer to the cartridge body. The drivers are movable between their unfired positions and their fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled comprises a plurality of ramped surfaces configured to slide under the drivers and lift the drivers, and the staples supported thereon, toward the anvil. Further to the above, in these surgical end effectors, the sled is moved distally by the firing member. The firing member is configured to contact the sled and push the sled toward the distal end. The longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam which engages the first jaw and a second cam which engages the second jaw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or tissue gap, between the deck of the staple cartridge and the anvil. The firing member also comprises a knife configured to incise the tissue captured intermediate the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximal to the ramped surfaces such that the staples are ejected ahead of the knife. Many surgical end effectors employ an axially movable firing beam that is attached to the firing member and is used to apply axial firing and retraction motions to the firing member. Many of such firing beams comprise a laminated construction that affords the firing beam with some degree of flexure about the articulation joint. As the firing beam traverses the articulation joint, the firing beam can apply de-articulation forces to the joint and can cause the beam to buckle. To prevent the firing beam from buckling under pressure, the articulation joint is commonly provided with lateral supports or “blow-out” plate features to support the portion of the beam that traverses the articulation joint. To advance the firing beam through an angle of greater than sixty degrees, for example, a lot of axial force is required. This axial force must be applied to the firing member in a balanced manner to avoid the firing member from binding with the jaws as the firing member moves distally. Any binding of the firing member with the jaws can lead to component damage and wear as well as require an increased amount of axial drive force to drive the firing member through the clamped tissue. Other end effector designs employ a firing member that is rotary powered. In many of such designs, a rotary drive shaft extends through the articulation joint and interfaces with a rotatable firing member drive shaft that is rotatably supported within one of the jaws. The firing member threadably engages the rotatable firing member drive shaft and, as the rotatable firing member drive shaft is rotated, the firing member is driven through the end effector. Such arrangements require the supporting jaw to be larger to accommodate the firing member drive shaft. In such devices, a lower end of the firing member commonly operably interfaces with the drive shaft which can also result in an application of forces that tend to unbalance the firing member as it is driven distally. FIGS.1-4illustrate one form of a surgical instrument10that may address many of the challenges facing surgical instruments with articulatable end effectors that are configured to cut and fasten tissue. In various embodiments, the surgical instrument10may comprise a handheld device. In other embodiments, the surgical instrument10may comprises an automated system sometimes referred to as a robotically-controlled system, for example. In various forms, the surgical instrument10comprises a surgical end effector1000that is operably coupled to an elongate shaft assembly2000. The elongate shaft assembly2000may be operably attached to a housing2002. In one embodiment, the housing2002may comprise a handle that is configured to be grasped, manipulated, and actuated by the clinician. In other embodiments, the housing2002may comprise a portion of a robotic system that houses or otherwise operably supports at least one drive system that is configured to generate and apply at least one control motion which could be used to actuate the surgical end effectors disclosed herein and their respective equivalents. In addition, various components may be “housed” or contained in the housing or various components may be “associated with” a housing. In such instances, the components may not be contained with the housing or supported directly by the housing. For example, the surgical instruments disclosed herein may be employed with various robotic systems, instruments, components and methods disclosed in U.S. Pat. No. 9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which is incorporated by reference herein in its entirety. In one form, the surgical end effector1000comprises a first jaw1100and a second jaw1200. In the illustrated arrangement, the first jaw1100comprises an elongate channel1110that comprises a proximal end1112and a distal end1114and is configured to operably support a surgical staple cartridge1300therein. The surgical staple cartridge1300comprises a cartridge body1302that has an elongate slot1304therein. A plurality of surgical staples or fasteners (not shown) are stored therein on drivers (not shown) that are arranged in rows on each side of the elongate slot1304. The drivers are each associated with corresponding staple cavities1308that open through a cartridge deck surface1306. The surgical staple cartridge1300may be replaced after the staples/fasteners have been discharged therefrom. Other embodiments are contemplated wherein the elongate channel1110and/or the entire surgical end effector1000may is discarded after the surgical staple cartridge1300has been used. Such end effector arrangements may be referred to as “disposable loading units”, for example. In the illustrated arrangement, the second jaw1200comprises an anvil1210that comprises an elongate anvil body1212that comprises a proximal end1214and a distal end1216. In one arrangement, a pair of stiffening rods or members1213may be supported in the anvil body1212to provide the anvil body1212with added stiffness and rigidity. The anvil body1212comprises a staple-forming undersurface1218that faces the first jaw1100and may include a series of staple-forming pockets (not shown) that corresponds to each of the staples or fasteners in the surgical staple cartridge1300. The anvil body1212may further include a pair of downwardly extending tissue stop features1220that are formed adjacent the proximal end1214of the anvil body1212. One tissue stop feature1220extends from each side of the anvil body1212such that a distal end1222on each tissue stop corresponds to the proximal-most staples/fasteners in the surgical staple cartridge1300. When the anvil1210is moved to a closed position onto tissue positioned between the staple-forming undersurface1218of the anvil1210and the cartridge deck surface1306of the surgical staple cartridge1300, the tissue contacts the distal ends1222of the tissue stop features1220to prevent the tissue from migrating proximally past the proximal-most staples/fasteners to thereby ensure that the tissue that is cut is also stapled. When the surgical staple cartridge is “fired” as will be discussed in further detail below, the staples/fasteners supported within each staple cavity are driven out of the staple cavity1308through the clamped tissue and into forming contact with the staple-forming undersurface1218of the anvil1210. As can be seen inFIGS.5and6, the proximal end1214of the anvil body1212comprises an anvil mounting portion1230that includes a pair of laterally extending mounting pins1232that are configured to be received in corresponding mounting cradles or pivot cradles1120formed in the proximal end1112of the elongate channel1110. The mounting pins1232are pivotally retained within the mounting cradles1120by an anvil cap1260that may be attached to the proximal end1112of the elongate channel1110by mechanical snap features1261that are configured to engage retention formations1113on the elongate channel1110. SeeFIG.5. In other arrangements, the anvil cap1260may be attached to the elongate channel1110by welding, adhesive, etc. Such arrangement facilitates pivotal travel of the anvil1210relative to the surgical staple cartridge1300mounted in the elongate channel1110about a pivot axis PA between an open position (FIG.1) and a closed position (FIGS.2-5). Such pivot axis PA may be referred to herein as being “fixed” in that the pivot axis does not translate or otherwise move as the anvil1200is pivoted from an open position to a closed position. In the illustrated arrangement, the elongate shaft assembly2000defines a shaft axis SA and comprises a proximal shaft portion2100that may operably interface with a housing of the control portion (e.g., handheld unit, robotic tool driver, etc.) of the surgical instrument10. The elongate shaft assembly2000further comprises an articulation joint2200that is attached to the proximal shaft portion2100and the surgical end effector1000. In various instances, the proximal shaft portion2100comprises a hollow outer tube2110that may be operably coupled to a housing2002. SeeFIG.2. As can be seen inFIG.6, the proximal shaft portion2100may further comprise a rigid proximal support shaft2120that is supported within the hollow outer tube2110and extends from the housing to the articulation joint2200. The proximal support shaft2120may comprise a first half2120A and a second half2120B that may be coupled together by, for example, welding, adhesive, etc. The proximal support member2120comprises a proximal end2122and a distal end2124and includes an axial passage2126that extends therethrough from the proximal end2122to the distal end2124. As was discussed above, many surgical end effectors employ a firing member that is pushed distally through a surgical staple cartridge by an axially movable firing beam. The firing beam is commonly attached to the firing member in the center region of the firing member body. This attachment location can introduce an unbalance to the firing member as it is advanced through the end effector. Such unbalance can lead to undesirable friction between the firing member and the end effector jaws. The creation of this additional friction may require an application of a higher firing force to overcome such friction as well as can cause undesirable wear to portions of the jaws and/or the firing member. An application of higher firing forces to the firing beam may result in unwanted flexure in the firing beam as it traverses the articulation joint. Such additional flexure may cause the articulation joint to de-articulate—particularly when the surgical end effector is articulated at relatively high articulation angles. The surgical instrument10employs a firing system2300that may address many if not all of these issues as well as others. As can be seen inFIGS.5-11, in at least one embodiment, the firing system2300comprises a firing member2310that includes a vertically-extending firing member body2312that comprises a top firing member feature2320and a bottom firing member feature2350. A tissue cutting blade2314is attached to or formed in the vertically-extending firing member body2312. SeeFIGS.9and11. In at least one arrangement, it is desirable for the firing member2310to pass through the anvil body1212with low friction, high strength and high stiffness. In the illustrated arrangement, the top firing member feature2320comprises a top tubular body2322that has a top axial passage2324extending therethrough. SeeFIG.10. The bottom firing member feature2350comprises a bottom tubular body2352that has a bottom axial passage2354extending therethrough. In at least one arrangement, the top firing member feature2320and the bottom firing member feature2350are integrally formed with the vertically-extending firing member body2312. As can be seen inFIG.12, the anvil body1212comprises an axially extending anvil slot1240that has a cross-sectional shape that resembles a “keyhole”. Similarly, the elongate channel1110comprises an axially extending channel slot1140that also has a keyhole cross-sectional shape. Traditional firing member arrangements employ long flexible cantilever wings that extend from a top portion and a bottom portion of the firing member. These cantilever wings slidably pass through slots in the anvil and channel that are commonly cut with a rectangular t-cutter which tended to produce higher friction surfaces. Such long cantilever wings have minimum surface area contact with the anvil and channel and can result in galling of those components. The keyhole-shaped channel slot1140and keyhole-shaped anvil slot1240may be cut with a round t-cutter and may be finished with a reamer/borer which will result in the creation of a lower friction surface. In addition, the top tubular body2322and the bottom tubular body2352tend to be stiffer than the prior cantilever wing arrangements and have increased surface area contact with the anvil and channel, respectively which can reduce galling and lead to a stronger sliding connection. Stated another way, because the anvil slot1240and the channel slot1140are keyhole-shaped and have less material removed than a traditional rectangular slot, the geometry and increased material may result in a stiffer anvil and channel when compared to prior arrangements. Turning toFIGS.9-11, in one arrangement, the firing system2300further comprises an upper flexible spine assembly2400that is operably coupled to the top firing member feature2320and a lower flexible spine assembly2500that is operably coupled to the bottom firing member feature2350. In at least one embodiment, the upper flexible spine assembly2400comprises an upper series2410of upper vertebra members2420that are loosely coupled together by an upper flexible coupler member2402that is attached to the top firing member feature2320. The upper flexible coupler member2402may comprises a top cable2404that extends through the top axial passage2324in the top firing member feature2320and a distal end2406of the top cable2404is attached to a retainer ferrule2408that is secured with the top axial passage2324. As can be seen inFIG.13, each upper vertebra member2420comprises an upper vertebra body portion2422that has a proximal end2424and a distal end2428. An upper hollow passage2429extends through the upper vertebra body portion2422to accommodate passage of the upper flexible coupler member2402therethrough. Each upper vertebra member2420further comprises a downwardly extending upper drive feature or upper vertebra member tooth2450that protrudes from the upper vertebra body portion2422. Each upper vertebra member tooth2450has a helix-shaped proximal upper face portion2452and a helix-shaped distal upper face portion2454. Each proximal end2424of the upper vertebra body portions2422has an upper proximal mating feature2426therein and each distal end2428has an upper distal mating feature2430formed therein. In at least one embodiment, the upper proximal mating feature2426comprises a concave recess2427and each upper distal mating feature2430comprises a convex mound2431. When arranged in the upper series2410, the convex mound2431on one upper vertebra member2420contacts and mates with the concave recess2427on an adjacent upper vertebra member2420in the upper series2410to maintain the upper vertebra members2420roughly in alignment so that the helix-shaped proximal upper face portion2452and a helix-shaped distal upper face portion2454on each respective upper tooth2450can be drivingly engaged by a rotary drive screw2700as will be discussed in further detail below. Similarly, in at least one embodiment, the lower flexible spine assembly2500comprises a lower series2510of lower vertebra members2520that are loosely coupled together by a lower flexible coupler member2502that is attached to the bottom firing member feature2350. The lower flexible coupler member2502may comprises a lower cable2504that extends through the bottom axial passage2354in the bottom firing member feature2350and a distal end2506of the bottom cable2504is attached to a retainer ferrule2508that is secured with the bottom axial passage2354. As can be seen inFIG.14, each lower vertebra member2520comprises a lower vertebra body portion2522that has a proximal end2524and a distal end2528. A lower hollow passage2529extends through the lower vertebra body portion2522to accommodate passage of the lower flexible coupler member2502therethrough. Each lower vertebra member2520further comprises an upwardly extending lower drive feature or lower vertebra member tooth2550that protrudes upward from the lower vertebra body portion2522. Each lower vertebra member tooth2550has a helix-shaped proximal lower face portion2552and a helix-shaped distal lower face portion2554. Each proximal end2524of the lower vertebra body portions2522has a lower proximal mating feature2526therein and each distal end2528has a lower distal mating feature2530formed therein. In at least one embodiment, the lower proximal mating feature2526comprises a concave recess2527and each lower distal mating feature2530comprises a convex mound2531. When arranged in the lower series2510, the convex mound2531on one lower vertebra member2520contacts and mates with the concave recess2527on an adjacent lower vertebra member2520in the lower series2510to maintain the lower vertebra members2520roughly in alignment so that the helix-shaped proximal lower face portion2552and a helix-shaped distal lower face portion2554on each respective lower vertebra member tooth2550can be drivingly engaged by a rotary drive screw2700as will be discussed in further detail below. Now turning toFIGS.5,7, and8, in at least one arrangement, the firing drive system2300further comprises a rotary drive screw2700that is configured to drivingly interface with the upper series2410of upper vertebra members2420and the lower series2510of lower vertebra members2520. In the illustrated arrangement, the rotary drive screw2700is driven by a rotary drive system2600that comprises a proximal rotary drive shaft2610that is rotatably supported within the axial passage2126within the proximal support shaft2120. SeeFIG.7. The proximal rotary drive shaft2610comprises a proximal end2612and a distal end2614. The proximal end2612may interface with a gear box2004or other arrangement that is driven by a motor2006or other source of rotary motion housed in the housing of the surgical instrument. SeeFIG.2. Such source of rotary motion causes the proximal rotary drive shaft to rotate about the shaft axis SA within the axial passage2126in the proximal support shaft2120. The proximal rotary drive shaft2610is operably supported within the elongate shaft assembly2000in a location that is proximal to the articulation joint2200and operably interfaces with a constant velocity (CV) drive shaft assembly2620that spans or extends axially through the articulation joint2200. As can be seen inFIGS.8,16, and17, in at least one arrangement, the CV drive shaft assembly2620comprises a proximal CV drive assembly2630and a distal CV drive shaft2670. The proximal CV drive assembly2630comprises a proximal shaft segment2632that consists of an attachment shaft2634that is configured to be non-rotatably received within a similarly-shaped coupler cavity2616in the distal end2614of the proximal rotary drive shaft2610. The proximal shaft segment2632operably interfaces with a series2640of movably coupled drive joints2650. As can be seen inFIG.18, in at least one arrangement, each drive joint2650comprises a first or distal sphere portion2660and a second or proximal sphere portion2652. The distal sphere portion2660is larger than the proximal sphere portion2652. The distal sphere portion2660comprises a socket cavity2662that is configured to rotatably receive a proximal sphere portion2652of an adjacent drive joint2650therein. Each proximal sphere portion2652comprises a pair of diametrically opposed joint pins2654that are configured to be movably received in corresponding pin slots2664in the distal sphere portion2660of an adjacent drive joint2650as can be seen inFIG.16. A proximal sphere portion2652P of a proximal-most drive joint2650P is rotatably received in a distal socket portion2636of the proximal shaft segment2632as shown inFIG.16. The joint pins2652P are received within corresponding pin slots2637in the distal socket portion2636. As can be further seen inFIG.16, a distal-most drive joint2650D in the series2640of movably coupled drive joints2650is movably coupled to a distal CV drive shaft2670. In at least one arrangement, the distal CV drive shaft2670comprises a proximal sphere portion2672that is sized to be movably received in the socket cavity2662D in the distal-most drive joint2650D. The proximal sphere portion2672includes joint pins2674that are movably received in the pin slots2664D in the distal-most drive joint2650D. The distal CV drive shaft2670further comprises a distally extending shaft stem2676that is configured to be non-rotatably coupled to the rotary drive screw2700that is positioned distal to the articulation joint2200. The distal CV drive shaft2670includes a flange2677and a mounting barrel portion2678for receiving a thrust bearing housing2680thereon. In the illustrated arrangement, when the series2640of movably coupled drive joints2650articulates, the joint pins2674remain in the corresponding pin slots2664of an adjacent drive joint2650. In the example illustrated inFIG.18, each drive joint may be capable of approximately eighteen degrees of articulation in the pitch and yaw directions.FIG.16illustrates an angle of the series of2640of drive joints2650when each drive joint2650in the series are fully articulated ninety degrees in pitch and yaw which yields an angle α of approximately 100.9 degrees. In such arrangement, the outer surface of each distal sphere portion2660clears the outer surface of the adjacent or adjoining proximal sphere portion2652allowing for unrestricted motion until the eighteen degree limit is reached. The rigid design and limited small angles allow the series2640of movably coupled drive joints2650to carry high loads torsionally at an overall large angle. In the illustrated arrangement, the articulation joint2200comprises an articulation joint spring2230that is supported within an outer elastomeric joint assembly2210. The outer elastomeric joint assembly2210comprises a distal end2212that is attached to the proximal end1112of the elongate channel1110. For example, as can be seen inFIG.6, the distal end2212of the outer elastomeric joint assembly2210is attached to the proximal end1112of the elongate channel1110by a pair of cap screws2722that extend through a distal mounting bushing2720to be threadably received in the proximal end1112of the elongate channel1110. A proximal end2214of the elastomeric joint assembly2210is attached to the distal end2124of the proximal support shaft2120. The proximal end2214of the elastomeric joint assembly2210is attached to the distal end2124of the proximal support member2120by a pair of cap screws2732that extend through a proximal mounting bushing2750to be threadably received in threaded inserts2125mounted within the distal end2124of the proximal support shaft2120. To prevent the drive joints2650from buckling during articulation, the series2640of movably coupled drive joints2650extend through at least one low friction articulation joint spring2730that is supported within the outer elastomeric joint assembly2210. SeeFIG.19. The articulation joint spring2730is sized relative to the drive joints2650such that a slight radial clearance is provided between the articulation joint spring2730and the drive joints2650. The articulation joint spring2730is designed to carry articulation loads axially which may be significantly lower than the torsional firing loads. The joint spring(s) is longer than the series2640of drive joints2650such that the drive joints are axially loose. If the “hard stack” of the series2640of drive joints2650is longer than the articulation joint spring(s)2730hard stack, then the drive joints2650may serve as an articulation compression limiter causing firing loads and articulation loads to resolve axially through the series2640of the drive joints2650. When the firing loads resolve axially through the series2640of the drive joints2650, the loads may try to straighten the articulation joint2200or in other words cause de-articulation. If the hard stack of the articulation joint spring(s)2730is longer than the hard stack of the series2640of the drive joints2650, the firing loads will then be contained within the end effector and no firing loads will resolve through the drive joints2650or through the springs(s)2730. To further ensure that the drive joints2650are always engaged with each other, a proximal drive spring2740is employed to apply an axial biasing force to the series2640of drive joints2650. For example, as can be seen inFIGS.8,19, and20, the proximal drive spring2740is positioned between the proximal mounting bushing2734and a support flange that is formed between the distal socket portion2636and a proximal barrel portion2638of the proximal shaft segment2632. In one arrangement, the proximal drive spring2740may comprise an elastomeric O-ring/bushing received on the proximal barrel portion2638of the proximal shaft segment2632. The proximal drive spring2740lightly biases the drive joints2650together to decrease any gaps that may occur during articulation. This ensures that the drive joints2650transfer loads torsionally. It will be appreciated, however, that in at least one arrangement, the proximal drive spring2740does not apply a high enough axial load to cause firing loads to translate through the articulation joint2200. As can be seen inFIGS.9and10, the top firing member feature2320on the firing member2310comprises a distal upper firing member tooth segment2330that is equivalent to one half of an upper tooth2450on each upper vertebra member2420. In addition, a proximal upper firing member tooth2336that is identical to an upper tooth2450on each upper vertebra member2420is spaced from the distal upper firing member tooth segment2330. The distal upper firing member tooth segment2330and the proximal upper firing member tooth2336may be integrally formed with the top firing member feature2320of the firing member2310. Likewise, the bottom firing member feature2350of the firing member2310comprises a distal lower firing member tooth2360and a proximal lower firing member tooth2366that are integrally formed on the bottom firing member feature2350. For example, in at least one arrangement, the firing member2310with the rigidly attached teeth2330,2336,2360, and2366may be fabricated at one time as one unitary component using conventional metal injection molding techniques. As indicated above, each of the upper vertebra members2520is movably received on an upper flexible coupler member2402in the form of a top cable2404. As was described above, the distal end2406of the top cable2404is secured to the top firing member feature2320of the firing member2310. Similarly, each of the lower vertebra members2520is movably received on a lower flexible coupler member2502in the form of a lower cable2504. A distal end2506of the lower cable2504is secured to the bottom firing member feature2350of the firing member2310. In at least one arrangement, the top cable2404and the bottom cable2504extend through the proximal shaft portion2100and, as will be discussed in further detail below, may interface with a bailout arrangement supported in the housing for retracting the firing member2310back to its home or starting position should the firing member drive system fail. Turning again toFIG.8, the axial length ALuof the upper series2410of upper vertebra members2420and the axial length ALlof the lower series2510of lower vertebra members2520are equal and must be sufficiently long enough to facilitate the complete distal advancement of the firing member2310from the home or starting position to a distal-most ending position within the staple cartridge while the proximal-most upper vertebra members2420in the upper series2410of upper vertebra members2420and the proximal-most lower vertebra members2520in the lower series2510of lower vertebra members2520remain in driving engagement with the rotary drive screw2700. As can be seen inFIG.8, an upper compression limiting spring2421is configured to interface with a proximal-most upper vertebra member2420P in the upper series2410of upper vertebra members2420. The upper compression limiting spring2421is journaled on the top cable2404and is retained in biasing engagement with the proximal-most upper vertebra member2420P by an upper spring holder2423that is retained in position by an upper ferrule2425that is crimped onto the top cable2404. The top cable2404extends through an upper hypotube2433that is supported in the proximal support shaft. Likewise, a lower compression limiting spring2521is configured to interface with a proximal-most, lower vertebra member2520P in the lower series2510of lower vertebra members2520. The lower compression spring2521is journaled on the lower cable2504and is retained in biasing engagement with the proximal-most, lower vertebra member2520P by a lower spring holder2523that is retained in position by a lower ferrule2525that is crimped onto the lower cable2504. The lower cable2504extends through a lower hypotube2533that is supported in the proximal support shaft. When the upper vertebra members2420and the lower vertebra members2520angle through the articulation joint (after the end effector has been positioned in an articulated position), the gaps between the respective vertebra members2420,2520increase in each series2410,2510which causes the springs2421,2521to become tighter. The compression limiting springs2421,2521provide enough slack in the cables2404,2504, respectively to enable the vertebra members2420,2520angle through the most extreme articulation angles. If the cables2404,2504are pulled too tight, the spring holders2423,2523will contact their respective proximal-most vertebra members2420P,2520P. Such compression limiting arrangements ensure that the vertebra members2420,2520in their respective series2410,2510always remain close enough together so that the rotary drive screw2700will always drivingly engage them in the manner discussed in further detail below. When the vertebra members2420,2520are aligned straight again, the compression limiting springs2421,2521may partially relax while still maintaining some compression between the vertebra members. As indicated above, when the upper vertebra members2420are arranged in the upper series2410and lower vertebra members2520are arranged in the lower series2510, the convex mounds and concave recesses in each vertebra member as well as the compression limiter springs serve to maintain the upper and lower vertebra members in relatively linear alignment for driving engagement by the rotary drive screw2700. As can be seen inFIGS.9and10, when the upper vertebra members2420are in linear alignment, the upper teeth2450are spaced from each other by an opening space generally designated as2460that facilitates driving engagement with the helical drive thread2170on the rotary drive screw. Similarly, when the lower vertebra members2520are in linear alignment, the lower vertebra member teeth2550are spaced from each other by an opening space generally designated as2560that facilitates driving engagement with the helical drive thread2170of the rotary drive screw2700. Turning toFIGS.8and22, the rotary drive screw2700comprises a screw body2702that has a socket2704therein for receiving the distally extending shaft stem2676of the distal CV drive shaft2670. An internal radial groove2714(FIG.10) is formed in the screw body2702for supporting a plurality of ball bearings2716therein. In one arrangement, for example, 12 ball bearings2716are employed. The radial groove2714supports the ball bearings2716between the screw body2702and a distal end of the thrust bearing housing2680. The ball bearings2716serve to distribute the axial load of the rotary drive screw2700and significantly reduce friction through the balls' rolling motion. As can be seen inFIG.23, a helical drive thread2710is provided around the screw body2702and serves to form a proximal thread scoop feature2712. The proximal thread scoop feature2712is formed with a first pitch2713and the remaining portion of the helical drive thread2710is formed with a second pitch2715that differs from the first pitch2713. InFIGS.22and23, area2718illustrates where the first pitch2713and the second pitch2715converge. In at least one embodiment, the first pitch2713is larger than the second pitch2715to ensure that the rotary drive screw2700captures and “scoops up” or drivingly engages every upper vertebra member2420and every lower vertebra member2520. As can be seen inFIG.24, a proximal end2717of the helical drive thread2710that has the first pitch2713has scooped into the into the opening space2560between two adjacent lower vertebra member teeth2550A and2550B while the center portion2719of the helical drive thread2710that has the second pitch2715is in driving engagement with the helix-shaped distal lower face portion2554on the lower vertebra member tooth2550B and the helix-shaped proximal lower face portion2552on the proximal lower firing member tooth2366. As can also be appreciated, the scoop feature2712may not contact the helix-shaped distal lower face portion2554A of the lower vertebra member tooth2550A as it scoops up the lower vertebra member tooth2550B when driving the firing member2310distally. The helical drive thread2710interacts with the teeth2450of the upper vertebra members2420in a similar manner. A power screw is a threaded rod with a full three hundred sixty degree nut around it. Rotation of the power screw causes the nut to advance or move longitudinally. In the present arrangements, however, due to space constraints, a full three hundred sixty degree nut cannot fit inside the end effector. In a general sense, the upper flexible spine assembly2400and the lower flexible spine assembly2500comprise a radially/longitudinally segmented “power screw nut” that is rotatably driven by the rotary drive screw2700. When the rotary drive screw is rotated in a first rotary direction, the rotary drive screw2700drives one or more vertebra members in each of the upper series and lower series of vertebra members longitudinally while the vertebra members2420,2520stay in the same locations radially. The upper series2410and lower series2510are constrained from rotating around the rotary drive screw2700and can only move longitudinally. In one arrangement, the upper vertebra members2420in the upper series2410and the lower vertebra members2520in the lower series2510only surround the rotary drive screw2700with less than ten degrees each. FIG.25illustrates the firing member2310in the home or starting position. As can be seen inFIG.25, a portion of the helical drive thread2710on the rotary drive screw2700is engaged between the distal upper firing member tooth segment2330and the proximal upper firing member tooth2336and another portion of the helical drive thread2710is engaged between the distal lower firing member tooth2360and a proximal lower firing member tooth2366on the firing member2310. Such arrangement enables the rotary drive screw2700to precisely control the distal and proximal movement of the firing member2310which, as will be discussed in further detail below, can result in the precise movement of the anvil1210. Once the firing member2310has been sufficiently distally advanced during a firing stroke, the helical drive thread2710operably engages the teeth on the upper and lower vertebras. SeeFIG.26. The surgical instrument10also comprises an articulation system2240that is configured to apply articulation motions to the surgical end effector1000to articulate the surgical end effector relative to the elongate shaft assembly2000. In at least one arrangement, for example, the articulation system comprises four articulation cables2242,2246,2250, and2254that extend through the elongate shaft assembly2000. SeeFIG.27. In the illustrated arrangement, the articulation cables2242,2246pass through the proximal mounting bushing2750, the proximal end2214of the elastomeric joint assembly2210, as well as a central rib segment2216to be secured to the distal end2212of the elastomeric joint assembly2210or other portion of the surgical instrument. Likewise, the articulation cables2250and2254extend through the proximal mounting bushing2750, the proximal end2214of the elastomeric joint assembly2210, as well as a central rib segment2218to be secured to the distal end2212of the elastomeric joint assembly2210or other portion of the surgical end effector. The cables2242,2246,2250, and2254operably interface with an articulation control system that is supported in the housing of the surgical instrument10. For example, a proximal portion of each cable2242,2246,2250, and2254may be spooled on a corresponding rotary spool or cable-management system2007(FIG.2) in the housing portion of the surgical instrument10that is configured to payout and retract each cable2242,2246,2250, and2254in desired manners. The spools/cable management system may be motor powered or manually powered (ratchet arrangement, etc.).FIG.29illustrates articulation of the surgical end effector1000through a first articulation plane relative to the elongate shaft assembly2000.FIG.30illustrates articulation of the surgical end effector1000through a second articulation plane relative to the elongate shaft assembly2000.FIG.31illustrates articulation of the surgical end effector1000through multiple articulation planes relative to the elongate shaft assembly2000. FIGS.32-34illustrate an alternative articulation joint2200′ in the form of an elastomeric joint assembly2210′. As can be seen inFIG.33, each articulation cable passes through a corresponding spring2215′ that is mounted in the ribs2216′ of the elastomeric joint assembly2210′. For example, cable2242extends through spring2244. Cable2246extends through spring2248. Cable2250extends through spring2252and cable2254extends through spring2256. As indicated above, the end effector is articulated by pulling on and relaxing the appropriate cables2242,2246,2250and2254. To achieve higher articulation angles with greater joint stability, each of the springs2244,2248,2252, and2256can slide through the ribs of the elastomeric joint to push the end effector and pull on the cables extending therethrough. The springs2244,2248,2252, and2256will also retract into the ribs when the cables2242,2246,2250, and2254are pulled tight. Each of the springs2244,2248,2252, and2256loosely seat over the particular cable that passes therethrough. Each cable and corresponding spring may terminate or otherwise be coupled to a corresponding solid rod that is supported in the elongate shaft assembly2000and may be pushed and pulled from its proximal end. When the cable is pulled, the corresponding spring would carry little to no load. When the spring is pushed, the cable would carry little load, but will help limit the end effector movement. This interaction between the cable and spring may facilitate higher articulation angles that may approach ninety degrees, for example. Because the radially/longitudinally segmented power screw nut arrangement disclosed herein does not have the same constraints as a three hundred sixty degree nut, the upper vertebra members2420in the upper series2410and the lower vertebra members2520in the lower series2510are constrained to ensure that their loads are transferred to the firing member in a longitudinal direction. To maintain each of the upper vertebra members2420in the desired orientation and to prevent the upper vertebra members2420from becoming snagged or disoriented when traversing through the articulation joint2200, the upper vertebra members2420are aligned to pass through an upper sleeve2470that extends through an upper portion of the outer elastomeric joint assembly2210of the articulation joint2200. SeeFIGS.27,28, and35. A distal end2472of the upper sleeve2470is supported in the proximal end1112of the elongate channel1110and a proximal end2474of the upper sleeve2470is supported in the distal end of the proximal support shaft2120. The upper sleeve2470is fabricated from a polymer or plastic material that has a low coefficient of friction and is flexible to enable the upper sleeve2470to flex with the outer elastomeric joint assembly2210. The upper sleeve2470protects the upper vertebra members2420from contacting the outer elastomeric joint assembly2210that is fabricated from an elastomeric material that may have a higher coefficient of friction than the coefficient of friction of the material of the upper sleeve2470. Stated another way, the upper sleeve2470forms a low friction, flexible, continuous, uninterrupted, and fully encapsulating path for the upper vertebra members2420as they traverse the articulation joint2200. Similarly, a lower sleeve2570is employed to support the lower vertebra members2520as they pass through the articulation joint2200. A distal end2572of the lower sleeve2570is supported in the proximal end of the elongate channel and a proximal end of the lower sleeve2570is supported in the distal end of the proximal support shaft2120. Like the upper sleeve2470, the lower sleeve2570is fabricated from a polymer or plastic material that has a low coefficient of friction and is flexible to enable the lower sleeve2570to flex with the outer elastomeric joint assembly2210. The lower sleeve2570protects the lower vertebra members2520from contacting the outer elastomeric joint assembly2210as they pass through the articulation joint2200. Stated another way, the lower sleeve2570forms a low friction, flexible, continuous, uninterrupted, and fully encapsulating path for the lower vertebra members2520as they traverse the articulation joint2200. In various embodiments, the upper sleeve2470and the lower sleeve2570are configured to bend freely without creating a kink. To prevent the formation of kinks in the sleeves, in at least one arrangement, the sleeves2470,2570are supported within the outer elastomeric joint assembly2210such that the sleeves may move axially. For example, when the articulation joint angles up, the lower sleeve2570may slide distally and have a large bend radius; the upper sleeve2470in the same example, may slide proximally and have a tighter bend radius. By moving axially, the amount of material exposed outside of the joint assembly2210which might otherwise be susceptible to kinking under a tight bend radius is reduced. In at least one arrangement, the distal end2472of the upper sleeve2470is formed with an upper scoop2476that is configured to funnel the upper vertebra members2420into the anvil cap1260. Similarly, the distal end of the lower sleeve2570may be formed with a lower scoop that is configured to funnel the lower vertebra members2520into the channel slot1140in the elongate channel1110. As indicated above, the anvil mounting portion1230comprises a pair of laterally extending mounting pins1232that are configured to be received in corresponding mounting cradles or pivot cradles1120that are formed in the proximal end1112of the elongate channel1110. The mounting pins1232are pivotally retained within the mounting cradles1120by an anvil cap1260that is attached to the proximal end1112of the elongate channel1110in the above-described manners. The anvil cap1260comprises a proximal end1262and a distal end1264and has a keyhole-shaped vertebra passage1266extending therethrough to accommodate passage of the top firing member feature2320and upper vertebra members2420therethrough.FIG.36illustrates the vertebra passage1266in the anvil cap1260. When the rotary drive screw2700applies load to the upper vertebra members2420, the vertebra members2420will tend to tilt about the area A inFIG.37, so the upper vertebra member tooth2450is no longer square with the rotary drive screw2700and may instead experience a higher-pressure line contact. Areas B inFIG.37show where the upper vertebra member2420stops tilting. To ensure that most of the loads stay in the longitudinal direction to perform useful work, the upper vertebra member tooth2450must be angled the same amount as the upper vertebra member2420tilts. Thus, when the upper vertebra member2420tilts, the upper vertebra member tooth2450will still maintain surface contact with the helical drive member2710on the rotary drive screw2700and all loads will be directed longitudinally and not vertically. The slightly angled upper vertebra member tooth2450may behave like a square thread when the vertebra member2420is tilted and better distributes loads to lower the pressure contact. By directing most of the loads in the longitudinal direction, vertical loads are avoided which could result in the establishment of friction that would counter the longitudinal loads. The upper vertebra members2420react similarly as they pass down the keyhole-shaped anvil slot1240. Likewise, the lower vertebra members2520react similarly as they pass through the keyhole-shaped axially extending channel slot1140in the elongate channel1110. In the illustrated arrangement, the anvil1210is moved to the open position by a pair of anvil springs1270that are supported within the proximal end of the elongate channel. SeeFIGS.38,42, and43. The springs1270are positioned to apply a pivotal biasing force to corresponding anvil control arms1234that may be integrally formed with anvil mounting portion1230and extend downwardly therefrom. SeeFIG.38. FIGS.39-41illustrate portions of the anvil1210, the firing member2310, and the anvil cap1260when the anvil1210is open (FIG.39), when the anvil1210is partially closed (FIG.40) and after the firing member has been advanced distally from the home or starting position (FIG.41). As can be seen inFIG.39, when the firing member2310is in the home or starting position, the top firing member feature2320is completely received within the vertebra passage1266in the anvil cap1260. During a firing stroke, the top firing member feature2320and the upper vertebra members2420in the upper series2410must transition from the vertebra passage1266in the anvil cap1260to the keyhole-shaped anvil slot1240. Thus, it is desirable to minimize any gap “G” between the anvil mounting portion1230and a distal end1264of the anvil cap1260. To minimize this gap G while facilitate unimpeded pivotal travel of the anvil1210, the distal end1264of the anvil cap1260is formed with a curved cap surface1265that matches a curved mating surface1231on the anvil mounting portion1230. Both surfaces1265,1231are curved and concentric about the pivot axis PA or some other reference point. Such arrangement allows the anvil1210to move radially and not interfere with the anvil cap1260while maintaining a minimal gap G therebetween. The gap G between the anvil mounting portion1230and the distal end1264of the anvil cap1260is significantly shorter than a length of an upper vertebra member2420which facilitates easy transition of each upper vertebra member2420from the vertebra passage1266in the anvil cap1260to the keyhole-shaped anvil slot1240. In addition, to further assist with the transition of the top firing member feature2320into the keyhole-shaped anvil slot1240, a ramped surface1241is formed adjacent the curved mating surface1231on the anvil mounting portion1230. As the firing member2310is initially advanced distally from the home or starting position, a distal end of the top firing member feature2320contacts the ramped surface1241and begins to apply a closing motion to the anvil1210as can be seen inFIG.40. Further distal advancement of the firing member2310during the firing stroke or firing sequence causes the top firing member feature to enter the keyhole shaped anvil slot1240to completely close the anvil1210and retain the anvil1210in the closed position during the firing sequence. SeeFIG.41. In general, the highest firing forces established in an endocutter are associated with cutting and stapling tissue. If those same forces can be used to close the anvil, then the forces generated during pre-clamping and grasping of tissue can be high as well. In at least one arrangement, the firing member body2312further comprises a firing member wing or tab2355that extends laterally from each lateral side of the firing member body2312. SeeFIGS.15and36. The firing member wings2355are positioned to contact the corresponding anvil control arms1234when the firing member2310is driven in the proximal direction PD from the home or starting position to quickly close the anvil1210for grasping purposes. In at least one arrangement, when the firing member2310is in the home or starting position, the firing member wings2355are located distal to the anvil control arms1234as shown inFIG.42. When the firing member3210is moved proximally, the firing member wings2355push the anvil control arms1234(pivotal direction C) against the bias of the anvil springs1270. SeeFIG.42. In one arrangement, the firing member2310only has to move a short distance D to pivot the anvil1210to a closed position. In one embodiment, distance D may be approximately 0.070 inches long, for example. This short movement allows for a quick response. Because the anvil pivot point or pivot axis PA is relatively far from the firing member wings2355which creates a substantial moment arm, the proximal movement of the firing member2310(and firing member wings2355) results in an application of high pre-compression torque to the anvil1210to move the anvil1210to a closed position. Thus, the firing member wings2355may be referred to herein as “pre-compression features”. SeeFIG.43. Thus, the clinician may use the surgical end effector1000to grasp and manipulate tissue between the anvil1210and the surgical staple cartridge1300without cutting the tissue and forming the staples, by advancing the firing member2310proximally the short distance D to cause the anvil1210to quickly pivot to a closed position. The firing member2310may be moved in the proximal direction PD by rotating the rotary drive screw2700in a second rotary direction. Thus, when the firing member2310is in the “home” or starting position, the anvil1210may be biased into the fully open position by the anvil springs1270. Activation of the rotary drive system2600to apply a rotary motion to the rotary drive screw2700in a first rotary direction will cause the firing member2310to be advanced distally from the home or starting position to apply an anvil closure motion to the anvil1210to move the anvil closed to clamp the target tissue between the anvil1210and the surgical staple cartridge1300. Continued rotation of the rotary drive screw in the first rotary direction will cause the firing member2310to continue to distally advance through the surgical end effector1000. As the firing member2310moves distally, the firing member2310contacts a sled1312(FIG.19) that is supported in the surgical staple cartridge1300and drives the sled1312distally through the staple cartridge body1302. When the firing member2310is in the home or starting position, the surgeon may wish to use the surgical end effector to grasp and manipulate tissue. To do so, the rotary drive system is actuated to apply a second rotary drive motion to the rotary drive screw2700in a second rotary direction that is opposite to the first rotary direction. Such rotary movement of the rotary drive screw2700in the second rotary direction will drive the firing member2310proximally from the starting position and cause the anvil1210to quickly pivot to the closed position. Thus, in accordance with at least one embodiment, the “home or starting position” of the firing member2310is not its proximal-most position. If during the firing process, the rotary drive system2600quits rotating, the firing member2310may become stuck within the surgical end effector. In such instance, the top firing member feature2320may remain engaged with the anvil1210and the bottom firing member feature2350may remain engaged with the elongate channel1110and thereby prevent the surgeon from moving the anvil1210to an open position to release the tissue clamped between anvil1210and surgical staple cartridge1300. This could occur, for example, if the motor or other control arrangement supplying the rotary drive motions to the rotary drive shaft2610fails or otherwise becomes inoperative. In such instances, the firing member2310may be retracted back to the home or starting position within the surgical end effector1000by pulling the top cable2404and the lower cable2504in a proximal direction. For example, a proximal portion of the top cable2404and a proximal portion of the lower cable2505may be spooled on a rotary spool or cable-management system2009(FIG.2) in the housing portion of the surgical instrument10that is configured to payout the top cable2404and lower cable2504during the firing stroke and also retract the cables2404,2504in a proximal direction should the firing member2310need to be retracted. The cable management system2009may be motor powered or manually powered (ratchet arrangement, etc.) to apply retraction motions to the cables2404,2504. When the cables2404,2504are retracted, the upper vertebra members2420and lower vertebra members2520will cause the rotary drive screw2700to spin in reverse. The following equation may be used to determine whether the rotary drive screw2700will spin in reverse depending upon the lead (L), pitch diameter (dp), tooth angle (α) and friction (μ): μ≥Lπ⁢dp⁢cos⁢⁢α The rotary drive screw2700may self-lock if the above equation is true. For the most part, in many instances, the pitch diameter is mostly fixed for an endocutter, but the lead and tooth angle are variable. Because the upper vertebra member teeth2450and lower vertebra member teeth2550are mostly square, the rotary drive screw2700is more likely to be back drivable (cos (90)=1). The leads of the upper vertebra member teeth2450and lower vertebra member teeth2550may also be advantageous in that the rolling friction between the vertebra members2420,2520and the rotary drive screw2700is more likely to enable the rotary drive screw2700to be back driven. Thus, in the event of an emergency, the surgeon can pull on the upper and lower cables2404,2504in the proximal direction to cause the firing member2310to fully retract for a quick “bailout”. As indicated above, the relative control motions for the rotary drive system2600, as well as the various cable-management systems employed in connection with the firing system2300and the articulation control system2240, may be supported within a housing2002which may be handheld or comprise a portion of a larger automated surgical system. The firing system2300, articulation control system2240, and the rotary drive system2600may, for example, be motor-controlled and operated by one or more control circuits. One method of using the surgical instrument10may involve the use of the surgical instrument10to cut and staple target tissue within a patient using laparoscopic techniques. For example, one or more trocars may have been placed through the abdominal wall of a patient to provide access to a target tissue within the patient. The surgical end effector1000may be inserted through one trocar and one or more cameras or other surgical instruments may be inserted through the other trocar(s). To enable the surgical end effector1000to pass through the trocar cannula, the surgical end effector1000is positioned in an unarticulated orientation and the jaws1100and1200must be closed. To retain the jaws1100and1200in the closed position for insertion purposes, for example, the rotary drive system2600may be actuated to apply the second rotary motion to the rotary drive screw2700to cause the firing member2310to move proximally from the starting position to move the anvil1210(jaw1200) to the closed position. SeeFIG.44. The rotary drive system2600is deactivated to retain the firing member2310in that position. Once the surgical end effector has passed into the abdomen through the trocar, the rotary drive system2600may be activated to cause the rotary drive screw2700to drive the firing member2310distally back to the starting position wherein the anvil springs1270will pivot the anvil1210to the open position. SeeFIG.38. Once inside the abdomen and before engaging the target tissue, the surgeon may need to articulate the surgical end effector1000into an advantageous position. The articulation control system2240is then actuated to articulate the surgical end effector in one or more planes relative to a portion of the elongate shaft assembly2000that is received within the cannula of the trocar. Once the surgeon has oriented the surgical end effector1000in a desirable position, the articulation control system2240is deactivated to retain the surgical end effector1000in the articulated orientation. The surgeon may then use the surgical end effector to grasp the target tissue or adjacent tissue by activating the rotary drive system to rotate the rotary drive screw in the second rotary direction to move the firing member proximally to cause the anvil1210to rapidly close to grasp the tissue between the anvil1210and the surgical staple cartridge1300. The anvil1210may be opened by reversing the rotation of the rotary drive screw2700. This process may be repeated as necessary until the target tissue has be properly positioned between the anvil1210and the surgical staple cartridge1300. Once the target tissue has been positioned between the anvil1210and the surgical staple cartridge, the surgeon may commence the closing and firing process by activating the rotary drive system2600to drive the firing member2310distally from the starting position. As the firing member2310moves distally from the starting position, the firing member2310applies a closure motion to the anvil1210and moves the anvil1210from the open position to the closed position in the manners discussed above. As the firing member2310moves distally, the firing member2310retains the anvil1210in the closed position thereby clamping the target tissue between the anvil1210and the surgical staple cartridge1300. As the firing member2310moves distally, the firing member2310contacts a sled1312supported in the surgical staple cartridge1300and also drives the sled1312distally through the staple cartridge body1302. The sled1312serially drives rows of drivers supported in the staple cartridge toward the clamped target tissue. Each driver has supported thereon one or more surgical staples or fasteners which are then driven through the target tissue and into forming contact with the underside of the anvil1210. As the firing member2310moves distally, the tissue cutting edge2314thereon cuts through the stapled tissue. After the firing member2310has been driven distally to the ending position within the surgical end effector1000(FIG.45), the rotary drive system2600is reversed which causes the firing member2310to retract proximally back to the starting position. Once the firing member2310has returned to the home or starting position, the anvil springs1270will pivot the anvil1210to the open position to enable the surgeon to release the stapled tissue from the surgical end effector1000. Once the stapled tissue has been released, the surgical end effector may be withdrawn out of the patient through the trocar cannula. To do so, the surgeon must first actuate the articulation control system2240to return the surgical end effector1000to an unarticulated position and actuate the rotary drive system to drive the firing member2310proximally from the home or starting position to close the jaws. Thereafter, the surgical end effector1000may be withdrawn through the trocar cannula. If during the firing process or during the retraction process, the firing system becomes inoperative, the surgeon may retract the firing member2310back to the starting position by applying a pulling motion to the cables2404,2505in the proximal direction in the various manners described herein. FIGS.46-68illustrate another surgical instrument22010that in many aspects is identical or very similar to the surgical instrument10described above, except for the various differences discussed below. Like surgical instrument10, surgical instrument22010may address many of the challenges facing surgical instruments with articulatable end effectors that are configured to cut and fasten tissue. In various embodiments, the surgical instrument22010may comprise a handheld device. In other embodiments, the surgical instrument22010may comprises an automated system sometimes referred to as a robotically-controlled system, for example. In various forms, the surgical instrument22010comprises a surgical end effector23000that is operably coupled to an elongate shaft assembly24000. The elongate shaft assembly24000may be operably attached to a housing that is handheld or otherwise comprises a portion of a robotic system as was discussed above. As can be seen inFIG.49, in one form, the surgical end effector23000comprises a first jaw23100and a second jaw23200. In the illustrated arrangement, the first jaw23100comprises an elongate channel23110that comprises a proximal end23112and a distal end23114and is configured to operably support a surgical staple cartridge1300therein. The elongate channel23110has an open bottom to facilitate ease of assembly and has a channel cover23113that is configured to be attached thereto (welded, etc.) to cover the opening and add rigidity to the elongate channel23110. In the illustrated arrangement, the second jaw23200comprises an anvil23210that comprises an elongate anvil body23212that comprises a proximal end23214and a distal end23216. In one arrangement, an anvil cover23213is provided to facilitate assembly of the device and add rigidity to the anvil23210when it is attached (welded, etc.) to the anvil body23212. The anvil body23212comprises a staple-forming undersurface23218that faces the first jaw23100and may include a series of staple-forming pockets (not shown) that corresponds to each of the staples or fasteners in the surgical staple cartridge1300. The proximal end23214of the anvil body23212comprises an anvil mounting portion23230that includes a pair of laterally extending mounting pins23232that are configured to be received in corresponding mounting cradles or pivot cradles23120formed in the proximal end23112of the elongate channel23110. The mounting pins23232are pivotally retained within the mounting cradles23120by an anvil cap23260that may be attached to the proximal end23112of the elongate channel23110by screws23261. In other arrangements, the anvil cap23260may be attached to the elongate channel23110by welding, adhesive, etc. Such arrangement facilitates pivotal travel of the anvil23210relative to the surgical staple cartridge1300mounted in the elongate channel23110about a pivot axis PA between an open position (FIG.47) and a closed position (FIG.48). Such pivot axis PA may be referred to herein as being “fixed” in that the pivot axis does not translate or otherwise move as the anvil23210is pivoted from an open position to a closed position. In the illustrated arrangement, the anvil23210is moved to the open position by a pair of anvil springs23270that are supported within the proximal end23112of the elongate channel23110. SeeFIGS.49and62. The springs23270are positioned to apply a pivotal biasing force to corresponding portions of the anvil23210to apply opening forces thereto. SeeFIG.47. In the illustrated arrangement, the elongate shaft assembly24000defines a shaft axis SA and comprises a proximal shaft portion24100that may operably interface with a housing of the control portion (e.g., handheld unit, robotic tool driver, etc.) of the surgical instrument22010. The elongate shaft assembly24000further comprises an articulation joint24200that is attached to the proximal shaft portion24100and the surgical end effector23000. In various instances, the proximal shaft portion24100comprises a hollow outer tube24110that may be operably coupled to a housing in the various manners discussed above. As can be seen inFIG.49, the proximal shaft portion24100may further comprise a rigid proximal support shaft24120that is supported within the hollow outer tube24110and extends from the housing to the articulation joint24200. The rigid proximal support shaft24120may comprise a first half24120A and a second half24120B that may be coupled together by, for example, welding, adhesive, etc. The rigid proximal support shaft24120comprises a proximal end24122and a distal end24124and includes an axial passage24126that extends therethrough from the proximal end24122to the distal end24124. As was discussed above, many surgical end effectors employ a firing member that is pushed distally through a surgical staple cartridge by an axially movable firing beam. The firing beam is commonly attached to the firing member in the center region of the firing member body. This attachment location can introduce an unbalance to the firing member as it is advanced through the end effector. Such unbalance can lead to undesirable friction between the firing member and the end effector jaws. The creation of this additional friction may require an application of a higher firing force to overcome such friction as well as can cause undesirable wear to portions of the jaws and/or the firing member. An application of higher firing forces to the firing beam may result in unwanted flexure in the firing beam as it traverses the articulation joint. Such additional flexure may cause the articulation joint to de-articulate—particularly when the surgical end effector is articulated at relatively high articulation angles. The surgical instrument22010employs a firing system24300that is identical to or very similar in many aspects as firing system2300described above. As such, only those aspects of the firing system24300needed to understand the operation of the surgical instrument22010will be discussed below. As can be seen inFIGS.50-54, in at least one embodiment, the firing system24300comprises a firing member24310that includes a vertically-extending firing member body24312that comprises a top firing member feature24320and a bottom firing member feature24350. A tissue cutting blade24314is attached to or formed in the vertically-extending firing member body24312. SeeFIGS.50and51. In at least one arrangement, it is desirable for the firing member24310to pass through the anvil body23212with low friction, high strength and high stiffness. In the illustrated arrangement, the top firing member feature24320comprises a T-shaped body24322that has two laterally extending tabs24323protruding therefrom and a top axial passage24324extending therethrough. SeeFIG.53. The bottom firing member feature24350comprises a T-shaped body24352that has two laterally extending tabs24353protruding therefrom and a bottom axial passage24354extending therethrough. SeeFIG.50. In at least one arrangement, the top firing member feature24320and the bottom firing member feature24350are integrally formed with the vertically-extending firing member body24312. As can be seen inFIG.54, the anvil body23212comprises an axially extending anvil slot23240that defines two opposed ledges23241for slidably receiving the laterally extending tabs24323thereon. Similarly, the elongate channel23110comprises an axially extending channel slot23140that defines axially extending channel ledges23141that are configured to slidably receive the laterally extending tabs24353thereon. In the illustrated arrangement, the firing system24300comprises an upper flexible spine assembly24400that is operably coupled to the top firing member feature24320of the firing member24310. In at least one embodiment, the upper flexible spine assembly24400comprises an upper series24410of upper vertebra members24420that are loosely coupled together by an upper flexible coupler member24440that extends through each of the upper vertebra members24420and is attached to the top firing member feature24320. As can be seen inFIG.52, each upper vertebra member24420is substantially T-shaped when viewed from an end thereof. In one aspect, each upper vertebra member24420comprises an upper vertebra body portion24422that has a proximal end24424and a distal end24428. Each upper vertebra member24420further comprises a downwardly extending upper drive feature or upper vertebra member tooth24450that protrudes from the upper vertebra body portion24422. Each upper vertebra member tooth24450has a helix-shaped proximal upper face portion24452and a helix-shaped distal upper face portion24454. Each proximal end24424of the upper vertebra body portions24422has an arcuate or slightly concave curved shape and each distal end24428has an arcuate or slightly convex curved shape. When arranged in the upper series24410, the convex distal end24428on one upper vertebra member24420contacts and mates with the concave proximal end24424on an adjacent upper vertebra member24420in the upper series24410to maintain the upper vertebra members24420roughly in alignment so that the helix-shaped proximal upper face portion24452and a helix-shaped distal upper face portion24454on each respective upper vertebra member tooth24450can be drivingly engaged by a rotary drive screw2700in the various manners disclosed herein. These curved mating surfaces on the upper vertebra members24420allow the upper vertebras members24420to better transfer loads between themselves even when they tilt. In at least one embodiment, an upper alignment member24480is employed to assist with the alignment of the upper vertebra members24420in the upper series24410. In one arrangement, the alignment member24480comprises a spring member or metal cable which may be fabricated from Nitinol wire, spring steel, etc., and be formed with a distal upper looped end24482and two upper leg portions24484that extend through corresponding upper passages24425in each upper vertebra body portion24422. The upper flexible coupler member24440extends through an upper passage24429in each of the upper vertebra members24420to be attached to the firing member24310. In particular, a distal end portion24442extends through the top axial passage24324in the top firing member feature24320and is secured therein by an upper retention lug24444. A proximal portion of the upper flexible coupler member24440may interface with a corresponding rotary spool or cable-management system of the various types and designs disclosed herein that serve to payout and take up the upper flexible coupler member24440to maintain a desired amount of tension therein during operation and articulation of the surgical end effector23000. The cable management system may be motor powered or manually powered (ratchet arrangement, etc.) to maintain a desired amount of tension in the upper flexible coupler member24440. The amount of tension in each flexible coupler member may vary depending upon the relative positioning of the surgical end effector23000to the elongate shaft assembly24000. The firing system24300further comprises a lower flexible spine assembly24500that is operably coupled to the bottom firing member feature24350. The lower flexible spine assembly24500comprises a lower series24510of lower vertebra members24520that are loosely coupled together by a lower flexible coupler member24540that extends through each of the lower vertebra members24520and is attached to the bottom firing member feature24350. As can be seen inFIG.52, each lower vertebra member24520is substantially T-shaped when viewed from an end thereof. In one aspect, each lower vertebra member24520comprises a lower vertebra body portion24522that has a proximal end24524and a distal end24528. Each lower vertebra member24520further comprises an upwardly extending lower drive feature or lower vertebra member tooth24550that protrudes from the lower vertebra body portion24522. Each lower vertebra member tooth24550has a helix-shaped proximal lower face portion24552and a helix-shaped distal lower face portion24554. The proximal end24524of each lower vertebra body portions24522has an arcuate or slightly concave curved shape and each distal end24528has an arcuate or slightly convex curved shape. When arranged in the lower series24510, the convex distal end24528on one lower vertebra member24520contacts and mates with the concave proximal end24524on an adjacent lower vertebra member24520in the lower series24510to maintain the lower vertebra members24520roughly in alignment so that the helix-shaped proximal lower face portion24552and a helix-shaped distal lower face portion24554on each respective lower vertebra member tooth24550can be drivingly engaged by the rotary drive screw2700in the various manners disclosed herein. These curved mating surfaces on the lower vertebra members24520allow the lower vertebra members24520to better transfer loads between themselves even when they tilt. In at least one embodiment, a lower alignment member24580is employed to assist with the alignment of the lower vertebra members24520in the lower series24510. In one arrangement, the lower alignment member24580comprises a spring member or metal cable which may be fabricated from Nitinol wire, spring steel, etc., and be formed with a distal lower looped end24582and two lower leg portions24584that extend through corresponding lower passages24525in each lower vertebra body portion24522. The lower flexible coupler member24540extends through the bottom axial passage24529in each of the lower vertebra members24520to be attached to the firing member24310. In particular, a distal end portion24542of the lower flexible coupler member24540extends through the bottom axial passage24354in the bottom firing member feature24350and is secured therein by a lower retention lug24544. A proximal portion of the lower flexible coupler member24540may interface with a corresponding rotary spool or cable-management system of the various types and designs disclosed herein that serve to payout and take up the lower flexible coupler member24540to maintain a desired amount of tension therein during operation and articulation of the surgical end effector23000. The cable management system may be motor powered or manually powered (ratchet arrangement, etc.) to maintain a desired amount of tension in the lower flexible coupler member24540. The amount of tension in each flexible coupler member may vary depending upon the relative positioning of the surgical end effector23000to the elongate shaft assembly24000. In accordance with at least one aspect, a large surface area is advantageous for distributing the force between the vertebra members when they push so that the vertebra members cannot twist relative to each other. The available area in the anvil and channel is limited and the anvil and channel must remain stiff. The T-shaped upper vertebra members24420and the T-shaped lower vertebra members24520are designed to fit in the limited spaces available in the anvil23210and the elongate channel23110while ensuring that there is a large amount of area to distribute the firing loads. The curved surfaces on each upper vertebra member24420and each lower vertebra member24520allow each of those vertebras to better transfer loads between themselves even when they tilt. The upper alignment member24480and the lower alignment member24580may also serve to prevent the upper vertebra members24420and the lower vertebra members24520from twisting relative to each other. The large surface area may also help to prevent galling of the vertebra members and/or the anvil and channel. The upper flexible spine assembly24400and the lower flexible spine assembly24500otherwise operably interface with the rotary drive screw2700arrangements as disclosed herein. The upper flexible coupler member24440and the lower flexible coupler member24540may also be used in the manners discussed above to retract the firing member24310back to its starting position if, during a firing stroke, the firing drive system24300fails. As can be seen inFIG.51, the top firing member feature24320on the firing member24310comprises a distal upper firing member tooth segment24330that is equivalent to one half of an upper vertebra member tooth24450on each upper vertebra member24420. In addition, two proximal upper firing member teeth24336that are identical to an upper vertebra member tooth24450on each upper vertebra member24420are spaced from the distal upper firing member tooth segment24330. The distal upper firing member tooth segment24330and the proximal upper firing member teeth24336may each be integrally formed with the top firing member feature24320of the firing member24310. Likewise, the bottom firing member feature24350of the firing member24310comprises a distal lower firing member tooth24360and two proximal lower firing member teeth24366that are integrally formed on the bottom firing member feature24350. For example, in at least one arrangement, the firing member24310with the rigidly attached teeth24330,24336,24360, and24366may be fabricated at one time as one unitary component using conventional metal injection molding techniques. The person of ordinary skill in the art will recognize that the firing member24310operates in essentially the same manner as the firing member2310as was described in detail herein. Turning now toFIGS.55-58, in accordance with at least one aspect, the articulation joint24200comprises a movable exoskeleton assembly24800. In one form, the movable exoskeleton assembly24800comprises a series24802of movably interfacing annular rib members24810. As can be seen inFIGS.55-57, each annular rib member24810comprises a first or proximal face24820that comprises a convex or domed portion24822. Each annular rib member24810further comprises a second or distal face24830that is concave or dished. Each annular rib member24810further comprises an upper spine passage24840that is configured to accommodate passage of the upper flexible spine assembly24400therethrough and a lower spine passage24842that is configured to accommodate passage of the lower flexible spine assembly24500therethrough. In addition, each annular rib member24810further comprises four articulation passages24850,24852,24854, and24856to accommodate passage of articulation actuators in the form of articulation cables24242,22446,24250, and24254therethrough. SeeFIG.49. Each annular rib member24810further comprises a central drive passage24860that is configured to accommodate passage of the constant velocity (CV) drive shaft assembly2620therethrough. As can be seen inFIG.58, the movable exoskeleton assembly24800comprises a proximal attachment rib24870that is configured to attach the movable exoskeleton assembly24800to the distal end24124of the proximal support shaft24120by cap screws24880or other suitable fastener arrangements. The proximal attachment rib24870comprises a first or distal face24872that is concave or dished to receive or movably interface with the convex or domed portion24822of the proximal face24820of a proximal-most annular rib member24810P. Similarly, the movable exoskeleton assembly24800comprises a distal attachment rib24890that is configured to attach the movable exoskeleton assembly24800to the proximal end23112of the elongate channel23110by cap screws24882or other suitable fasteners. The distal attachment rib24890comprises a first or proximal face24892that comprises a convex or domed portion24894that configured to be received in or movably interface with the concave or dished distal face24832of a distal-most annular rib member24810D. In various embodiments, the annular rib members24810,24810P, and24810D may be fabricated from any suitable metal (e.g., stainless steel, titanium, etc.) or other suitable material. The annular rib members24810,24810P, and24810D may be formed by suitable drawing or forming operations, by machining or casting. The proximal faces24820and the distal faces24830may be polished or otherwise finished to a desirable smooth finish to reduce friction and facilitate movement between the annular rib members24810,24810P, and24810D. In accordance with one aspect, all edges on each annular rib member24810,24810P,24810D are rounded to facilitate relative movement between the annular rib members. The proximal attachment rib24870and the distal attachment rib24890may be formed with similar attributes. The surgical instrument22010also comprises an articulation system24240that is configured to apply articulation motions to the surgical end effector23000to articulate the surgical end effector23000relative to the elongate shaft assembly24000. In at least one arrangement, for example, as mentioned above, the articulation system24240comprises four articulation cables24242,24246,24250, and24254that extend through the elongate shaft assembly2400. SeeFIG.49. In the illustrated arrangement, the articulation cables24242,24246pass through the proximal attachment rib24870and through each of the annular rib members24810P,24810, and24810D to be secured to the distal attachment rib24890. In one arrangement for example, each of the articulation cables24242,24246are secured to the distal attachment rib24890by corresponding attachment lugs24243. SeeFIGS.61and63. Likewise, the articulation cables24250and24254extend through the proximal attachment rib24870and through each of the annular rib members24810P,24810, and24810D to be secured to the distal attachment rib24890by corresponding attachment lugs24243. In one arrangement, each of the articulation cables24242,24246,24250, and24254extend through corresponding coil springs24896that are supported in cavities24125in the distal end24124of the rigid proximal support shaft24120. In addition, each coil spring24896is associated with a tensioning lug24897that is also journaled onto each respective articulation cable24242,24246,24250, and24524and is secured thereon to attain a desired amount of compression in each spring24896which serves to retain the annular rib members24810P,24810, and24810D in movable engagement with each other and with the proximal attachment rib24870and the distal attachment rib24890. The cables24242,24246,24250, and24254operably interface with an articulation control system that is supported in the housing of the surgical instrument22010. For example, as was discussed above, a proximal portion of each cable24242,24246,24250, and24254may be spooled on a corresponding rotary spool or cable-management system2007(FIG.2) in the housing portion of the surgical instrument22010that is configured to payout and retract each cable24242,24246,24250, and24254in desired manners. The spools/cable management system may be motor powered or manually powered (ratchet arrangement, etc.).FIG.59illustrates the articulation joint24200in an unarticulated position andFIG.60illustrates the articulation joint in one articulated configuration. Such arrangement permits the surgical end effector23000to be articulated through multiple articulation planes relative to the elongate shaft assembly24000. As can be seen inFIGS.49,58, and64, the surgical instrument22010employs a constant velocity (CV) drive shaft assembly2620that spans or extends axially through the articulation joint24200. The operation and construction of the CV drive shaft assembly2620was described in detail above and will not be repeated here beyond what is necessary to understand the operation of the surgical instrument22010. Briefly as described above, the CV drive shaft assembly2620comprises a proximal CV drive assembly2630and a distal CV drive shaft2670. The proximal CV drive assembly2630comprises a proximal shaft segment2632that consists of an attachment shaft2634that is configured to be non-rotatably received within a similarly-shaped coupler cavity2616in the distal end2614of the proximal rotary drive shaft2610. The proximal shaft segment2632operably interfaces with a series2640of movably coupled drive joints2650. As can be seen inFIG.58as was also described previously, to ensure that the drive joints2650are engaged with each other, a proximal drive spring2740is employed to apply an axial biasing force to the series2640of drive joints2650. For example, as can be seen inFIG.58, proximal drive spring2740is positioned between the proximal mounting bushing2734and a support flange that is formed between the distal socket portion2636and a proximal barrel portion2638of the proximal shaft segment2632. In one arrangement, the proximal drive spring2740may comprise an elastomeric O-ring received on the proximal barrel portion2638of the proximal shaft segment2632. The proximal drive spring2740lightly biases the drive joints2650together to decrease any gaps that occur during articulation. This ensures that the drive joints2650transfer loads torsionally. It will be appreciated, however, that in at least one arrangement, the proximal drive spring2740does not apply a high enough axial load to cause firing loads to translate through the articulation joint2200. To further prevent the drive joints2650from buckling during articulation, the series2640of movably coupled drive joints2650extend through at least one low friction drive cover24730that extends through the central drive passage24860in each of the annular rib members24810. In the arrangement depicted inFIGS.63and65, the drive cover24730comprises an outer and inner cut hypotube24732. Such hypotube24732may be fashioned from metal (e.g., stainless steel, etc.) and have multiple series of cuts or slits therein that may be made using laser cutter arrangements. In the illustrated arrangement, the hypotube24732may be fabricated with an upper relief passage24734that provides clearance for the upper flexible spine assembly24400to pass thereover during operation while the surgical end effector23000is in an articulated position and articulated positions. In addition, the hypotube24732may have a lower relief passage24736to provide similar clearance for the lower flexible spine assembly24500. As can also be seen inFIG.65, the hypotube24732may be shaped with diametrically opposed lateral tab portions24738to provide lateral stability during articulation.FIG.66illustrates an alternative drive cover24730′ that comprises an inner cut hypotube24732′.FIGS.58,67,68, and69illustrate an alternative drive cover24730″ that comprises flexible heat shrink tubing24732″ that is applied over the constant velocity (CV) drive shaft assembly2620. In still other arrangements, the drive cover may comprise a coiled spring or coiled member as well. Various embodiments of the present disclosure provide advantages over previous surgical endocutter configurations that are capable of articulation. For example, pushing a firing member forward in an articulating end effector generally requires a lot of force and that force must be balanced. For example, when firing the firing member at an angle of greater than sixty degrees, it becomes very difficult to push a beam through the articulation joint. The joint also experiences significant loads which may cause the articulation joint to de-articulate. By employing an upper flexible drive arrangement and a lower flexible drive arrangement that are each flexible through the articulation joint, but then become rigid when they are distal to the articulation joint can allow for a large degree of articulation (e.g., articulation angles over seventy degrees) while applying balanced loads to the firing member that are constrained to the firing member and not to the articulation joint. Stated another way, torsional loads are applied proximal to the articulation joint instead of longitudinal loads which could lead to de-articulation of the end effector. The torsional loads are converted to longitudinal loads at a position that is distal to the articulation joint. Thus, the rotary drive screw serves to actually convert torsional motion or loads to longitudinal loads that are applied to the firing member at a location that is distal to the articulation joint. Further, by longitudinally breaking up the threaded drive arrangements, the threaded drive arrangements pass through the articulation joint while also effectively decreasing the length of the surgical end effector. For example, each single vertebra tooth is significantly shorter than multiple pitches rigidly connected. The vertebra can angle as they pass through the articulation joint. This flexible interconnection enables the rotary drive screw to be closely positioned to the articulation joint as compared to being significantly spaced therefrom if all of the pitches were rigidly connected. FIGS.70-73illustrate another surgical end effector4000that may be employed with a surgical instrument3010that may be similar to the surgical instrument10in many aspects. The surgical end effector4000may be similar to the surgical end effector1000except for the differences discussed below. The surgical end effector4000is operably coupled to an elongate shaft assembly5000. The elongate shaft assembly5000may be operably attached to a housing portion of the surgical instrument3010. The housing may comprise a handle that is configured to be grasped, manipulated and actuated by the clinician. In other embodiments, the housing may comprise a portion of a robotic system that houses or otherwise operably supports at least one drive system that is configured to generate and apply at least one control motion which could be used to actuate the surgical end effectors disclosed herein and their respective equivalents. In at least one form, the surgical end effector4000comprises a first jaw4100and a second jaw4200. In the illustrated arrangement, the first jaw4100comprises an elongate channel4110that comprises a proximal end4112and a distal end4114and is configured to operably support a surgical staple cartridge1300therein. In the illustrated arrangement, the second jaw4200comprises an anvil4210that may be similar to anvil1210described above. In the illustrated arrangement, the elongate shaft assembly5000defines a shaft axis SA and comprises a proximal shaft segment that operably interfaces with a housing of the control portion (e.g., handheld unit, robotic tool driver, etc.) of the surgical instrument3010. The elongate shaft assembly5000further comprises an articulation joint5200that is attached to a proximal shaft portion and the surgical end effector4000. The elongate shaft assembly5000may comprise a distal spine assembly5010that is attached to the proximal end4112of the elongate channel4110and the articulation joint5200. SeeFIG.70. The distal spine assembly5010is non-movably supported in a distal outer tube segment5020that operably interfaces with the surgical end effector4000. The elongate shaft assembly5000further includes a proximal spine member (not shown) that operably interfaces with a proximal end of the articulation joint5200and may be attached to or otherwise operably interface with the housing of the surgical instrument3010. A proximal outer tube segment5030extends from the articulation joint5200back to the housing to operably interface therewith. The surgical instrument3010employs a firing drive system4300that comprises a firing member4310that includes a vertically-extending firing member body4312that comprises a top firing member feature and a bottom firing member feature. A tissue cutting blade4314is attached to or formed in the vertically-extending firing member body4312. The firing drive system4300comprises a rotary drive nut4400that is configured to rotatably drive a series4600of drive components4610that operably interface with the firing member4310. The rotary drive nut4400comprises a flexible proximal segment4410that spans the articulation joint5200and a threaded distal segment4420that is distal to the articulation joint5200. The threaded distal segment4420comprises a series of variable pitched threads4430, with coarse spacing4432at the proximal end, and tighter spacing4434at the distal or exit end. SeeFIG.72. The threaded rotary drive nut4400comprises a proximal drive gear4440that meshingly interfaces with a distal drive gear4510that is attached to a rotary drive shaft4500. SeeFIG.70. The rotary drive shaft4500may interface with a gearbox/motor arrangement supported in the housing of the surgical instrument3010. Rotation of the rotary drive shaft4500causes the drive nut4400to rotate about the shaft axis SA. The rotary drive nut4400comprises a proximal segment4410and a threaded distal segment4420. The threaded distal segment4420is located distal to the articulation joint5200and is configured to threadably engage a series4600of drive components4610that are loosely linked together by flexible tethers4640. In at least one arrangement, for example, each drive component4610comprises a vertically extending plate member4612that each includes a top end4614and a bottom end4618. The top end4614includes a top thread segment4616and the bottom end4418includes a bottom thread segment4620. The top thread segment4616and the bottom thread segment4620are configured to threadably engage the threads4430of the rotary drive nut4400. The series4600of drive components4610is configured to flexibly pass through the articulation joint5200and into a vertical passage5012in the distal spine assembly5010. Rotation of the rotary drive nut4400in a first rotary direction causes the series4600of drive components4610to move axially in the distal direction and rotation of the rotary drive nut4400in a second rotary direction will cause the series4600of drive components4610to move axially in the proximal direction. Turning toFIG.72, in at least one arrangement, each drive component4610further comprises a distally protruding latch feature4630. Each latch feature4360is configured to be releasably received in latching engagement within a latch cavity4364that is formed in the adjacent drive component4610that is immediately distal thereto. When the drive components4610are latched together, they form an axially rigid series4600AR of drive components for applying an axial drive motion to the firing member5310to drive the firing member5310through the surgical end effector4000from a starting to an ending position and then from the ending position back to the starting position. As can be seen inFIG.72, as the drive components4610enter the threaded distal segment4420of the rotary drive nut4400, they are loosely linked together. As the drive components4610threadably engage the finely pitched threads4430in the threaded distal segment4420of the rotary drive nut4400, the latch features4630are latchingly received within the corresponding latch cavity4364in the distally adjacent drive component4610to form the axially rigid series4600AR of drive components4610. In one arrangement, a distal-most drive component4610may be configured to latchingly engage the firing member4310in a similar manner or in alternative arrangements, the distal-most drive component may be non-removably attached to the firing member4310. In the illustrated example, the drive components4610in the series4600of drive components are flexibly linked together such that they can move relative to each other to accommodate the articulation joint and without the need for reinforcing and support plates that are commonly required when pushing a firing beam through an articulated joint. As the series of drive components4610enters and is drivingly engaged by the threaded distal segment4420which is distal to the articulation joint, the drive components4610form the axially rigid series of drive components for driving the firing member4310through the surgical end effector4000. The anvil4210may be pivoted into an open position by a spring or other arrangement in the various manners disclosed herein and then closed by the firing member4310as the firing member4310is driven distally from a starting position to an ending position in the various manners discussed herein. Other jaw control arrangements may also be employed to control the opening and closing of the jaws. FIGS.73-76illustrate another surgical end effector6000that employs a drive system6300that comprises a series6600of flexibly linked drive components6610that can be used to traverse an articulation joint6200and rigidly advance a firing member6130through the surgical end effector6000. The surgical end effector6000may comprise a channel6010that is configured to operably support a surgical staple cartridge (not shown) therein. An anvil6020may be pivotally coupled to the channel6010and is movable between an open position and a closed position by the firing member6130or other closure system arrangement. The anvil6020may be moved to an open position by a spring or other arrangement in the various manners disclosed herein. Turning toFIG.74, in at least one arrangement, each drive component6610comprises a drive component body6612that has a proximal face6614, a distal face6616, and thread segment6620that is formed on a bottom surface6618. Each drive component6610further comprises a proximally protruding latch feature6630. Each latch feature6630comprises a neck feature6632that has a spherical latch head6634formed on an end thereof. The latch feature6630is configured to be movably received within a latch cavity6336that is formed in the adjacent drive component6610that is immediately distal thereto. To facilitate movable attachment of the drive components6610in movable serial arrangement, the spherical latch head6634is inserted through a tapered passage6338in the drive component body6612and into the latch cavity6636. The spherical latch head6634is sized and shaped relative to the latch cavity6636to permit relative movement between the drive components6610when arranged as shown inFIG.74. However, when the drive components are axially aligned such that the distal face6616of one drive component6610is in abutting engagement with the proximal face6614of the drive component that is immediately distal thereto, the drive components6610form an axially rigid series6600AR of drive components that can drive the firing member6130through the surgical end effector6000. As can be seen inFIG.73, a flexible rotary drive system6700is employed to drive the series of6600drive components6610. In one arrangement, the flexible rotary drive system6700comprises a flexible rotary drive shaft6710that can pass through the articulation joint6210and includes a rotary drive gear6720that is configured to threadably engage the thread segments6620on each drive component6610. The flexible rotary drive shaft6710may be rotated by a motor/gear arrangement supported in a housing of a surgical instrument. The portion6600F of the series6600of drive components6610that is proximal to the rotary drive gear6720, remains flexibly linked or “floppy”. As the drive components6610are threadably engaged by the rotary drive gear6720they are driven through a passage in the channel6010that causes the drive components to form the axially rigid series6600AR for driving the firing member6130through the surgical end effector6000. Torsional loads that are applied to firing system components as they traverse the articulation joint are less likely to de-articulate the articulation joint than axial loads. Various embodiments disclosed herein transfer torsional loads to longitudinal loads in a location that is distal of the articulation joint. Because the longitudinal loads are contained in the end effector, de-articulation is prevented.FIG.77illustrates one firing system6800example that can provide such advantages. The firing system6800comprises a firing member6810that is configured to be operably supported in a surgical end effector in the various manners described herein. A flexible spring-like driven member6820is attached to the firing member6810. Such flexible, spring-like driven member6820can span an articulation joint area6840that can attain relatively large ranges of articulation. The flexible, spring-like driven member6820is configured to be driven axially by a flexible, spring-like torsion drive member6830that is rotatably supported to span the articulation joint area6840. The flexible, spring-like torsion drive member6830includes a threaded insert6832that is configured to threadably engage the spring-like driven member6820at a location6841that is distal to the articulation joint area6840. The flexible, spring-like torsion drive member6830may be rotated by a motor/gear arrangement supported in a housing of a surgical instrument. As the flexible, spring-like torsion drive member6830rotates in a first direction, the flexible, spring-like driven member6820translates longitudinally to drive the firing member6810. Rotation of the flexible torsion drive member6830in a second direction will cause the flexible, spring-like driven member to move proximally. FIG.78illustrates another firing system6850that comprises a firing member6860that is configured to be operably supported in a surgical end effector in the various manners described herein. The firing member6860is driven by firing member drive assembly6861which comprises a series6862of spherical ball members6870that are coupled together by a flexible cable6872. Such series6862of flexible spherical ball members6870can span an articulation joint area6840that can attain relatively large ranges of articulation. The series6862of flexible spherical ball members6870is configured to be driven axially by a flexible torsion drive member6880that is rotatably supported to span an articulation joint area6890. The flexible torsion drive member6880includes an insert6882that is configured to drivingly engage the spherical ball members6870at a location6892that is distal to the articulation joint area6890. The flexible torsion drive member6880may be rotated by a motor/gear arrangement supported in a housing of a surgical instrument. As the flexible torsion drive member6880rotates in a first direction, the spherical ball members6870are driven distally into contact with each other to form an axially rigid series6862AR that translates longitudinally to drive the firing member6860distally. Rotation of the flexible torsion drive member6880in a second direction will cause the series of spherical ball members6870to move proximally. FIG.79illustrates another firing system6950that comprises a firing member6960that is configured to be operably supported in a surgical end effector in the various manners described herein. A laser cut, hypotube driven member6970is attached to the firing member6960. Such flexible driven member6970can span an articulation joint area6940that can attain relatively large ranges of articulation. The flexible driven member6970is configured to be driven axially by a flexible torsion drive member6980that is rotatably supported to span the articulation joint area6940. The flexible torsion drive member6980includes a threaded insert6982that is configured to threadably engage the laser cuts6972on the flexible driven member6970at a location6942that is distal to the articulation joint area6940. The flexible torsion drive member6980may be rotated by a motor/gear arrangement supported in a housing of a surgical instrument. As the flexible torsion drive member6980rotates in a first direction, the flexible driven member6970translates longitudinally to drive the firing member6960. Rotation of the flexible torsion drive member6980in a second direction will cause the flexible driven member6970to move proximally. Pushing a firing beam forward in an articulating end effector generally requires a lot of force and such force needs to be balanced. For example, it is generally difficult to push a firing beam through an articulation joint that has been articulated to angles of greater than sixty degrees. As the firing beam traverses through the articulation joint, the firing beam can apply significant loads onto the articulation joint components which can cause the articulation joint to de-articulate.FIGS.80-84illustrate a firing drive system7300that comprises a flexible upper drive band7320and a flexible lower drive band7330that are attached to a firing member7310that is configured to move within a surgical end effector7000between a starting and ending position. As can be seen inFIGS.80-82, the flexible upper drive band7320comprises a plurality of spaced upper drive teeth7322that are configured to threadably engage a helical thread7342on a rotary drive nut7340. Similarly, the flexible lower drive band7330comprises a plurality of spaced lower drive teeth7332that are configured to threadably engage the helical thread7342on the rotary drive nut7340. In at least one arrangement, the flexible upper drive band7320and the flexible lower drive band7330are formed from a metal material and are welded to or otherwise attached to the firing member7310. Such arrangement serves to balance the firing loads that are applied to the firing member7310. The rotary drive nut7340is received on a flexible rotary drive shaft7350that is centrally disposed between the flexible upper drive band7320and the flexible lower drive band7330and traverses through the articulation joint area generally designated as7200. The flexible rotary drive shaft7350may be rotated by a motor/gear arrangement supported in a housing of a surgical instrument. As the flexible rotary drive shaft7350rotates in a first direction, the flexible upper drive band7320and the flexible lower drive band7330will drive the firing member7310distally. Rotation of the flexible rotary drive shaft7350in a second direction will cause the flexible upper drive band7320and the flexible lower drive band7330to pull the firing member7310proximally. In at least one arrangement, flexible upper drive band7320and the flexible lower drive band7330pass through a guide member7360that surrounds the rotary drive nut7340to prevent the flexible upper drive band7320and the flexible lower drive band7330from bypassing the rotary drive nut7340during actuation of the flexible rotary drive shaft7350. SeeFIG.84. In the illustrated arrangement, the firing member7310is configured to move through the surgical end effector7000that comprises a first jaw7010and a second jaw7030that is configured to move relative to the first jaw7010. In one embodiment, the first jaw7010comprises an elongate channel7012that is configured to operably support a surgical staple cartridge therein. SeeFIGS.80and81. The second jaw7030comprises an anvil7032that is pivotally supported on the elongate channel7012and is movable between an open position and a closed position relative to the elongate channel7012. As can be seen inFIG.82, in at least one form, the firing member7310comprises a shape that is commonly referred to as an “E-beam”. The firing member7310comprises a vertically extending firing member body7312that has a lower foot feature7314that comprises two laterally extending tabs7315that are configured to be slidably engage the elongate channel7012as the firing member is driven axially therein. In addition, a pair of upper tabs7316protrude from the upper portion of the firing member body7312to engage the anvil7032as the firing member7310is driven distally through the closed anvil7032. During the firing stroke, the tabs7315and7316may serve to space the anvil7032relative to the surgical staple cartridge supported in the elongate channel7012. The firing member body7312also comprises a tissue cutting feature7318. The tabs7316may also serve to apply a closing motion to the anvil7032as the firing member7310is moved distally from the starting position. In the illustrated example, the firing drive system7300may also be employed to apply opening and closing motions to the anvil7032. As can be seen inFIGS.80-83, a closure nut7370is threadably received on the flexible rotary drive shaft7350. The closure nut7370comprises a cam pin7372that extends laterally from each side of the closure nut7370to be received in corresponding cam slots7036in an anvil mounting portion7034of the anvil7032. SeeFIGS.80and81. Such cam pins7372prevent the closure nut7370from rotating with the flexible rotary drive shaft7350such that rotation of the flexible rotary drive shaft7350causes the closure nut7370to move axially. Thus, rotation of the flexible rotary drive shaft7350in a first direction causes the closure nut7370to move distally and cam the anvil7032from the open position to the closed position. Rotation of the flexible rotary drive shaft7350in the second rotary direction will cause the closure nut7370to move proximally and cam the anvil7032back to the open position. Thus, alternating the rotation of the flexible rotary drive shaft7350may allow the surgeon to quickly open and close the anvil7032for grasping purposes, for example. FIG.85illustrates an alternative firing drive assembly7302that comprises the flexible upper drive band7320′ that has upper drive teeth7322′ and a flexible lower drive band7330′ that has lower drive teeth7332′ that is formed out of one piece of material such as metal. The flexible upper drive band7320′ also includes upper strength tabs7324′ that are provided to pass through the anvil7032similar to the upper tabs7316on the firing member7310as well as lower strength tabs7334that are provided to pass through the channel7012similar to the tabs7315on the firing member7310.FIG.86illustrates an alternative firing drive assembly7302′ that is fabricated from two band assemblies7302A and7302B that are laminated together to form the flexible upper drive band7320″ that has the upper drive teeth7322″ and a flexible lower drive band7330″ that has the lower drive teeth7332″. Each band assembly7302A,7302B also comprise upper strength tabs7324A″,7324B″ and lower strength tabs7334A″,7334B″ that are provided to pass through the anvil7032and the elongate channel7012, respectively. The firing drive system7300serves to apply a uniform drive motion to the firing member7310and can accommodate articulation angles that may be greater than seventy degrees, for example. In addition, because the rotary drive nut7340engages the flexible upper drive band7320and flexible lower drive band7330at a location that is distal to the articulation joint area7200, the linear firing loads are confined to the end effector and do not go through the articulation joint. FIGS.87-89illustrate another form of surgical instrument9010that may address many of the challenges facing surgical instruments with end effectors that are articulatable to large articulation angles and that are configured to cut and fasten tissue. In various embodiments, the surgical instrument9010may comprise a handheld device. In other embodiments, the surgical instrument9010may comprise an automated system sometimes referred to as a robotically-controlled system, for example. In various forms, the surgical instrument9010comprises a surgical end effector10000that is operably coupled to an elongate shaft assembly12000. The elongate shaft assembly12000may be operably attached to a housing. In one embodiment, the housing may comprise a handle that is configured to be grasped, manipulated and actuated by the clinician. In other embodiments, the housing may comprise a portion of a robotic system that houses or otherwise operably supports at least one drive system that is configured to generate and apply at least one control motion which could be used to actuate the surgical end effectors disclosed herein and their respective equivalents. In addition, various components may be “housed” or contained in the housing or various components may be “associated with” a housing. In such instances, the components may not be contained with the housing or supported directly by the housing. For example, the surgical instruments disclosed herein may be employed with various robotic systems, instruments, components and methods disclosed in U.S. Pat. No. 9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which is incorporated by reference herein in its entirety. In one form, the surgical end effector10000comprises a first jaw10100and a second jaw10200. In the illustrated arrangement, the first jaw10100comprises an elongate channel10110that comprises a proximal end10112and a distal end10114and is configured to operably support a surgical staple cartridge10300therein. The surgical staple cartridge10300comprises a cartridge body10302that has an elongate slot10304therein. A plurality of surgical staples or fasteners (not shown) are stored therein on drivers (not shown) that are arranged in rows on each side of the elongate slot10304. The drivers are each associated with corresponding staple cavities10308that open through a cartridge deck surface10306. The surgical staple cartridge10300may be replaced after the staples/fasteners have been discharged therefrom. Other embodiments are contemplated wherein the elongate channel10110and/or the entire surgical end effector10000is discarded after the surgical staple cartridge10300has been used. In the illustrated arrangement, the second jaw10200comprises an anvil10210that comprises an elongate anvil body10212that has a proximal end10214and a distal end10216. The anvil body10212comprises a staple-forming undersurface10218that faces the first jaw10100and may include a series of staple-forming pockets (not shown) that correspond to each of the staples or fasteners in the surgical staple cartridge10300. The anvil body10212may further include a pair of downwardly extending tissue stop features10220that are formed adjacent the proximal end10214of the anvil body10212. One tissue stop feature10220extends from each side of the anvil body10212such that a distal end10222on each tissue stop10220corresponds to the proximal-most staples/fasteners in the surgical staple cartridge10300. When the anvil10200is moved to a closed position onto tissue positioned between the staple-forming undersurface10218of the anvil10200and the cartridge deck surface10306of the surgical staple cartridge10300, the tissue contacts the distal ends10222of the tissue stops10220to prevent the tissue from migrating proximally past the proximal-most staples/fasteners to thereby ensure that the tissue that is cut is also stapled. When the surgical staple cartridge is “fired” as will be discussed in further detail below, the staples/fasteners supported within each staple cavity are driven out of the staple cavity10308through the clamped tissue and into forming contact with the staple forming undersurface10218of the anvil10200. As can be seen inFIG.88, the proximal end10214of the anvil body10212comprises an anvil mounting portion10230that comprises a pair of laterally extending mounting pins10232that are configured to be received in corresponding mounting inserts10130that are configured to be retainingly received within mounting cradles10120formed in the proximal end10112of the elongate channel10110. The mounting pins10232are pivotally received within pivot holes10132in the mounting inserts10130and then the mounting inserts10130are inserted into their corresponding cradle10120and affixed to the elongate channel10110by welding, adhesive, snap fit, etc. Such arrangement facilitates pivotal travel of the anvil10210relative to the elongate channel10110about a fixed (i.e., non-translating, non-moving) pivot axis PA. SeeFIG.87. In the illustrated arrangement, the elongate shaft assembly12000defines a shaft axis SA and comprises a hollow outer tube (omitted for clarity) that operably interfaces with a housing of the control portion (e.g., handheld unit, robotic tool driver, etc.) of the surgical instrument9010. The elongate shaft assembly12000further comprises an articulation joint12200that may be attached to the hollow outer tube as well as the surgical end effector10000to facilitate selective articulation of the surgical end effector10000relative to the elongate shaft assembly12000about multiple articulation axes in multiple articulation planes. In at least one arrangement, for example, the articulation joint12200comprises a proximal joint member12210, a central joint member12230, and a distal joint member12250. In one example, the central joint member12230operably interfaces with the proximal joint member12210such that the central joint member12230is selectively articulatable through a first or proximal articulation plane that is defined by a first or proximal articulation axis AA1that is transverse to the shaft axis SA. Also in one example, the distal joint member12250operably interfaces with the central joint member12230such that the distal joint member12250is selectively articulatable through a second or distal articulation plane that is defined by a second or distal articulation axis AA2that is transverse to the shaft axis SA and transverse to the first or proximal articulation axis AA1. As can be seen inFIGS.89and90, the proximal joint member12210comprises a proximal joint distal face12212that defines two spaced, lateral apex portions12214,12216. The apex portion12214defines a radial surface12215and the apex portion12216defines a radial surface12217(FIG.90). The central joint member12230comprises proximal face12232that defines two spaced lateral proximal apex portions12234,12236. The proximal apex portion12234defines a radial surface12235and the apex portion12236defines a radial surface12237. As can be seen inFIG.89, the proximal face12232of the central joint member12230confronts the proximal joint distal face12212of the proximal joint member12210such that the central joint member12230is articulatable through a first articulation plane defined by the first or proximal articulation axis AA1that extends between a point where the lateral apex portion12214on the proximal joint member contacts the proximal apex portion12234on the central joint member12230and the point where the lateral apex portion12216on the proximal joint member12210contacts the proximal apex portion12236on the central joint member12230. In one arrangement, the radial surfaces12215,12217on the lateral apex portions12214,12216, respectively, and the radial surfaces12235and12237on the proximal apex portions12234,12236, respectively, may act as rocker points/surfaces about which the central joint member12230may articulate relative to the proximal joint member12210. Additionally, the central joint member12230comprises proximal first gear tooth segments that are configured to rotatably mesh with distal gear segments12218,12220on the proximal joint member12210. SeeFIG.88. In various arrangements, the radial surface12235on the central joint member12230may be spaced from the radial surface12215on the proximal joint member12210and the radial surface12237on the central joint member12230may be spaced from the radial surface12217on the proximal joint member12210. The central joint member12230further comprises a central joint distal face12240that defines a centrally disposed upper apex portion12242that forms an upper radial surface12244and a lower apex portion12246that forms a lower radial surface12248. SeeFIG.89. The distal joint member12250is attached to the proximal end10112of the elongate channel10110by a mounting bushing10150and comprises a proximal face12251that faces or confronts the central joint distal face12240on the central joint member12230. SeeFIGS.89and92. As can be seen inFIGS.89and92, the proximal face12251defines a centrally disposed upper apex portion12252that forms an upper radial surface12254that is configured to confront or abut the upper radial surface12244on the central joint member12230. The proximal face12251further defines a centrally disposed lower apex portion12256that forms a lower radial surface12258that is configured to confront or abut the lower radial surface12248on the central joint member12230. SeeFIG.89. The distal joint member12250further comprises an upper gear tooth segment12253that is configured to rotatably mesh with an upper gear tooth segment12243on the central joint member12230. In addition, the distal joint member12250comprises a lower gear tooth segment12255that is configured to rotatably mesh with a lower gear tooth segment12245on the central joint member12230. SeeFIG.92. The distal joint member12250is configured to articulate through a second or distal articulation plane defined by the second or distal articulation axis AA2that extends between a point where the upper apex portion12252on the distal joint member12250contacts or confronts the upper apex portion12242on the central joint member12230and the point where the lower apex portion12256on the distal joint member12250contacts or confronts the lower apex portion12246on the central joint member12230. SeeFIGS.89and92. In one arrangement, the radial surfaces12254,12258on the upper and lower apex portions12252,12256, respectively of the distal joint member12250and the radial surfaces12244and12248on the upper and lower apex portions12242,12246, respectively on the central joint member12230may act as rocker points/surfaces about which the distal joint member12250may articulate relative to the central joint member12230. In alternative arrangements, however, the radial surface12254on the distal joint member12250is spaced from the radial surface12244on the central joint member12230and the radial surface12258on the distal joint member12250is spaced from the radial surface12248on the central joint member12230. Returning toFIG.88, in the illustrated example, the articulation joint12200is operably controlled by a cable control system9030that comprises four cables12510,12520,12530, and12540that extend through the elongate shaft assembly12000. The cable control system9030may be supported within a housing9020of the surgical instrument9010. The cable control system9030may comprise a plurality of cable support members/capstans, pulleys, etc. that are controlled by one or more corresponding motors that are controlled by a control circuit portion of the surgical instrument9010. In various embodiments, the cable control system9030is configured to manage the tensioning (pulling) and paying out of cables at precise times during the articulation process. In addition, in at least one arrangement, the cable control system9030is employed to control the opening and closing of the anvil10210as will be discussed in further detail below. As can be seen inFIG.88, the cables12510,12520,12530, and12540are configured to operably interface with a closure system12600that is rotatably mounted in the proximal end10112of the elongate channel10110. In at least one arrangement, the closure system12600comprises a pulley unit12610that comprises a first lateral alpha wrap pulley12620and a second lateral alpha wrap pulley12630that are interconnected by a central shaft12640. SeeFIGS.93and94. The pulley unit12610is rotatably supported within the proximal end10112of the elongate channel10110by mounting brackets12710and12720. SeeFIG.88. More particularly, the proximal end10112of the elongate channel10110defines a firing member parking area10140that is proximal to the mounting cradles10120and is configured to operably support a firing member12310when in a starting position. Each mounting bracket12710,12720is mounted within the firing member parking area10140on each side of the shaft axis SA to enable the firing member12310to be received in the parking area10140when the firing member12310is in a starting position. The mounting brackets12710,12720may be attached to the proximal end10112of the elongate channel10110by welding, adhesive, snap features, etc. The mounting bracket12710comprises a first shaft cradle12712that is configured to rotatably support a first pivot shaft12621protruding from the first lateral alpha wrap pulley12620and the second mounting bracket12720comprises a second shaft cradle12722that is configured to rotatably support a second pivot shaft12644protruding from the second lateral alpha wrap pulley12630. In addition, each mounting bracket12710,12720further includes a relief area12732that is shaped to receive the corresponding first and second alpha wrap pulleys12620,12630therein. As can be seen inFIG.94, the first alpha wrap pulley12620comprises a first circumferential groove12622and a second circumferential groove12624. In the illustrated example, the first cable12510is received in the first circumferential groove12622and is attached thereto and the second cable12520is received in the second circumferential groove12624and is attached thereto. Pulling on the first cable12510will result in the rotation of the first lateral alpha wrap pulley12620in a first direction and pulling the second cable12520will result in the rotation of the first lateral alpha wrap pulley12620in a second opposite direction. Similarly, the second lateral alpha wrap pulley12630comprises a first circumferential groove12632and a second circumferential groove12634. In the illustrated arrangement, cable12540is received in the first circumferential groove12632and is attached thereto and the second cable12520is received in the second circumferential groove12634and is attached thereto. Pulling on the fourth cable12540will result in the rotation of the first second alpha wrap pulley12630in the first direction and pulling the third cable12530will result in the rotation of the second lateral alpha wrap pulley12630in the second opposite direction. The lateral alpha wrap pulleys12620,12630can rotate approximately three hundred thirty degrees. This range of rotational travel is in contrast to a normal pulley that may have a range of rotational travel that is less than one hundred eighty degrees of rotation. Each of the first and second lateral alpha wrap pulleys12620,12630also comprises a corresponding spiral closure cam that is configured to apply closure motions to the anvil10210. As can be seen inFIG.94, the first lateral alpha wrap pulley12620includes a first spiral closure cam12626and the second lateral alpha wrap pulley12630has a second spiral closure cam12636thereon. The spiral closure cams12626,12636are configured to cammingly interact with corresponding anvil closure arms10234on the anvil mounting portion10230of the anvil10210to apply closure motions thereto.FIG.96illustrates the position of a spiral closure cam12626on the first lateral alpha wrap pulley12620when the anvil10210is biased into the open position by an anvil spring10240. Rotation of the pulley unit12610in a first rotary direction will cause the spiral closure cams12626to cam the anvil1210to the closed position shown inFIG.97. To open the anvil10210, the pulley unit12610is rotated in opposite direction back to the position shown inFIG.96. Referring now toFIGS.91and93, the first cable12510extends from the cable control system through the elongate shaft assembly and through a passage in the proximal joint member12210and is looped around two redirect pulleys12650,12660that are supported on shafts12602,12612that are mounted in the central joint member12230. The first cable12510exits the central joint member12230through passage12231and extends through passage12257in the distal joint member12250to be received within the first circumferential groove12622in the first lateral alpha wrap pulley12620where it is attached thereto. A second cable12520extends from the cable control system through the elongate shaft assembly and through passage12213in the proximal joint member12210to be looped around the redirect pulleys12650,12660in the central joint member12230. The second cable12520exits the central joint member12230through a corresponding passage12241and extends through passage12259in the distal joint member12250to be received within the second circumferential groove12624in the first lateral alpha wrap pulley12620where it is attached thereto. In the illustrated example, the third cable12530extends from the cable control system9030through the elongate shaft assembly12000and through a corresponding passages in the proximal joint member12210, the central joint member12230, and the distal joint member12250to be received within a corresponding circumferential groove in the second lateral alpha wrap pulley12630where it is attached thereto. In addition, a fourth cable12540extends from the cable control system9030through the elongate shaft assembly12000and through corresponding passages in the proximal joint member12210, the central joint member12230, and the distal joint member12250to be received within a corresponding circumferential groove in the second lateral alpha wrap pulley12630where it is attached thereto. In at least one example, to articulate the surgical end effector10000relative to the elongate shaft assembly12000through a first articulation plane that is defined by the first articulation axis AA1, the cable control system9030is actuated to pull on the second cable12520and the fourth cable12540simultaneously with a same amount of tension being applied to each cable12520and12540. Because the cables12520,12540apply equal amounts of tension on both sides of the pulley unit12610, the pulley unit12610does not rotate. However, the pulling action of the cables12520and12540is translated through the articulation joint12200to the surgical end effector10000which results in the articulation of the central joint member12230relative to the proximal joint member12210about the first articulation axis AA1. SeeFIGS.92and98. To articulate the surgical end effector10000through a second plane of articulation that is defined by the second articulation axis AA2and is transverse to the first plane of articulation, the cable control system9030is actuated to pull the third cable12530and the fourth cable12540simultaneously with a same amount of tension being applied to each cable12530and12540. Because the cables12530,12540apply equal amounts of tension on both sides of the second lateral alpha wrap pulley12630of the pulley unit12610, the pulley unit12610does not rotate. However, the pulling action of the cables12530and12540is translated through the articulation joint12200to the surgical end effector10000which results in the articulation of the distal joint member12250relative to the central joint member12230about the second articulation axis AA2. SeeFIGS.92and99. The cable control system9030may also be used to control the opening and closing of the anvil10210in the following manner. As indicated above, when the spiral cams10626on the first lateral alpha wrap pulley10620and the second lateral alpha wrap pulley10630are in the position shown inFIG.96, the anvil10210is biased into the open position by the anvil spring10240. To close the anvil10210from that position, the cable control system9030is actuated to pull the first cable12510and the fourth cable12540simultaneously with a same amount of tension being applied to each cable12510and12540. These cables12510and12540will cause the pulley unit12610to rotate into the closure position shown inFIG.97which causes the closure cams10626to cammingly contact the anvil closure arms10234to pivot the anvil10210into the closed position. It will be appreciated that by applying equal amounts of tension into the cables12510and12540, no moment is applied to the central joint member12230and/or distal joint member12250because there are equal amounts of tension being applied on each side of the articulation joint12200. SeeFIG.91. Such arrangement allows the jaw closure to be profiled as desired. This cable-controlled system9030allows for a faster closure when the anvil is fully open. The cable-controlled system9030can also function as a lower speed/higher force generating closure mechanism for clamping onto tissue. The present cable controlled system9030may also not produce the backlash that commonly occurs with other cable-controlled systems and thus can also be used to control the articulation position of the end effector. As will be further discussed below, this cable actuated closure and articulation system does not cross across the center axis or shaft axis of the articulation joint which provides critical space for a firing drive system13000. The above-described articulation joint12200and cable controlled system9030can facilitate two plane articulation while also supplying an additional actuation motion to the surgical end effector10000while keeping the central area of the articulation joint12200free for other control systems as will be discussed in further detail below. The articulation joint12200uses the last degree of freedom to actuate the jaw closure of the surgical end effector. In one aspect, the articulation joint12200comprises an N+1 joint, meaning that for N degrees of freedom, the joint requires N+1 cables to actuate it. Thus, in the above-described example, the articulation joint12200employs four actuation cables. As can be seen inFIGS.100-103, the firing drive system13000comprises a firing member13310that includes a vertically-extending firing member body13312that has two laterally extending tabs13314protruding from a bottom portion13313of the firing member body13312. The tabs13314are configured to be slidably engage ledges10113in the elongate channel10110as the firing member13310is driven axially therein. In addition, a pair of upper tabs13316protrudes from a top portion13315of the firing member body13312. The upper tabs13316are configured to engage ledges10213(FIG.103) in the anvil body10212as the firing member13310is driven distally through the closed anvil10210. During the firing stroke, the tabs13314and13316may serve to space the anvil10210relative to a surgical staple cartridge that is supported in the elongate channel10110. The firing member body13312also comprises a tissue cutting feature13318and a proximally-facing notch13319that is configured to accommodate the central shaft12640of the pulley unit12610when the firing member13310is in its proximal-most starting position within the firing member parking area10140in the proximal end10112of the elongate channel10110. As shown inFIGS.100-102, the firing drive system13000further comprises an upper flexible chain drive assembly13400that is operably coupled to the top portion13315of the firing member13310and a lower flexible chain drive assembly13500that is operably coupled to the bottom portion13313of the firing member13310. In at least one embodiment, the upper flexible chain drive assembly13400comprises an upper series13410of upper chain link features13420that are loosely coupled together by an upper flexible coupler member13402that is attached to the top portion13315of the firing member13310. In at least one example, each upper chain link feature13420comprises an upper ball or sphere13422that has an upper hollow passage13424therein that is configured to permit the upper flexible coupler member13402to pass therethrough. As can be seen inFIG.100, the upper flexible chain drive assembly13400further comprises an upper compression assembly13430for compressing the upper balls13422in the upper series13410together. In one arrangement, the upper compression assembly13430comprises a hollow flexible compression tube13432that is received on the upper flexible coupler member13402. An upper ferrule13440is crimped onto the upper flexible coupler member13402and an upper compression spring13442is journaled between the upper ferrule13440and the upper flexible compression tube13432to distally bias the upper flexible compression tube13432into contact with the proximal-most upper ball13422P in the upper series13410of upper chain link features13420. Similarly, in at least one embodiment, the lower flexible chain drive assembly13500comprises a lower series13510of lower chain link features13520that are loosely coupled together by a lower flexible coupler member13502that is attached to the bottom portion13313of the firing member13310. In at least one example, each lower chain link feature13520comprises a lower ball or sphere13522that has a lower hollow passage13524therein that is configured to permit the lower flexible coupler member13502to pass therethrough. The lower flexible chain drive assembly13500further comprises an upper compression assembly13530for compressing the lower balls13522in the lower series13510together. In one arrangement, the lower compression assembly13530comprises a hollow flexible compression tube13532that is received on the lower flexible coupler member13502. A lower ferrule13540is crimped onto the lower flexible coupler member13502and a lower compression spring13542is journaled between the lower ferrule13540and the lower flexible compression tube13532to distally bias the lower flexible compression tube13532into contact with the proximal-most lower ball13522P in the lower series13510of lower chain link features13520. Now turning toFIG.104, in at least one arrangement, the firing drive system13000further comprises rotary drive screw13700that is configured to drivingly interface with the upper series13410of upper chain link features13420and the lower series13510of lower chain link features13520. As can be seen inFIG.104, in the illustrated arrangement, the rotary drive screw13700is rotatably supported in the mounting bushing10150that is attached to the proximal end10112of the elongate channel10110. For example, the rotary drive screw13700comprises a body portion13702that has a central axle13704protruding therefrom that is rotatably mounted in a mounting hole10152in the mounting bushing10150. Such arrangement permits the rotary drive screw13700to rotate about the shaft axis SA. In the illustrated example, the rotary drive screw13700is driven by a rotary drive system13600that comprises a proximal rotary drive shaft13610that is rotatably supported within an axial passage12225within the proximal joint member12210. As can be seen inFIG.105, the proximal rotary drive shaft13610comprises a proximal end13612and a distal end13614. The proximal end13612may interface with a gear box/motor arrangement9050or other source of rotary motion housed in the housing9020of the surgical instrument9010. Such source of rotary motion causes the proximal rotary drive shaft13610to rotate about the shaft axis SA within the axial passage12225in the proximal joint member12210. SeeFIG.104. As can be seen inFIG.105, the distal end13614of the proximal rotary drive shaft13610is movably coupled to a first drive shaft segment13620. In the illustrated example, the first drive shaft segment13620resembles a “dog bone” with a first spherical proximal end13622and a first spherical distal end13624. SeeFIG.106. The first spherical proximal end13622is movably pinned within a first distal socket13616formed in the distal end13614of the proximal rotary drive shaft13610by a first proximal pin13618. The first proximal pin13618extends through an arcuate transverse slot13623in the first spherical proximal end13622. Such arrangement permits the first spherical proximal end13622to move in multiple directions within the first distal socket13616while remaining attached thereto. The first spherical distal end13624is received within a first proximal socket13632in a central bearing housing13630that is mounted within the central joint member12230. The first spherical distal end13624is movably pinned within the first proximal socket13632by a first distal pin13634. The first distal pin13634extends through an arcuate transverse slot13625in the first spherical distal end13624. Such arrangement permits the first spherical distal end13624to move in multiple directions within the first proximal socket13632while remaining attached to the central bearing housing13630. As can be seen inFIG.105, the rotary drive system13600further comprises a second drive shaft segment13640that resembles the first drive shaft segment13620and includes a second spherical proximal end13642and a second spherical distal end13644. The second spherical proximal end13642is movably pinned within a second distal socket13636that is formed in the central bearing housing13630by a second proximal pin13637. The second proximal pin13637extends through an arcuate transverse slot13643in the second spherical proximal end13642. Such arrangement permits the second spherical proximal end13642to move in multiple directions within the second distal socket13636while remaining attached thereto. The second spherical distal end13644is received within a second proximal socket13706in the rotary drive screw13700and is movably pinned within the second proximal socket13706by a second distal pin13647. The second distal pin13647extends through a transverse slot13646in the second spherical distal end13644. Such arrangement permits the second spherical distal end13644to move in multiple directions relative to the rotary drive screw13700. The double joint rotary drive maintains a linear velocity output by using the angle constraint of the joint members of the articulation joint. This universal rotary joint arrangement on its own may have a sinusoidal output based on the angle of the joint. If the angles are equal and the phases are aligned correctly, the sine output of the first universal joint will be canceled out by the second universal joint, producing a linear rotational velocity. This is an advantage to putting a constraint in the rotary drive because it decreases the complexity of the components and prevents the need to remove material from the components to attain the requisite clearance. Thus, the components of this embodiment are more robust and stronger than prior arrangements. Further, the constant velocity of the rotary drive system will allow for smoother firing and reduced wear that may be otherwise caused by vibration. Returning toFIG.102, the rotary drive screw13700comprises helical grooves or drive features13708formed on a circumference thereof that are configured to engage and drive the upper balls or spheres13422in the upper series13410of upper chain link features13420and the lower balls or spheres13522in the lower series13510of lower chain link features13520. Thus, to drive the firing member13310from a starting position in the surgical end effector10000to an ending position within the end effector, the rotary drive system13600is actuated to apply a rotary drive motion to the rotary drive screw13700. As the rotary drive screw13700rotates in the first rotary direction, the helical drive features13708engage the upper balls or spheres13422in the upper series13410of upper chain link features13420and the lower balls or spheres13522in the lower series13510of lower chain link features13520and drive the upper flexible chain drive assembly13400and the lower flexible chain drive assembly13500distally. As each upper ball13422and lower ball13522engage the rotary drive screw13700, the upper balls13422in the upper series13410that are distal to the rotary drive screw13700(and the articulation joint12200) and the lower balls13522in the lower series13510that are distal to the rotary drive screw13700(and the articulation joint12200) are placed under compression to apply balanced axial drive forces to the firing member13310. When the upper flexible chain drive assembly13400and the flexible lower chain drive assembly13500are in compression, they are constrained by the slots in the anvil10210and the elongate channel10110, respectively. Such arrangement ensures that, when the upper flexible chain drive assembly13400and lower flexible chain drive assembly13500are compressed, they do not buckle. This arrangement enables two degrees of articulation freedom for a few reasons. For example, the upper flexible chain drive assembly13400and lower flexible chain drive assembly13500can bend freely both in the pitch and yaw axes. Thus, the upper flexible chain drive assembly13400and lower flexible chain drive assembly13500can assume a variety of configurations that can accommodate various articulated positions that are attainable with the articulation joint12200. Once the firing member13310has traveled through the surgical end effector10000distally to an ending position therein, the rotary drive system13600is actuated to apply a second rotary drive motion to the rotary drive screw13700to cause the rotary drive screw13700to rotate about the shaft axis in a second rotary direction. As the rotary drive screw13700rotates in the second rotary direction, the upper flexible chain drive assembly13400and the lower flexible chain drive assembly13500serve to retract the firing member13310in the proximal direction back to the starting position. As the upper flexible chain drive assembly13400and the lower flexible chain drive assembly13500retract the firing member13310proximally, a portion of the upper flexible chain drive assembly13400and the lower flexible chain drive assembly13500traverse back through the articulation joint12200and into the elongate shaft. Such arrangement allows the firing member13310to translate a long distance, without increasing the length of the end effector joint. Additionally, because the rotary drive screw13700drivingly engages the upper flexible chain drive assembly13400and the lower flexible chain drive assembly13500at a location that is distal to the articulation joint12200, the high compressive loads are contained within the surgical end effector10000and do not create a moment on the articulation joint12200. This arrangement may greatly reduce the strength requirements of the articulation joint. SeeFIG.104. In at least one arrangement, the surgical instrument9010may further comprise a cable tensioning system13800that is configured to maintain a desired amount of tension on the upper flexible chain drive assembly13400and the lower flexible chain drive assembly13500as they bend through the articulation joint12200. Keeping the upper flexible chain drive assembly13400and the lower flexible chain drive assembly13500under a desired amount of tension as they traverse through the articulation joint12200may prevent slack from forming in those flexible chain drive assemblies13400,13500which might otherwise cause them to undesirably bunch up in the articulation joint12200.FIGS.111and112illustrate one form of cable tensioning system13800which comprises constant force spring arrangements13810and13820. Such solution has the benefit of not requiring length conservation of the flexible chain drive assemblies13400,13500. Another cable management system13800′ is illustrated inFIGS.113and114. In this arrangement, the proximal ends of the flexible chain drive assemblies13400,13500are coupled together and journaled around a cable management pulley13840that is configured to translate with the firing member13310. When the firing member13310is distally advanced during the firing stroke, the cable management pulley13840also translates distally maintaining tension in the flexible chain drive assemblies13400,13500. During articulation, a length of one of the flexible chain drive assemblies13400,13500would increase, while the other would decrease. Such arrangement serves to minimize the lengths of the flexible chain drive assemblies13400,13500required to fully actuate and articulate the surgical end effector10000. One method of using the surgical instrument9010may involve the use of the surgical instrument to cut and staple target tissue within a patient using laparoscopic techniques. For example, one or more trocars may have been placed through the abdominal wall of a patient to provide access to a target tissue within the patient. The surgical end effector10000may be inserted through one trocar and one or more cameras or other surgical instruments may be inserted through the other trocar(s). To enable the surgical end effector10000to pass through the trocar cannula, the surgical end effector10000is positioned in an unarticulated orientation (FIG.63) and the jaws10100and10200must be closed. To retain the jaws10100in the closed position for insertion purposes, for example, the cable control system9030is actuated to pull the first cable12510and the fourth cable12540simultaneously which causes the pulley unit12610to rotate and cause the closure cams10626,10636to contact the anvil closure arms10234to pivot the anvil10210into the closed position. SeeFIG.97. The cable control system9030is deactivated to retain the anvil10210in the closed position. Once the surgical end effector10000has passed into the abdomen through the trocar, the cable control system9030is activated to rotate the pulley unit12610in an opposite direction to the position shown inFIG.96to permit the anvil10210to be biased open by the anvil springs10240. Once inside the abdomen and before engaging the target tissue, the surgeon may need to articulate the surgical end effector10000into an advantageous position. The cable control system9030may then be actuated to articulate the surgical end effector10000in one or more planes relative to a portion of the elongate shaft assembly12000that is received within the cannula of the trocar. Once the surgeon has oriented the surgical end effector10000in a desirable position, the cable control system9030is deactivated to retain the surgical end effector10000in the articulated orientation. Thereafter, the surgeon may activate the cable control system9030in the above-described manner to cause the anvil10210to rapidly close to grasp the tissue between the anvil10210and the surgical staple cartridge10300. This process may be repeated as necessary until the target tissue has be properly positioned between the anvil10210and the surgical staple cartridge10300. Once the target tissue has been positioned between the anvil10210and the surgical staple cartridge10300, the surgeon may activate the cable control system9030to close the anvil10210to clamp the target tissue in position. Thereafter, the firing process may be commenced by activating the rotary drive system13600to drive the firing member13310distally from the starting position. As the firing member13310moves distally, the firing member13310contacts a sled that is supported in the surgical staple cartridge10300and also drives the sled distally through the staple cartridge body. The sled serially drives rows of drivers supported in the staple cartridge toward the clamped target tissue. Each driver has supported thereon one or more surgical staples or fasteners which are then driven through the target tissue and into forming contact with the underside of the anvil10210. As the firing member13310moves distally, the tissue cutting edge13318thereon cuts through the stapled tissue. After the firing member13310has been driven distally to the ending position within the surgical end effector10000, the rotary drive system13600is reversed which causes the firing member13310to retract proximally back to the starting position. Once the firing member13310has returned to the starting position, the cable control system9030may be activated to rotate the pulley unit12610back to an open position wherein the anvil springs10240can pivot the anvil10210to the open position to enable the surgeon to release the stapled tissue from the surgical end effector10000. Once the stapled tissue has been released, the surgical end effector10000may be withdrawn out of the patient through the trocar cannula. To do so, the surgeon must first actuate the cable control system9030to return the surgical end effector10000to an unarticulated position and actuate the cable control system9030to pivot the anvil10210to the closed position. Thereafter, the surgical end effector10000may be withdrawn through the trocar cannula. In previous endocutter arrangements, the firing member is pushed by a flexible beam. In such arrangements, the articulation joint must redirect the linear motion of the flexible beam as it enters the articulation joint back to that linear motion as it exits the articulation joint and enters the end effector. Because of the high loads required to push the flexible beam and the firing member, the flexible beam commonly experiences high amounts of friction as it exits the articulation joint and is linearly redirected into the end effector. This added amount of friction increases the amount of driving forces that are required to drive the firing member from the starting to ending position within the end effector while the end effector is articulated. Further, as the flexible beam traverses the articulation joint, it may apply de-articulation motions to the articulation joint components. Thus, the articulation joint components must be sufficiently robust so as to resist such de-articulation motions. Other forms of surgical endocutters employ rotary forces to drive the firing member through the end effector. Such arrangements commonly employ a rotary drive screw that is housed within the channel that supports the staple cartridge. During use, the sled and tissue place large moments on the firing member which decrease the efficiency of the system and ultimately require higher rotary forces to actuate the firing member. It is difficult to move the rotary drive screw closer to the center of such forces because of the cartridge and the location of the tissue. It is also difficult to package a screw on top and bottom of the firing member without increasing the overall diameter of the surgical end effector. The various embodiments discussed above may address many if not all of these issues and challenges. FIGS.115-139illustrate another form of surgical instrument25010that may address many of the challenges facing surgical instruments that comprise end effectors that are articulatable to large articulation angles and that are configured to cut and fasten tissue. In various embodiments, the surgical instrument25010may comprise a handheld device. In other embodiments, the surgical instrument25010may comprises an automated system sometimes referred to as a robotically-controlled system, for example. In various forms, the surgical instrument25010comprises a surgical end effector26000that is operably coupled to an elongate shaft assembly28000. The elongate shaft assembly28000may be operable attached to a housing. In one embodiment, the housing may comprise a handle that is configured to be grasped, manipulated and actuated by the clinician. In other embodiments, the housing may comprise a portion of a robotic system that houses or otherwise operably supports at least one drive system that is configured to generate and apply at least one control motion which could be used to actuate the surgical end effectors disclosed herein and their respective equivalents. In addition, various components may be “housed” or contained in the housing or various components may be “associated with” a housing. In such instances, the components may not be contained with the housing or supported directly by the housing. For example, the surgical instruments disclosed herein may be employed with various robotic systems, instruments, components and methods disclosed in U.S. Pat. No. 9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which is incorporated by reference herein in its entirety. In one form, the surgical end effector26000comprises a first jaw26100and a second jaw26200. In the illustrated arrangement, the first jaw26100comprises an elongate channel26110that comprises a proximal end26112and a distal end26114and is configured to operably support a surgical staple cartridge10300therein. An example of a surgical staple cartridge10300was described in detail above. The second jaw26200comprises an anvil26210that comprises an elongate anvil body26212that has a proximal end26214and a distal end26216. The anvil body26212comprises a staple-forming undersurface26218that faces the first jaw26100and may include a series of staple-forming pockets (not shown) that corresponds to each of the staples or fasteners in the surgical staple cartridge10300. As can be seen inFIG.119, the proximal end26214of the anvil body26212comprises an anvil mounting portion26230that comprises a pair of laterally extending mounting pins26232that are configured to be received in corresponding mounting inserts26130that are configured to be retainingly received within mounting cradles26120formed in a proximal end26112of the elongate channel26110. The mounting pins26232are pivotally received within pivot holes26132in the mounting inserts26130and then the mounting inserts26130are inserted into their corresponding cradle26120and affixed to the elongate channel26110by welding, adhesive, snap fit, etc. Such arrangement facilitates pivotal travel of the anvil26210relative to the elongate channel26110about a fixed pivot axis PA. SeeFIG.115. As stated above, as used in this context, the term “fixed” means that the pivot axis PA is non-translating or non-moving relative to the elongate channel26110. In the illustrated arrangement, the elongate shaft assembly28000defines a shaft axis SA and comprises a shaft spine assembly28100that is received in a hollow outer shaft tube28102. SeeFIG.119. The shaft spine assembly28100may operably interface with a housing of the control portion (e.g., handheld unit, robotic tool driver, etc.) of the surgical instrument25010and in one example, comprises a proximal spine segment28120and a distal spine segment28140. The elongate shaft assembly28000further comprises an articulation joint28200that may be attached to the distal spine segment28140as well as the surgical end effector26000to facilitate selective articulation of the surgical end effector26000relative to the elongate shaft assembly28000in multiple articulation planes. Turning now toFIGS.120-125, the articulation joint28200comprises a series28202of movably interfacing annular disc members28210. As can be seen inFIGS.122,123, and125, each annular disc member28210comprises a “first” or proximal face28220that comprises a centrally-disposed spherical feature or protrusion28222. Each annular disc member28210further comprises a second or distal face28230that comprises an annular hub portion28232that defines a concave socket28234therein. SeeFIGS.122and124. Each annular disc member28210further has a central shaft passage28236therethrough. As can be seen inFIGS.120and121, the articulation joint28200further comprises a proximal attachment disc assembly28240that is configured to be attached to a distal end of the distal spine segment28140by welding, adhesive, or other suitable fastener arrangement. The proximal attachment disc assembly28240comprises a distal face28242that includes an annular hub portion28244that defines a concave socket28246therein. The proximal attachment disc28240further has a central shaft passage28248therethrough. Also in the illustrated arrangement, the anvil mounting bracket26240is configured to operably interface with the articulation joint28200. The anvil mounting bracket26240is attached to the proximal end26112of the elongate channel26110of the surgical end effector26000by welding, adhesive or other suitable fastener arrangements and comprises a proximal face26244that has a centrally-disposed spherical feature or protrusion26246protruding therefrom. SeeFIG.120. The anvil mounting bracket26240further has a central shaft passage26248therethrough. In at least one embodiment, the articulation joint further comprises a series28270of elastomeric annular spacer members28280that serve to space and provide elastic support between each annular disc member28210. The elastomeric annular spacer members28280define a spacer opening28282such that each elastomeric spacer member28280may be journaled on an annular hub portion28232of a corresponding annular disc member28210. Each annular disc member28210is journaled on a central elastomeric support or continuum shaft28300that is mounted to the proximal attachment disc assembly28240and the anvil mounting bracket26240. In one arrangement, the central continuum shaft28300is fabricated from an elastomeric material (e.g., rubber, polymer, etc.) and comprises a flanged proximal end28302and a cylindrical body portion28304. The cylindrical body portion28304comprises a series of annular grooves28306therein. Each annular groove28306corresponds to one of the annular disc members28210. The annular disc members28210and annular spacer members28280are journaled on the central continuum shaft28300as shown inFIG.120. The flanged proximal end28302of the central continuum shaft28300is supported in a proximal passage28249in the proximal attachment disc28240. The cylindrical body portion28304of the central continuum shaft28300extends through the central passage28236in each of the annular disc members28210in the series28202of movably interfacing annular disc members28210. Each centrally-disposed spherical feature or protrusion28222comprises an annular key member28224that is configured to be received in a corresponding annular groove28306in the central continuum shaft28300. Such arrangement may serve to orient each annular disc member28210in a desired spacing orientation on the central continuum shaft28300, for example. Still referring toFIG.120, a proximal-most elastomeric spacer member28280P is journaled on the annular hub portion28244of the proximal attachment disc assembly28240such that it is positioned between a proximal-most annular disc member28210P and the proximal attachment disc28240. The annular key member28224of the proximal-most annular disc member28210P is received within a corresponding annular groove28306in the central continuum shaft28300to position the centrally-disposed spherical feature or protrusion28222of the proximal-most annular disc member28210P within the concave socket28246in the annular hub portion28244of the proximal attachment disc28240. As can further be seen inFIG.120, another elastomeric spacer member28280A is journaled on the annular hub portion28232of the proximal-most annular disc member28210P such that is positioned between the next annular disc member28210A in the series28202of movably interfacing annular disc members28202and the proximal-most annular disc member28210P. The annular key member28224of the annular disc member28210A is received within a corresponding annular groove28306in the central continuum shaft28300to position the centrally-disposed spherical feature or protrusion28222of the annular disc member28210A within the concave socket28246in the annular hub portion28244of the proximal attachment disc28210P. Still referring toFIG.120, another elastomeric spacer member28280B is journaled on the annular hub portion28232of the annular disc member28210A such that is positioned between the next annular disc member28210B in the series28202of movably interfacing annular disc members28210. The annular key member28224of the annular disc member28210B is received within a corresponding annular groove28306in the central continuum shaft28300to position the centrally-disposed spherical feature or protrusion28222of the annular disc member28210B within the concave socket28246in the annular hub portion28244of the annular disc member28210A. Also in this arrangement, another elastomeric spacer member28280C is journaled on the annular hub portion28232of the annular disc member28210B such that is positioned between the distal-most annular disc member28210C in the series of movably interfacing annular disc members28202. The annular key member28224of the distal-most annular disc member28210C is received within a corresponding annular groove28306in the central continuum shaft28300to position the centrally-disposed spherical feature or protrusion28222of the distal-most annular disc member28210C within the concave socket28246in the annular hub portion28244of the annular disc member28210B. Finally, another elastomeric spacer member28280D is journaled on the annular hub portion28232of the distal-most annular disc member28210C such that is positioned between the anvil mounting bracket26240and the distal-most annular disc member28210C. The annular key member28224of the centrally-disposed spherical feature or protrusion26246of the anvil mounting bracket26240is received within a corresponding annular groove28306in the central continuum shaft28300to position the centrally-disposed spherical feature or protrusion226246of the anvil mounting bracket26240within the concave socket28246in the annular hub portion28244of the distal-most annular disc member28210C. In at least one arrangement, to limit pivotal travel of the annular disc members to a range of relative pivotal travel and prevent complete relative rotation of the annular disc members28210relative to each other, the centrally-disposed spherical feature or protrusion28222of each of the annular disc member28210P,28210A,28210B,28210C, as well as the distal spherical feature or protrusion26246of the anvil mounting bracket26240, includes a pair of arcuate pin grooves28226therein. As can be seen inFIG.120, a corresponding travel-limiting pin member28227is pressed into or otherwise attached to each annular hub portion28232and is received within the corresponding pin groove28226in the centrally-disposed spherical feature or protrusions28222,26246. Returning toFIG.119, in the illustrated example, the articulation joint28200may be operably controlled by an articulation system28400that comprises four cable assemblies28410,28420,28430, and28440that extend through the elongate shaft assembly28000. In one arrangement, the cable assembly28410comprises a proximal cable portion28412that is attached to an articulation rod28414that is supported in a corresponding axial groove in the shaft spine assembly28100for axial travel therein. A distal cable portion28416is attached to the articulation rod28414. The cable assembly28420comprises a proximal cable portion28422that is attached to an articulation rod28424that is supported in a corresponding axial groove in the shaft spine assembly28100for axial travel therein. A distal cable portion28426is attached to the articulation rod28414. The cable assembly28430comprises a proximal cable portion28432that is attached to an articulation rod28434that is supported in a corresponding axial groove in the shaft spine assembly28100for axial travel therein. A distal cable portion28436is attached to the articulation rod28434. The cable assembly28440comprises a proximal cable portion28442that is attached to an articulation rod28444that is supported in a corresponding axial groove in the shaft spine assembly28100for axial travel therein. A distal cable portion28446is attached to the articulation rod28444. The proximal cable portions28412,28422,28432,28442may operably interface with a portion of a cable control system25030that is supported within or is otherwise associated with a housing of the surgical instrument25010. The cable control system25030may comprise a plurality of cable support members/capstans, pulleys, etc. that are controlled by one or more corresponding motors that are controlled by a control circuit portion of the surgical instrument25010. In various embodiments, the cable control system25030is configured to manage the tensioning (pulling) and paying out of cables at precise times during the articulation process. In addition, in at least one arrangement, the cable control system25030may be employed to control the opening and closing of the anvil26210as will be discussed in further detail below. Turning now toFIG.126, the distal cable portions28416,28426,28436,28446are configured to operably interface with a closure system28500that is rotatably mounted in the proximal end26112of the elongate channel26110. As can be seen inFIG.126, the closure system28500comprises a pulley unit28510that comprises a first lateral alpha wrap pulley28520and a second lateral alpha wrap pulley28530that are interconnected by a central shaft28540. The pulley unit28510is rotatably supported within the proximal end26112of the elongate channel26110and retained therein by an anvil mounting bracket26240that is attached to the proximal end26112of the elongate channel26112. SeeFIG.119. The anvil mounting bracket26240may be attached to the proximal end26112of the elongate channel26110by welding, adhesive, snap features, etc. The anvil mounting bracket26240comprises a shaft cradle26242that is configured to rotatably support the central shaft28540within the elongate channel26110. In the illustrated arrangement, a first pivot shaft28521protrudes from the first lateral alpha wrap pulley28520and is pivotally supported in a pivot hole26113in the proximal end of the elongate channel. Similarly, a second pivot shaft28531protrudes from the second lateral alpha wrap pulley28530and is pivotally supported in a pivot hole26115in the proximal end26112of the elongate channel26110. As can be seen inFIG.126, the first alpha wrap pulley28520comprises a first circumferential groove28522and a second circumferential groove28524. In the illustrated example, the first distal cable portion28416is received in the first circumferential groove28522and is attached thereto and the second distal cable portion28426is received in the second circumferential groove28524and is attached thereto. Pulling on the first distal cable portion28416will result in the rotation of the first lateral alpha wrap pulley28520in a first direction and pulling the second distal cable portion28426will result in the rotation of the first lateral alpha wrap pulley28520in a second opposite direction. Similarly, the second lateral alpha wrap pulley28530comprises a first circumferential groove28532and a second circumferential groove28534. In the illustrated arrangement, the distal cable portion28446is received in the first circumferential groove28532and is attached thereto and the third distal cable portion28436is received in the second circumferential groove28534and is attached thereto. Pulling on the fourth distal cable portion28446will result in the rotation of the second alpha wrap pulley28530in the first direction and pulling the third distal cable portion28436will result in the rotation of the second lateral alpha wrap pulley28530in the second opposite direction. In accordance with one aspect, the lateral alpha wrap pulleys28520,28530can rotate approximately three hundred thirty degrees. This range of rotational travel is in contrast to a normal pulley that may have a range of rotational travel that is less than one hundred eighty degrees of rotation. Each of the first and second lateral alpha wrap pulleys28520,28530also comprise a corresponding spiral closure cam that is configured to apply closure motions to the anvil26210. As can be seen inFIG.126, the first lateral alpha wrap pulley28520includes a first spiral closure cam28526and the second lateral alpha wrap pulley28530has a second spiral closure cam28536thereon. The spiral closure cams28526,28536are configured to cammingly interact with corresponding anvil closure arms26234on the anvil mounting portion26230of the anvil26210to apply closure motions thereto. SeeFIG.119. Rotation of the pulley unit28510in a first rotary direction will cause the spiral closure cams28526,28536to cam the anvil26210to the closed position. To open the anvil26210, the pulley unit28510is rotated in opposite direction to position the spiral closure cams28526,28536in positions wherein the anvil26210can be pivoted open by an anvil spring (not shown). In the illustrated arrangement, the proximal attachment disc28240, the proximal-most annular disc member28210P, annular proximal disc members28210A,28210B,28210C and anvil mounting bracket26240all include fourth articulation cable passages28214that are configured to permit each of the distal cable portions28416,28426,28436, and28446to pass therethrough.FIG.127illustrates the articulation rod28424slidably supported in a corresponding axial groove28146in the distal spine segment28140for axial travel therein. Each of the other articulation rods28414,28434,28444is similarly supported in axial grooves in the distal spine segment28140as well as corresponding grooves in the proximal spine segment28120. Referring now toFIGS.119and128-130, the distal cable portion28416extends from the articulation rod28414through the articulation joint28200and is looped around two redirect pulleys28550,28560that are supported on shafts28502,28512that are rotatably mounted in the proximal end26112of the elongate channel26110. The distal cable portion28416exits the articulation joint28200to be received within the first circumferential groove28522in the first lateral alpha wrap pulley28520where it is secure therein. The distal cable portion28426extends from the articulation rod28424through the articulation joint28200to be looped around the redirect pulleys28560,28550to be received within the second circumferential groove28524in the first lateral alpha wrap pulley28520where it is secure therein. In the illustrated example, distal cable portion28436extends from the articulation rod28434through the articulation joint28200to be received within a corresponding circumferential groove28534in the second lateral alpha wrap pulley28530where it is secured therein. In addition, the distal cable portion28446extends from the articulation rod28444through the articulation joint28200to be received within a corresponding circumferential groove28532in the second lateral alpha wrap pulley28530where it is secure therein. In at least one example, to articulate the surgical end effector26000relative to the elongate shaft assembly28000through a first articulation plane, the cable control system25030is actuated to pull on the distal cable portion28426and the distal cable portion28446simultaneously with a same amount of tension being applied to each distal cable portion28426,28446. Because the distal cable portions28426,28446apply equal amounts of tension on both sides of the pulley unit28510, the pulley unit28510does not rotate. However, the pulling action of the distal cable portions28426,28446is translated through the articulation joint28200to the surgical end effector26000which results in the articulation of the articulation joint28200through a first articulation plane. To articulate the surgical end effector26000through a second plane of articulation that is transverse to the first plane of articulation, the cable control system25030is actuated to pull the distal cable portion28436and the distal cable portion28446simultaneously with a same amount of tension being applied to each distal cable portion28436,28446. Because the distal cable portions28436,28446apply equal amounts of tension on both sides of the second lateral alpha wrap pulley25830of the pulley unit28510, the pulley unit28510does not rotate. However, the pulling action of the distal cable portions28436,28446is translated through the articulation joint28200to the surgical end effector26000which results in the articulation of the articulation joint28200in a second articulation plane. The cable control system25030may also be used to control the opening and closing of the anvil26210in the following manner. As indicated above, when the spiral closure cams28526on the first lateral alpha wrap pulley28520and the second lateral alpha wrap pulley28530are in a first position, the anvil26210may be pivoted to an open position by an anvil spring or springs (not shown) that are positioned in the proximal end26112of the elongate channel26110and are position to contact the anvil mounting portion26230or anvil closure arms26234to pivot the anvil26210to the open position. To close the anvil26210from that position, the cable control system25030is actuated to pull the distal cable portion28416and the distal cable portion28446simultaneously with a same amount of tension being applied to each distal cable portion28416and28446. These distal cable portions28416,28446will cause the pulley unit28510to rotate causing the spiral closure cams28526,28536to contact the anvil closure arms26234and cam the anvil26210to a closed position. It will be appreciated that by applying equal amounts of tension into the distal cable portions28416,28446, no moment is applied to the articulation joint28200because there are equal amounts of tension being applied on each side of the shaft axis SA. Such arrangement allows the jaw closure to be profiled as desired. This cable-control system25030may allow for a faster closure when the anvil26210is fully open. The cable-control system25030can also function as a lower speed/higher force generating closure mechanism for clamping onto tissue. The present cable controlled system25030may not produce the backlash that commonly occurs with other cable-controlled systems and thus can also be used to control the articulation position of the end effector. The above-described articulation joint28200and cable controlled system25030can facilitate multiple plane articulation while also supplying an additional actuation motion to the surgical end effector26000. As was discussed above, many surgical end effectors employ a firing member that is pushed distally through a surgical staple cartridge by an axially movable firing beam. The firing beam is commonly attached to the firing member in the center region of the firing member body. This attachment location can introduce an unbalance to the firing member as it is advanced through the end effector. Such unbalance can lead to undesirable friction between the firing member and the end effector jaws. The creation of this additional friction may require an application of a higher firing force to overcome such friction as well as can cause undesirable wear to portions of the jaws and/or the firing member. An application of higher firing forces to the firing beam may result in unwanted flexure in the firing beam as it traverses the articulation joint. Such additional flexure may cause the articulation joint to de-articulate—particularly when the surgical end effector is articulated at relatively high articulation angles. The surgical instrument25010employs a firing system27000that may address many if not all of such issues. Referring now toFIGS.133and134, in at least one embodiment, the firing system27000comprises a firing member27100that includes a vertically-extending firing member body27112that comprises a top firing member feature27120and a bottom firing member feature27130. A tissue cutting blade27114is attached to or formed in the vertically-extending firing member body27112. In at least one arrangement, the top firing member feature27120comprises a top tubular body27122that has a top axial passage27124extending therethrough. SeeFIG.134. The bottom firing member feature27130comprises a bottom tubular body27132that has a bottom axial passage27134extending therethrough. In at least one arrangement, the top firing member feature27120and the bottom firing member feature27130are integrally formed with the vertically-extending firing member body27112. In at least one example, the anvil body26212comprises an axially extending anvil slot that has a cross-sectional shape that resembles a “keyhole” to accommodate passage of the top firing member feature27120in the various manners discussed herein. Similarly, the elongate channel26110comprises an axially extending channel slot that also has a keyhole cross-sectional shape for accommodating passage of the bottom firing member feature27130as described above. In the illustrated arrangement, the firing system27000comprises an upper firing assembly27200that operably interfaces with the top firing member feature27120. The upper firing assembly27200includes an upper flexible outer tube or conduit27210that has a proximal end27212that is fixed to an upper insert27214that is non-movably attached to the shaft spine assembly28100. For example, the upper insert27214may be welded to the shaft spine assembly28100or otherwise be attached thereto by adhesive or other appropriate fastening means. The flexible outer tube or conduit27210extends through upper passages28216provided through the proximal attachment disc assembly28240, the proximal-most annular disc member28210P, the annular disc members28210A,28210B,28210C and the anvil mounting bracket26240. A distal end27216of the flexible outer tube or conduit27210may be affixed to the anvil mounting bracket26240. In the illustrated embodiment, the upper firing assembly27200further includes an upper push rod27220that is slidably supported in a corresponding axial passage in the shaft spine assembly28100. The upper firing assembly27200further comprises an upper push coil27230that is supported in an inner flexible upper sleeve27240which extends through the upper flexible outer tube or conduit27210. A proximal end27232of the upper push coil27230and a proximal end27242of the inner flexible upper sleeve27240abut a distal end27222of the upper push rod27220. The upper push coil27230is hollow and may comprise a coil spring that is fabricated from Nitinol, titanium, stainless steel, etc. In other arrangements, the upper push coil27230comprises a laser cut “hypotube” that essentially comprises a hollow tubular member with offset laser cuts therein which enable the hypotube to flex and bend while being capable of transmitting axial forces or motions. The inner flexible upper sleeve27240may be fabricated from a polymer or similar material and prevent tissue, fluid, and/or debris from infiltrating into the upper push coil27230which may hamper its ability to flex and bend during articulation of the surgical end effector relative to the elongate shaft assembly. As can be seen inFIG.134, a distal end27234of the upper push coil27230as well as a distal end27244of the inner flexible upper sleeve27240abut a proximal end27123of the top tubular body27122or the top firing member feature27120. Also in the illustrated arrangement, the upper firing assembly further comprises an upper push coil cable27250that extends through the hollow upper push coil27230. The upper push coil cable27250comprises an upper cable proximal end27252that is secured to the distal end27222of the upper push rod27220and an upper cable distal end27254that is secured within the top axial passage27124in the top tubular body27122of the top firing member feature27120by an upper attachment lug27256. The upper push coil cable27250is held in tension between the top firing member feature27120an the upper push rod27220which serves to retain the distal end27234of the upper push coil27230as well as a distal end27244of the inner flexible upper sleeve27240in abutting contact with the proximal end27123of the top tubular body27122of the top firing member feature27120and the proximal end27232of the upper push coil27230and a proximal end27242of the inner flexible upper sleeve27240in abutting contact with the distal end27222of the upper push rod27220. In the illustrated example, the firing system27000further comprises a lower firing assembly27300that operably interfaces with the bottom firing member feature27130. The lower firing assembly27300includes a lower flexible outer tube or conduit27310that has a proximal end27312that is fixed to a lower insert27314that is non-movably attached to the shaft spine assembly28100. For example, the lower insert27314may be welded to the shaft spine assembly28100or otherwise be attached thereto by adhesive or other appropriate fastening means. The lower flexible outer tube or conduit27310extends through lower passages28218provided in each of the proximal attachment disc assembly28240, the proximal-most annular disc member28210P, annular disc members28210A,28210B,28210C and anvil mounting bracket26240. A distal end27316of the flexible outer tube or conduit27310is affixed to the anvil mounting bracket26240. In the illustrated embodiment, the lower firing assembly27300further includes a lower push rod27320that is slidably supported in a corresponding axial passage in the shaft spine assembly28100. The lower firing assembly27300further comprises a lower push coil27330that is supported in an inner flexible lower sleeve27340which extends through the lower flexible outer tube or conduit27310. A proximal end27332of the lower push coil27330and a proximal end27342of the inner flexible lower sleeve27340abut a distal end27322of the lower push rod27320. The lower push coil27330is hollow and may comprise a coil spring that is fabricated from Nitinol, titanium, stainless steel, etc. In other arrangements, the lower push coil27330comprises a laser cut hypotube that essentially comprises a hollow tubular member with offset laser cuts therein which enable the hypotube to flex and bend. The inner flexible lower sleeve27340may be fabricated from a polymer or similar material and prevent tissue, fluid, and/or debris from infiltrating into the lower push coil27330which may hamper its ability to flex during articulation. As can be seen inFIG.134, a distal end27334of the lower push coil27330as well as a distal end27344of the inner flexible lower sleeve27340abut a proximal end27133of the bottom tubular body27132of the bottom firing member feature27130. Also in the illustrated arrangement, the lower firing assembly27300further comprises a lower push coil cable27350that extends through the hollow lower push coil27330. The lower push coil cable27350comprises a lower cable proximal end27352that is secured to the distal end27322of the lower push rod27320and a lower cable distal end27354that is secured within the bottom axial passage27134in the bottom tubular body27132of the bottom firing member feature27130by a lower attachment lug27356. The lower push coil cable27350is held in tension between the bottom firing member feature27130an the lower push rod27320which serves to retain the distal end27334of the lower push coil27330as well as a distal end27344of the inner flexible lower sleeve27340in abutting contact with the proximal end27133of the bottom tubular body27132of the bottom firing member feature27130and the proximal end27332of the lower push coil27330and a proximal end27342of the inner flexible lower sleeve27340in abutting contact with the distal end27322of the lower push rod27320. In the illustrated arrangement, the firing system27000further comprises a differential drive assembly27400that is configured to axially drive the upper firing assembly27200and the lower firing assembly27300. Turning toFIGS.136-139, in at least one arrangement, a proximal end27224of the upper push rod27220is coupled to a first or upper gear rack27410of the differential drive assembly27400. As can be seen inFIG.136, the first or upper gear rack27410is slidably supported in an upper proximal axial cavity28122in the proximal spine segment28120. Similarly, a proximal end27324of the lower push rod27320is coupled to a second or lower gear rack27420that is supported for axial travel within a lower proximal axial cavity28124in the proximal spine segment28120. The differential drive assembly27400further comprises an axially movable carrier member27430that is centrally disposed between the first or upper gear rack27410and the second or lower gear rack27420and is supported for axial travel within a proximal axial cavity28126in the proximal spine segment28120. SeeFIG.136. Still referring toFIGS.136-139, a pinion gear27432is pivotally pinned to the axially movable carrier member27430such that the pinion gear27432is meshing engagement with the first or upper gear rack27410and the second or lower gear rack27420. The axially movable carrier member27430is driven axially within the proximal axial cavity28126in the proximal spine segment28120by a firing drive actuator27440. SeeFIG.137. In one arrangement, the firing drive actuator27440comprises a firing drive gear rack27442that drivingly interfaces with a drive gear27444that is driven by a firing motor27446that may be operably supported in or otherwise associated with the housing of the surgical instrument25010. In other arrangements, the firing drive actuator27440may be axially driven distally and proximally by a cylinder arrangement or other suitable actuator interfacing therewith. As can be seen inFIGS.137-139, the firing drive actuator27440may be attached to the axially movable carrier member27430by a pair of spaced coupler pins27448that are attached to the firing drive actuator27440and are received within corresponding axial slots27434in the axially movable carrier member27430. Such arrangement permits some relative axial movement between the firing drive actuator27440and the axially movable carrier member27430. For example, when the firing drive actuator27440is driven distally in the distal direction DD, the axially movable carrier member27430will not move distally until the coupler pins27448reach the distal ends of their corresponding axial slots27434at which point the axially movable carrier member27430will move distally. Likewise, the when the firing drive actuator27440is driven in the proximal direction PD, the axially movable carrier member27430will not move proximally until the coupler pins27448reach the proximal ends of their corresponding axial slots27434at which point the axially movable carrier member27430will move proximally. Surgical stapling devices need to apply a high force on the firing member over a long displacement to form the staples and cut tissue. Transmitting that force through an articulated joint is especially challenging because it is difficult to redirect the forces in the desired direction and withstand the loads applied to it. The differential drive assembly27400described herein addresses and solves many, if not all of such challenges by employing two flexible outer tubes or conduits27210,27310to constrain the paths of the flexible push coils27230,27330, respectively. As described herein, the upper flexible outer tube or conduit27210surrounds a portion of the upper push coil27230and the upper flexible outer tube or conduit27310surrounds a portion of the lower push coil27330. Each of the outer tubes or conduits27210,27310can bend but they also can resolve an axial tensile load. The ability to bend allows for the firing member force to be redirected through the articulated joint, and the ability to resolve tension allows for it to change the direction in which the push coil goes. When the push coil27230,27330is put in compression, the flexible outer tube or conduit27210,27310is put in tension. The outer tubes or conduits27210,27310prevent the push coils27230,27330from buckling. The outer tubes27210,27310are terminated in a manner to resolve the tensile loads. As described above, the distal end27216of the flexible outer tube or conduit27210and the distal end27316of the flexible outer tube or conduit27310are both affixed to the anvil mounting bracket26240. The proximal end27212of the flexible outer tube or conduit27210and the proximal end27312of the flexible outer tube or conduit27310are both affixed to the shaft spine assembly28100. The pinion gear27432is in meshing engagement with the first or upper gear rack27410and the second or lower gear rack27420such that when one of the racks27410,27420moves in one axial direction, the other rack27410,27420axially moves in an opposite direction. As can be seen inFIGS.138and139, during articulation, the pinion gear27432rotates so the flexible outer tubes or conduits27210,27310can move to account for the change in path length. However, when the firing drive actuator27440is driven in the distal direction DD, the axially movable carrier member27430is actuated to push the push coils27230,27330distally through the outer tubes or conduits27210,27310to fire (i.e., drive the firing member27100distally) the tensile loads in the two flexible outer tubes or conduits27210,27310react against one another without any motion of the pinion gear27432. In accordance with one general aspect, the upper passages28216form an upper pathway28221(FIG.117) through the articulation joint28200. Similarly, the lower passages28218form a lower pathway28223through the articulation joint28200. When the surgical end effector26000is in an unarticulated position (i.e., the surgical end effector is axially aligned with the elongate shaft assembly28000on the shaft axis SA—FIGS.115,117,118), the upper pathway28221and the lower pathway28223are parallel to each other. SeeFIG.117. When the surgical end effector26000is in an articulated position relative to the elongate shaft assembly28000, the upper pathway28221and the lower pathway28223are concentric to each other. SeeFIG.116. When the surgical end effector26000is in the unarticulated position, the firing system27000may be actuated to drive the firing member27100from a starting position within the proximal end26112of the elongate channel26100to an ending position within the distal end26114of the elongate channel26110. When the surgical end effector26000is in the unarticulated position, and the firing system27000is actuated, the differential drive assembly27400drives the upper firing assembly27200and the lower firing assembly27300equal axial distances in a same axial direction (i.e., the distal direction DD) to apply an upper axial drive motion and a lower axial drive motion to the firing member27100. The upper axial drive motion and the lower axial drive motion are substantially equal in magnitude which serves to distally advance the firing member27100through the surgical end effector26000without binding which might otherwise occur should the upper axial drive motion and the lower axial drive motions be different in magnitude. Similarly, when the surgical end effector26000is in an articulated position relative to the elongate shaft assembly28000, the firing system27000may be actuated to drive the firing member27100from the starting position to the ending position. In such instances, the differential drive assembly27400is configured to permit the upper firing assembly27200and the lower firing assembly27300to move in substantially equal distances in opposite axial directions to accommodate the articulated position. The differential drive assembly27400may then apply an upper axial drive motion and a lower axial drive motion that are equal to each other to the firing member27100. For example, depending upon the articulated position of the surgical end effector26000relative to the elongate shaft assembly28000, the upper firing assembly27200, upon articulation of the surgical end effector26000, may be moved proximally a first distance and the lower firing assembly27300may be positioned relative thereto distally a second distance that is substantially equal to the first distance by the pinion gear27432. Thereafter, distal actuation of the firing drive actuator27440will cause the upper firing assembly27200and the lower firing assembly27300to apply an upper axial drive motion and a lower axial drive motion that are equal to each other to the firing member27100. As used herein, when the carrier is moved distally, the carrier may apply “axial control motions” to the upper firing assembly27200and the lower firing assembly27300. Thus, when the surgical end effector26000is in an unarticulated configuration, the carrier may apply equal amounts of axial control motions to the upper firing member27200and the lower firing member27300in the same axial direction (distal direction DD) and when the surgical end effector26000is in an articulated configuration, the carrier may apply “other equal amounts” of axial control motions to the upper firing member27200and the lower firing member27300in the same axial direction (distal direction DD) to move the firing member27100from the starting position to the ending position. FIGS.140-152illustrate another surgical instrument30010that employs another form of articulation joint30200for coupling a surgical end effector31000to an elongate shaft assembly32000. The elongate shaft assembly32000may be identical or very similar to various other elongate shaft assemblies described herein. As can be seen inFIGS.140-143, the articulation joint30200comprises a proximal joint member30210and a distal joint member30250. The proximal joint member30210is configured to be attached to a distal end of the elongate shaft assembly32000that is coupled to a housing or other portion of a surgical instrument. The distal joint member30250is configured to be attached to the surgical end effector31000. For example, the distal joint member30250may be attached to the elongate channel31200of the surgical end effector31000. The end effector31000may be identical or very similar to various surgical end effectors disclosed herein. As can be seen inFIGS.143and150, the proximal joint member30210comprises a proximal face30212that defines a proximal apex30218. Similarly, the distal joint member30250comprises a distal face30252that defines a distal apex30254. SeeFIG.151. The proximal joint member30210and the distal joint member30250are pivotally retained together with their respective apex portions30218,30254in “rolling inter-engagement” by a linkage assembly30300. As can be seen inFIGS.141-143, the linkage assembly30300comprises a first link30310and a second link30320. In the illustrated example, the first link30310and the second link30320are coupled to the proximal joint member30210by a proximal cross pin assembly30330. In accordance with one aspect, the proximal cross pin assembly30330comprises a first proximal cross pin30332that defines a first proximal pivot axis FPPA. SeeFIG.152. A proximal end30312of the first link30310is configured to receive a first proximal threaded fastener30314therethrough that is configured to be threadably received in a first threaded hole30334in the first proximal cross pin30332. SeeFIG.143. Likewise, a proximal end30322of the second link30320is configured to receive a second proximal threaded fastener30324therethrough that is configured to be threadably received in a second threaded hole30336in the first proximal cross pin30332. In at least one embodiment, the first proximal cross pin assembly30330further comprises a second proximal cross pin30340that is rotatably journaled on the first proximal cross pin30332. In one arrangement, the first proximal cross pin30332may comprise a first proximal bushing or low friction sleeve30338that is configured to facilitate free rotation between the first proximal cross pin30332and the second proximal cross pin30340. The second proximal cross pin30340defines a second proximal pivot axis SPPA that is transverse to the first proximal pivot axis FPPA and a shaft axis SA that is defined by the elongate shaft assembly32000. As can be seen inFIG.143, the second proximal cross pin30340is received within laterally aligned proximal pin openings30220in the proximal joint member30210to attach the linkage assembly30300to the proximal joint member30210such that the linkage assembly30300may pivot relative to the proximal joint member30210about the first proximal pivot axis FPPA and the second proximal pivot axis SPPA. In the illustrated example, the first link30310and the second link30320are coupled to the distal joint member30250by a distal cross pin assembly30350. In accordance with one aspect, the distal cross pin assembly30350comprises a first distal cross pin30352that defines a first distal pivot axis FDPA. A distal end30316of the first link30310is configured to receive a first distal threaded fastener30318therethrough that is configured to be threadably received in a third threaded hole30354in the first distal cross pin30352. Likewise, a distal end30326of the second link30320is configured to receive a second distal threaded fastener30328therethrough that is configured to be threadably received in a fourth threaded hole30356in the first distal cross pin30352. In at least one embodiment, the first distal cross pin assembly30350further comprises a second distal cross pin30360that is rotatably journaled on the first distal cross pin30352. In one arrangement, the first distal cross pin30352may comprise a first proximal bushing or low friction sleeve30358that is configured to facilitate free rotation between the first distal cross pin30352and the second distal cross pin30360. The second distal cross pin30360defines a second distal pivot axis SDPA that is transverse to the first distal pivot axis FDPA and the shaft axis SA. As can be seen inFIG.142, the second distal cross pin30360is received within laterally aligned distal pin openings30256in the distal joint member30250to attach the linkage assembly30300to the distal joint member30250such that the linkage assembly30300may pivot relative to the distal joint member30250about the first distal pivot axis FDPA and the second distal pivot axis SDPA. Turning now toFIG.150, the proximal face30212of the proximal joint member30210defines a proximal apex30218that comprises a plurality of radially-spaced recessed regions30222formed thereon. In the illustrated arrangement, six total recessed regions30222are equally spaced about a center30219of the proximal apex30218. As can be seen inFIG.151, the distal face30252of the distal joint member30250comprises a total of six distal fins or protuberances30262that are equally spaced about a center30255of the distal apex30254such that each fin30262is corresponds to one of the recessed regions30222when the surgical end effector is in an unarticulated position. For example, angle B may be approximately sixty degrees. SeeFIG.151. Each of the fins30262and each of the recessed regions30222comprise rounded edges configured to facilitate rolling inter-engagement between the proximal apex30218and the distal apex30254during articulation of the surgical end effector31000relative to the elongate shaft assembly32000. Such rolling inter-engagement may be somewhat similar to the rolling inter-engagement between the teeth of intermeshing bevel gears, for example such that the proximal apex30218and the distal apex30254remain in engagement with each other during articulation of the surgical end effector31000. Returning toFIG.141, the surgical instrument30010also comprises an articulation system30500that is configured to apply articulation motions to the surgical end effector31000to articulate the surgical end effector31000relative to the elongate shaft assembly32000. In at least one arrangement, the articulation system30500comprises four articulation cables30510,30520,30530, and30540that extend through the elongate shaft assembly32000. In the illustrated arrangement, the articulation cables30510,30520,30530, and30540pass through the proximal joint member30210and the distal joint member30250and are secured to the surgical end effector31000in the various manners disclosed herein. The articulation cables30510,30520,30530, and30540operably interface with an articulation control system that is supported in or otherwise associated with the housing of the surgical instrument300010. For example, as was discussed above, a proximal portion of each cable30510,30520,30530, and30540may be spooled on a corresponding rotary spool or cable-management system2007(FIG.2) in the housing portion of the surgical instrument30010that is configured to payout and retract each cable30510,30520,30530, and30540in desired manners. The spools/cable management system may be motor powered or manually powered (ratchet arrangement, etc.).FIGS.140,141, and144-146illustrate the position of the articulation joint30200when the surgical end effector is in an unarticulated position andFIGS.142and147-149illustrate various positions of the articulation joint30200when the surgical end effector has been articulated in various positions relative to the elongate shaft assembly32000. The surgical instrument30010may also employ a firing system30600of the various types and constructions disclosed in detail herein to drive a firing member (not shown) within the surgical end effector31000. For example, the proximal joint member30210may be provided with an upper proximal firing member passage30214that is configured to accommodate passage of an upper flexible firing assembly30610therethrough. The upper flexible firing assembly30610may span across an area generally designated as30700between the proximal face30212of the proximal joint member30210and the distal face30252of the distal joint member30250to and slidably pass through an upper distal firing member passage30257in the distal joint member30250. Similarly, the proximal joint member30210is provided with a lower proximal firing member passage30216that is configured to accommodate passage of a lower flexible firing assembly30620member therethrough. The lower flexible firing assembly30620spans area30700and is received in a lower distal firing member passage30259in the distal joint member30250. The upper flexible firing assembly30610and the lower flexible firing assembly30620operably interface with a firing member in the surgical end effector31000. The upper flexible firing assembly30610and the lower flexible firing assembly30620may be identical or very similar in construction to the various flexible firing member drive arrangements disclosed herein. FIG.153illustrates another form of articulation joint30200′ that is identical in construction and operation to articulation joint30200described above, except that the first link30310and the second link30320are connected together by an annular ring30380that is located in the area30700between the proximal face30212of the proximal joint member30210and the distal face30252of the distal joint member30250. In at least one arrangement, the annular ring30380comprises an outer diameter which is equal to or less than an outer diameter of the proximal joint member30210and an outer diameter of the distal joint member30250. In one arrangement, for example, the outer diameter of the distal joint member30250is equal to the outer diameter of the proximal joint member30210which is equal to or less than the maximum outer diameter of the elongate shaft assembly32000. Thus, such arrangement permits the surgical instrument30010to be inserted into a patient through a trocar cannula that can accommodate the maximum outer diameter of the elongate shaft assembly32000. The annular ring30380may be particularly advantageous as it may prevent tissue or a flexible exterior joint cover (not shown) from potentially getting caught between the joint components. The articulation joints30200,30200′ utilize an outer linkage assembly30300arrangement that connects the proximal cross pin assembly30330and the distal cross pin assembly30350together and resolve torsional and axial loads that are applied to the joint which may be particular important for resolving loads in the instrument during firing of the firing member. Such joint arrangement further leaves space between the proximal joint member and distal joint member to accommodate additional components/features. As can be seen in the various Figures, the proximal joint member and the distal joint member each are provided with clearance pockets/features/contours to accommodate the linkage assembly when the joint articulates. FIGS.154-156illustrate another form of articulation joint33000that may be used to couple a surgical end effector of the various types disclosed herein to an elongate shaft assembly34000of a surgical instrument33010. The elongate shaft assembly34000comprises a central spine member34100(FIG.155) that may be coupled to or otherwise operably interfaces with a housing (not shown) of the surgical instrument33010. The elongate shaft assembly34000further comprises an outer tube member34110that is extends over the central spine member34100. In at least one form, the articulation joint33000comprises a proximal joint member33100that is attached to the central spine member34100and a distal joint member33300that is attached to a surgical end effector (not shown). For example, the distal joint member33300may be attached to an elongate channel of an endo-cutter arrangement in the various manners disclosed herein. In the illustrated arrangement, the proximal joint member33100comprises a first or right half segment33100A and a second or left half segment33100B that are attached to a distal end of the central spine member34100. The first half segment33100A and the second half segment33100B may be attached to the central spine member34100or other similar component of the elongate shaft assembly34000by welding, adhesive, mechanical fasteners, pins, etc. In accordance with one aspect, the surgical instrument33010comprises a firing system35000that comprises a distal differential drive assembly35100and a proximal differential drive assembly35500. As can be seen inFIG.156, the proximal joint member33100operably supports the distal differential drive assembly35100. In one arrangement, the distal differential drive assembly35100comprises an upper distal rack assembly35110that is supported for axial travel within the proximal joint member33100. As can be seen inFIGS.156,157, and158, the upper distal rack assembly35110is supported in meshing engagement with a distal differential gear35130that is rotatably supported on a pivot axle35132that is supported in the proximal joint member33100. The upper distal rack assembly35110is supported for axial travel within the proximal joint member33100. The distal differential drive assembly35100also comprises a lower distal rack assembly35120that is supported in meshing engagement with the distal differential gear35130and is configured to travel axially within the proximal joint member33100. In accordance with one aspect, the firing system35000further comprises an upper flexible firing assembly35300and a lower flexible firing assembly35400that are configured to operably interface with a firing member35200. As can be seen inFIGS.156and159, the firing member35200includes a vertically-extending firing member body35212that comprises a top firing member feature35220and a bottom firing member feature35230. A tissue cutting blade35214is attached to or formed in the vertically-extending firing member body35212. In at least one arrangement, the top firing member feature35220comprises a top finned portion35222that has a top axial passage35224extending therethrough. The bottom firing member feature35230comprises a bottom finned portion35232that has a bottom axial passage35234extending therethrough. In at least one arrangement, the top firing member feature35220and the bottom firing member feature35230are integrally formed with the vertically-extending firing member body35212. In at least one example, the anvil body comprises an axially extending anvil slot that is configured to accommodate passage of the top firing member feature35220in the various manners discussed herein. Similarly, the elongate channel comprises an axially extending channel slot that is configured to accommodate passage of the bottom firing member feature35230as described herein. In one example, the upper flexible firing assembly35300comprises an upper flexible tube or conduit35310that has a proximal end35312that is supported in a distal socket3512in the upper distal rack assembly35110and is secured thereto by welding, adhesive, etc. The upper flexible tube or conduit35310extends through an upper opening33218in the proximal joint member33100and spans across the articulation joint33000. The upper flexible tube or conduit35310comprises a distal end35314that is received in an opening33330in the distal joint member33300and is terminated or secured therein by welding, adhesive, etc. The upper flexible firing assembly35300further comprises an upper push coil35320. The upper push coil35320is hollow and may comprise a coil spring that is fabricated from Nitinol, titanium, stainless steel, etc. In other arrangements, the upper push coil35320comprises a laser cut hypotube that essentially comprises a hollow tubular member with offset laser cuts or spiral cuts therein which enable the hypotube to flex and bend. The upper push coil35320may additionally be received within an inner flexible upper sleeve35330that may be fabricated from a polymer or similar material and prevent tissue, fluid, and/or debris from infiltrating into the upper push coil35320which may hamper its ability to flex and bend during articulation. The upper push coil35320extends through the upper flexible tube35310and through an axial passage in the upper distal rack35110. An upper support beam35140is supported by the central spine member34100and has an upper passage35142to constrain and permit passage of the upper push coil35320therethrough. As can be seen inFIG.159, a distal end35322of the upper push coil35320as well as a distal end35332of the inner flexible upper sleeve35330abut a proximal end35223of the top finned portion35222of the top firing member feature35220. Also in the illustrated arrangement, the upper firing assembly35300further comprises an upper cable35340that extends through the hollow upper push coil35320. The upper cable35340comprises an upper cable distal end35342that is secured within the top axial passage35224in the top finned portion35222of the top firing member feature35220by an upper attachment lug35343. Turning toFIGS.156-161, the proximal differential drive assembly35500comprises an upper gear rack35510that is slidably supported within the central spine member34100. The proximal differential drive assembly35500further comprises a lower proximal gear rack35520that is supported for axial travel within the central spine member34100. The proximal differential drive assembly35500also comprises an axially movable carrier member35530that is centrally disposed between the upper proximal gear rack35510and the lower proximal gear rack35520and is supported for axial travel within the central spine member34100. A proximal pinion gear35532is pivotally supported on a pin35533that is mounted to the axially movable carrier member35530such that the proximal pinion gear35532is meshing engagement with the upper proximal gear rack35510and the lower proximal gear rack35520. The axially movable carrier member35530is driven axially within an axial cavity in the central spine member34100by a firing drive actuator35540. As can be seen inFIG.160, the firing drive actuator35540comprises a firing drive gear rack35542that drivingly interfaces with a drive gear35544that is driven by a firing motor35546that may be operably supported in the housing of the surgical instrument33010. In other arrangements, the firing drive actuator35540may be axially driven distally and proximally by a cylinder arrangement or other suitable actuator interfacing therewith. As can be seen inFIGS.156and160, the firing drive actuator35540may be attached to the axially movable carrier member35530by a pair of spaced coupler pins35548. In the illustrated arrangement, the upper proximal gear rack35510further comprises an upper cable attachment feature35512that protrudes therefrom and is configured to slide within the upper passage35142in the upper support beam35140. In accordance with one aspect, the upper cable35340extends through the hollow upper push coil35320and a proximal end of the upper cable35340is secured to the upper cable attachment feature35512. The upper cable35340is held in tension between the top firing member feature35220and the upper cable attachment feature35512which serves to retain the distal end35322of the upper push coil35320as well as a distal end35332of the inner flexible upper sleeve35330in abutting contact with the proximal end35323of the top finned portion35222of the top firing member feature35220and the proximal end of the upper push coil35320and a proximal end of the inner flexible upper sleeve35330in abutting contact with the distal end of the upper cable attachment feature35512. In one example, the lower flexible firing assembly35400comprises a lower flexible tube or conduit35410that has a proximal end35412that is supported in a distal socket35122in the lower distal rack35120and is secured thereto by welding, adhesive, etc. The lower flexible tube or conduit35410extends through a lower opening33219in the proximal joint member33100and spans across the articulation joint33000. The lower flexible tube or conduit35410comprises a distal end35414that is received in an opening33340in the distal joint member33300and is terminated or secured therein by welding, adhesive, etc. The lower flexible firing assembly35400further comprises a lower push coil35420. The lower push coil35420is hollow and may comprise a coil spring that is fabricated from Nitinol, titanium, stainless steel, etc. In other arrangements, the lower push coil35420comprises a laser cut hypotube that essentially comprises a hollow tubular member with offset laser cuts or spiral cuts therein which enable the hypotube to flex and bend. The lower push coil35420may additionally be received within an inner flexible lower sleeve35430may be fabricated from a polymer or similar material and prevent tissue, fluid, and/or debris from infiltrating into the lower push coil35420which may hamper its ability to flex and bend during articulation. The lower push coil35420extends through the lower flexible tube35410and through an axial passage in the lower distal rack35120. A lower support beam35150is supported by the central spine member34100and has a lower passage35152to constrain and permit passage of the lower push coil35420therethrough. As can be seen inFIG.159, a distal end35422of the lower push coil35420as well as a distal end35432of the inner flexible lower sleeve35430abut a proximal end35233of the bottom finned portion35232of the bottom firing member feature35230. Also in the illustrated arrangement, the lower flexible firing assembly35400further comprises a lower cable35440that extends through the hollow lower push coil35420. The lower cable35440comprises a lower cable distal end35442that is secured within the bottom axial passage35234in the bottom finned portion35232of the bottom firing member feature35230by a lower attachment lug35443. In accordance with one aspect, the lower cable35440extends through the hollow lower push coil35420and a distal end of the lower cable35440is secured to a lower cable attachment feature35522on the lower proximal gear rack35520. The lower cable35440is held in tension between the bottom firing member feature35230and the lower cable attachment feature35522which serves to retain the distal end35422of the lower push coil35420as well as a distal end35332of the inner flexible upper sleeve35330in abutting contact with the proximal end35233of the bottom finned portion35232of the bottom firing member feature35230and the proximal end of the lower push coil35420and a proximal end of the inner flexible lower sleeve35430in abutting contact with the distal end of the lower cable attachment feature35522. Surgical stapling devices need to apply a high force on the firing member over a long displacement to form the staples and cut tissue. Transmitting that force through an articulated joint is especially challenging because it is difficult to redirect the forces in the desired direction and withstand the loads applied to it. The firing system35000described herein addresses and solves many, if not all of such challenges by employing two flexible tubes35310,35410to constrain the paths of the push coils35320,35420, respectively. As described herein, the upper flexible tube35310surrounds the upper push coil35320and the lower flexible tube35410surrounds the lower push coil35420. Each of the tubes35310,35410can bend but they also can resolve an axial tensile load. SeeFIGS.164and165. The ability to bend allows for the firing member force to be redirected through the articulated joint, and the ability to resolve tension allows for it to change the direction in which the push coil goes. When the push coil35320,35420is put in compression, the flexible tube35310,35410is put in tension. The tube35310,35410prevents the push coil35320,35420from buckling. To resolve the tensile loads the tubes35310,35410need to be terminated in a manner to resolve the loads. In the illustrated example, the respective distal ends35314,35414of the flexible tubes35310,35410, respectively are secured to the distal joint member33300. The proximal ends35312,35412of the flexible tubes35310,35410are secured to the upper distal rack assembly35110and the lower distal rack35120, respectively. The distal differential gear35130is in meshing engagement with each of the upper distal rack assembly35110and the lower distal rack35120such that when one of the rack assemblies35110,35120moves in one axial direction, the other rack assembly35110,35120would axially move in an opposite axial direction. As can be seen inFIGS.163-165, during articulation, the distal differential gear35130rotates so the flexible tubes35310,35410can move to account for the change in path length. However, when the firing drive system is actuated to push the push coils35320,35420distally through the tubes35310,35410to fire (i.e., drive the firing member distally) the tensile loads in the two flexible tubes35310,35410react against one another without any motion of the distal differential gear35130. In accordance with one aspect, the upper flexible tube or conduit35310forms an upper pathway that spans the articulation joint33000and the lower flexible tube or conduit35410forms a lower pathway that spans the articulation joint33000. The upper pathway supports the upper push coil35320for axial travel therethrough and the lower push coil35420for axial travel therethrough. When the surgical end effector to which the articulation joint33000is attached is in an unarticulated position (i.e., the surgical end effector is axially aligned articulated with the elongate shaft assembly along the shaft axis) the upper pathway and the lower pathway are parallel. Stated another way, when the surgical end effector is in an unarticulated position, an end effector axis is axially aligned with the shaft axis and the upper pathway and the lower pathway are parallel. When the surgical end effector is in an unarticulated position (i.e., the end effector axis is not axially aligned with the shaft axis), the upper pathway and the lower pathway are concentric to each other. When the surgical end effector is in the unarticulated position, the proximal differential drive assembly is configured to drive the upper push coil35320and the lower push coil35420equal distances in the same axial direction (distal direction DD) to apply an upper axial drive motion and a lower axial drive motion to the firing member. The upper axial drive motion and the lower axial drive motion are substantially equal in magnitude which serves to distally advance the firing member through the surgical end effector without binding which might otherwise occur should the upper axial drive motion and the lower axial drive motions be different in magnitude. Similarly, the when the surgical end effector is in an articulated position relative to the elongate shaft assembly, the proximal differential drive assembly is configured to permit the upper push coil35320and the lower push coil35420to move in substantially equal distances in opposite axial directions and thereafter apply an upper axial drive motion and a lower axial drive motion that are equal to each other to the firing member. As can be seen inFIG.156, the proximal joint member33100defines a proximal face33200that is configured to receive a spherical proximal end of33410of a central link member33400. In the illustrated arrangement, the spherical proximal end33410is configured to be pivotally received in a proximal socket33210in the proximal face33200of the proximal joint member33100. The spherical proximal end33410of the central link member33400is retained within the proximal socket33210by a proximal cross pin assembly33500. In accordance with one aspect, the proximal cross pin assembly33500comprises a first proximal cross pin33510that defines a first proximal pivot axis FPPA. The first proximal cross pin33510is pivotally supported in a pair of attachment lugs33220formed on the proximal face33200of the proximal joint member33100and extends through two opposing arcuate slots33412to permit pivotal as well as rotational travel of the first proximal cross pin33510within the spherical proximal end33410of the central link member33400. Stated another way, the spherical proximal end33410of the central link member33400is rotatable about the first proximal cross pin33510as well as pivotable through a proximal pivot angle PPA defined by the arcuate slots33412. The proximal cross pin assembly33500further comprises a second proximal cross pin33520that is rotatably journaled on the first proximal cross pin33510to permit relative pivotal rotation between the first proximal cross pin33510and the second proximal cross pin33520. The second proximal cross pin33520is pivotally supported within the spherical proximal end33410of the central link member33400and defines a second proximal pivot axis SPPA. The first proximal pivot axis FPPA is transverse to the shaft axis SA. The second proximal pivot axis SPPA is transverse to the shaft axis SA as well as the first proximal pivot axis FPPA. The proximal cross pin assembly33500facilitates pivotal travel of the spherical proximal end33410of the central link member33400relative to the proximal joint member33100about the first proximal pivot axis FPPA as well as the second proximal pivot axis SPPA. In the illustrated arrangement, the distal joint member33100defines a distal face33310that is configured to receive a spherical distal end33420of a central link member33400. In the illustrated arrangement, the spherical distal end33420is configured to be pivotally received in a distal socket33312in the distal face33310of the distal joint member33300. The spherical distal end33420of the central link member33400is retained within the distal socket33312by a distal cross pin assembly33600. In accordance with one aspect, the distal cross pin assembly33600comprises a first distal cross pin33610that defines a first distal pivot axis FDPA. The first distal cross pin33610is pivotally supported in a pair of attachment lugs33314formed on the distal face33312of the distal joint member33300and extends through two opposing arcuate slots33422to permit pivotal as well as rotational travel of the first distal cross pin33610within the spherical distal end33420of the central link member33400. Stated another way, the spherical distal end33420of the central link member33400is rotatable about the first distal cross pin33610as well as pivotable through a distal pivot angle DPA defined by the arcuate slots33412. The distal cross pin assembly33600further comprises a second distal cross pin33620that is rotatably journaled on the first distal cross pin33610to permit relative pivotal rotation between the first distal cross pin33610and the second distal cross pin33620. The second distal cross pin33620is pivotally supported within the spherical distal end33420of the central link member33400and defines a second distal pivot axis SDPA. The first distal pivot axis FDPA is transverse to the shaft axis SA. The second distal pivot axis SDPA is transverse to the shaft axis SA as well as the first distal pivot axis FDPA. The distal cross pin assembly33600facilitates pivotal travel of the spherical distal end33420of the central link member33400relative to the distal joint member33300about the first distal pivot axis FDPA as well as the second distal pivot axis SDPA. In accordance with at least one aspect, the articulation joint33000further comprises a flexible joint support assembly generally designated as33700which provides flexible support between the proximal joint member33100and the distal joint member33200during articulation as well as to assist the articulation joint33000in returning to an unarticulated position (FIGS.155-158). In at least one arrangement, the flexible joint support assembly33700comprises a series of flexible members33710,33720,33730, and33740that cross through a hollow central link portion33430that is attached to the spherical proximal end33410and the spherical distal end33420and extends therebetween. The flexible members33710,33720,33730, and33740may comprise cables or spring members that are fabricated from, for example, spring steel, stainless steel, Nitinol, titanium, etc. More particularly and with reference toFIG.166, a first flexible member33710comprises a central portion33712and a proximal end portion33714that is configured to be received in a corresponding attachment hole33212(FIG.156) in the first or right half segment33100A of the proximal joint member33100and attached or secured therein. The first flexible member33710further comprises a distal end portion33716that is configured to be received in a corresponding slotted hole33320in the distal joint member33300and be attached therein. In such arrangement, the central portion33712of the first flexible member33710extends diagonally through the hollow central link portion33430. The second flexible member33720comprises a central portion33722and a proximal end portion33724that is configured to be received in a corresponding attachment hole33214(FIG.156) in the second or left segment33100B of the proximal joint member33100and be secured therein. The second flexible member33720further comprises a distal end portion33726that is configured to be received in a corresponding slotted hole33322in the distal joint member33300and be secured therein. In such arrangement, the central portion33722of the second flexible member33720extends diagonally through the hollow central link portion33430. The third flexible member33730comprises a central portion33732and a proximal end portion (not shown) that is configured to be inserted into a corresponding attachment hole (not shown) in the first or right segment33100A of the proximal joint member33100and be secured therein. The third flexible member33730further comprises a distal end portion33736that is configured to be received in a corresponding slotted hole33324in the distal joint member33300and be secured therein. In such arrangement, the central portion33732of the third flexible member33730extends diagonally through the hollow central link portion33430. The fourth flexible member33740comprises a central portion33742and a proximal end portion33744that is configured to be inserted into a corresponding attachment hole33216in the second or left segment33100B of the proximal joint member33100and be secured therein. The fourth flexible member33740further comprises a distal end portion33746that is configured to be received in a corresponding slotted hole33326in the distal joint member33300and be secured therein. In such arrangement, the central portion33742of the fourth flexible member33740extends diagonally through the hollow central link portion33430. The surgical instrument33010also comprises an articulation system33800that is configured to apply articulation motions to the surgical end effector to articulate the surgical end effector relative to the elongate shaft assembly34000. In at least one arrangement, the articulation system33800comprises four articulation cables33810,33820,33830, and33840that extend through the elongate shaft assembly34000. In the illustrated arrangement, the articulation cables33810,33820,33830, and33840pass through the proximal articulation joint member33100and the distal articulation joint member33300and are secured to the surgical end effector in the various manners disclosed herein. The articulation cables33810,33820,33830, and33840operably interface with an articulation control system that is supported in or is otherwise associated with the housing of the surgical instrument33010. For example, as was discussed above, a proximal portion of each cable33810,33820,33830, and33840may be spooled on a corresponding rotary spool or cable-management system2007(FIG.2) in the housing portion of the surgical instrument330010that is configured to payout and retract each cable33810,33820,33830, and33840in desired manners. The spools/cable management system may be motor powered or manually powered (ratchet arrangement, etc.).FIGS.154,155,157,158,162, and167illustrate the position of the articulation joint33000when the surgical end effector is in an unarticulated position andFIGS.163and169illustrate various positions of the articulation joint33000when the surgical end effector has been articulated in various positions relative to the elongate shaft assembly. The articulation joint33000comprises a spherical pitch and yaw joint that is controlled by cables and is used for articulation of the surgical end effector. The articulation joint comprises a double spherical joint, meaning that it has a pair of joints that each can perform pitch and yaw. This arrangement creates redundancy in the joint as now there are two joints that can perform pitch and yaw. The flexible joint support assembly33700serves to constrain how each joint moves during articulation so that the four degrees of freedom act as two. The flexible joint support assembly33700ties the two spherical joints together such that if one rotates, the other one rotates the same amount. When a joint rotates it applies tension in the cable that forces the other joint to rotate as well. Such joint arrangement has a very compact form factor and very little backlash in the wrist design. FIGS.170-177illustrate another form of articulation joint14200that comprises a proximal joint member14210and a distal joint member14250. The proximal joint member14210is configured to be attached to a distal end of an elongate shaft assembly that is coupled to a housing or other portion of a surgical instrument. The distal joint member14250is configured to be attached to a surgical end effector. For example, the distal joint member14250may be attached to an elongate channel of an endo-cutter arrangement in the various manners disclosed herein. As can be seen inFIGS.170-173, the proximal joint member14210comprises a proximal face14212that defines two face segments14214,14216that angle away from an arcuate proximal apex14218. Similarly, the distal joint member14250comprises a distal face14252that defines two face segments14254,14256that angle away from an arcuate distal apex14258. The proximal joint member14210and the distal joint member14250are pivotally retained together with their respective arcuate apex portions14218,14258in a confronting arrangement by at least one and preferably two linkage assemblies15000,15002. As can be seen inFIGS.171-175, the first linkage assembly15000comprises a first link15101and a second link15020that are located on one lateral side of the shaft axis SA. The second linkage assembly15002comprises a first link15010and a second link15020that are located on an opposite lateral side of the shaft axis SA from the first linkage assembly15000. As can be seen inFIGS.171-175, the first link15010of each linkage assembly15000,15002comprises a rigid body15012that defines a proximal end15014and a distal end15016. The proximal end15014is pivotally coupled to or pinned to the proximal joint14210on one side (side A—FIG.174) of a first reference plane RP1that is defined by the shaft axis SA. The proximal end15014pivots about a first pivot axis FPA that is transverse to the shaft axis SA. SeeFIG.170. The distal end15016is pivotally coupled to or pinned to the distal joint member14250on an opposite side (Side B—FIG.174) of the first reference plane RP1such that the first link15010crosses through the first reference plane RP1. The distal end15016pivots about a second pivot axis SPA that is also transverse to the shaft axis SA. The second link15020of each linkage assembly15000,15002comprises a rigid body15022that defines a proximal end15024and a distal end15026. The proximal end15024is pivotally coupled to or pinned to the proximal joint member14210on side B of the first reference plane RP1and the distal end15016is pivotally coupled to or pinned to the distal joint member14250on side A of the first reference plane RP1such that the second link15020crosses the first link15010and passes through the first reference plane RP1. The proximal end15024pivots about a third pivot axis TPA that is transverse to the shaft axis SA and the distal end15026pivots about a fourth pivot axis FTPA that is transverse to the shaft axis. In at least one example, all of the pivot axes FPA, SPA, TPA, FTPA are parallel to each other and transverse to the shaft axis SA. Turning now toFIGS.176and177, the linkage assemblies15000,15002of links15010,15020serve to position the proximal joint member14210and the distal joint member14250relative to each other for pivotal travel about two virtual pivot points VPPPand VPPD. In at least one arrangement, the proximal joint member14210defines the proximal virtual pivot point VPPPwhich is located a proximal radius PR from the arcuate proximal apex14218on the shaft axis SA. The distal joint member14250defines the distal virtual pivot point VPPDwhich is located a distal radius DR from the arcuate distal apex14228on an end effector axis EA. The virtual pivot points VPPPand VPPDlie on a common joint axis JA that has a length of PR+DR which is held constant by the link assemblies15000,15002.FIG.176illustrates the articulation joint14200in an unarticulated orientation wherein the end effector axis EA, the joint axis JA and the shaft axis SA are axially aligned.FIG.177illustrates the articulation joint14200in an articulated orientation. During articulation, the linkage assemblies15000,15002facilitate rotation of the distal joint member14250relative to the proximal joint member14210such that the angle Θ1between the shaft axis SA and the joint axis JA is equal to the angle Θ2between the end effector axis EA and the joint axis JA. SeeFIG.177. Returning toFIG.170, in the illustrated example, the articulation joint14200is operably controlled by a cable control system that comprises four cables15040,15050,15060, and15070that extend through the elongate shaft assembly to operably interface with a cable control system9030that may be supported within the housing of the surgical instrument. The cable control system9030may comprise a plurality of cable support members/capstans, pulleys, etc. that are controlled by one or more corresponding motors that are controlled by a control circuit portion of the surgical instrument. The cable control system9030is configured to manage the tensioning (pulling) and paying out of cables at precise times during the articulation process. As can be seen inFIG.170, the cables15040,15050extend through passages in the proximal joint member14210on side A of the first reference plane RP1and into corresponding passages in the distal joint member14250. Cable15040has a retainer lug15042thereon to prevent it from pulling through the distal joint member14250. Cable15050also has a retainer lug15052to prevent cable15050from pulling through the distal joint member14250. Cables15060,15070extend through passages in the proximal joint member14210on side B of the first reference plane RP1and into corresponding passages in the distal joint member14250. Cable15060has a retainer lug15062thereon to prevent it from pulling through the distal joint member14250. Cable15070also has a retainer lug15072to prevent cable15050from pulling through the distal joint member14250. FIG.171illustrates the articulation joint14200in an unarticulated orientation.FIG.172illustrates articulation of the distal joint member14250in a first articulation direction on one side of the shaft axis SA which is accomplished by applying tension to the cables15040,15050and allowing cables15060and15070to slacken.FIG.173illustrates the distal joint member14250articulated in a maximum articulated orientation that has an articulation angle relative to the shaft axis SA of approximately ninety degrees. The distal joint member14250may be articulated in an opposite direction by applying tension to cables15060and15070and allowing cables15040,15050to slacken. In this arrangement, the links15010,15020retain the proximal joint member14210and the distal joint member14250together without relying on maintaining tension in the cables15040,15050,15060, and15070. The virtual pivot point arrangement also allows the pairs15000,15002of links15010,15020to be attached to the proximal joint member14210and distal joint member14250away from those virtual pivot points. Such arrangement provides maximum clearance in the center area of the articulation joint14200to accommodate a variety of actuation members/shafts. As can be seen inFIG.170, the proximal joint member41210comprises a central proximal opening14211and the distal joint member14250comprises a central distal opening14251. In various embodiments, various control members/drive members14300may extend through the openings14211,14251to provide drive/control motions to the end effector. Such drive members14300must be flexible to accommodate articulation of the articulation joint components. In one arrangement, the apex areas14218,14528may contact each other and in other embodiments, the apex areas14218,14258are spaced from each other. Such arrangement also enables pivotal travel of the distal joint member14250relative to the proximal joint member14210without the use of intermeshing gear segments that are employed in other embodiments. FIGS.178-180illustrate another form of articulation joint16200that can facilitate articulation of a surgical end effector in multiple planes of articulation. In one arrangement, the articulation joint16200comprises a proximal joint member16210, a central joint member16230and a distal joint member16250. The proximal joint member16210is configured to be attached to a distal end of an elongate shaft assembly that is coupled to a housing or other portion of a surgical instrument. The distal joint member16250is configured to be attached to a surgical end effector. For example, the distal joint member16250may be attached to an elongate channel of an endo-cutter arrangement in the various manners disclosed herein. The proximal joint member16210comprises a proximal joint distal face16212that defines two face segments16214,16216that angle away from an arcuate proximal apex16218. The central joint member16230comprises proximal face16232that defines two face segments16234,16236that angle away from a first arcuate center apex16238. The central joint member16230further comprises a central joint distal face16240that defines two face segments16244,16246that angle away from a second arcuate center apex16248. The distal joint member16250comprises a distal joint proximal face16252that defines two face segments16254,16256that angle away from an arcuate distal apex16258. In the illustrated example, the proximal joint member16210and the central joint member14230are pivotally retained together with their respective apex portions16218,16238in a confronting arrangement by a first proximal linkage assembly17000that comprises proximal links17010,17020that are located on one side (side A) of a first reference plane RP1that extends through the shaft axis SA and a second proximal linkage assembly17002that comprises proximal links17030,17040that are located on side B of the first reference plane RP1. The first proximal link17010comprises a rigid body17012that defines a proximal end17014and a distal end17016. The proximal end17014is pivotally coupled to or pinned to the proximal joint member16210on side C of a second reference plane RP2that is defined by the shaft axis SA and is orthogonal to the first reference plane RF1. The proximal end17014pivots about a first pivot axis FPA that is transverse to the shaft axis SA. SeeFIG.179. The distal end17016is pivotally coupled to or pinned to the central joint member16230on an opposite side (Side D) of the second reference plane RP2such that the first proximal link17010crosses through the second reference plane RP2. The distal end17016pivots about a second pivot axis SPA that is also transverse to the shaft axis SA. The second proximal link17020of the proximal linkage assembly17000comprises a rigid body17022that defines a proximal end17024and a distal end17026. The proximal end17024is pivotally coupled to or pinned to the proximal joint member16210on side D of the second reference plane RP2and the distal end17026is pivotally coupled to or pinned to the central joint member16230on side C of the second reference plane RP2such that the second proximal link17020crosses the first proximal link17010and passes through the second reference plane RP2. The proximal end17024pivots about a third pivot axis TPA that is transverse to the shaft axis SA and the distal end17026pivots about a fourth pivot axis FTPA that is transverse to the shaft axis SA. In at least one example, all of the pivot axes FPA, SPA, TPA, FTPA are parallel to each other and transverse to the shaft axis SA. A “third” proximal link17030in the second proximal linkage assembly17002comprises a rigid body17032that defines a proximal end17034and a distal end17036. The proximal end17034is pivotally coupled to or pinned to the proximal joint member16210on side D of the second reference plane RP2. The proximal end17014pivots about the third pivot axis TPA. The distal end17036is pivotally coupled to or pinned to the central joint member16230on side C) of the second reference plane RP2such that the third proximal link17030crosses through the second reference plane RP2. The distal end17016pivots about the fourth pivot axis FTPA. The “fourth” proximal link17040of the proximal linkage assembly17002comprises a rigid body17042that defines a proximal end17044and a distal end17046. The proximal end17044is pivotally coupled to or pinned to the proximal joint member16210on side C of the second reference plane RP2and the distal end17046is pivotally coupled to or pinned to the central joint member16230on side D of the second reference plane RP2such that the fourth proximal link17040crosses the third proximal link17030and passes through the second reference plane RP2. The proximal end17044pivots about the first pivot axis TPA and the distal end17046pivots about the second pivot axis STPA. In the illustrated example, the distal joint member16250and the central joint member16230are pivotally retained together with their respective arcuate apexes16258,16248in a confronting arrangement by a third distal linkage assembly17004that comprises distal links17050,17060that are located on side D of the second reference plane RP2and a fourth distal linkage assembly17006that comprises distal links17070,17080that are located on side C of the second reference plane RP2. A first distal link17050comprises a rigid body17052that defines a proximal end17054and a distal end17056. The proximal end17054is pivotally coupled to or pinned to the central joint member16230on side A of the first reference plane RP1. The proximal end17054pivots about a fifth pivot axis FFPA that is transverse to the shaft axis SA. The distal end17016is pivotally coupled to or pinned to the distal joint member16250on side B of the first reference plane RP1such that the first distal link17050crosses through the first reference plane RP1. The distal end17056pivots about a sixth pivot axis SXPA that is also transverse to the shaft axis SA. A second distal link17060comprises a rigid body17062that defines a proximal end17064and a distal end17066. The proximal end17064is pivotally coupled to or pinned to the central joint member16230on side B of the first reference plane RP1and the distal end17066is pivotally coupled to or pinned to the distal joint member16250on side A of the first reference plane RP1such that the second distal link17060crosses the first distal link17050and passes through the first reference plane RP1. The proximal end17064pivots about a seventh pivot axis SVPA that is transverse to the shaft axis SA and the distal end17066pivots about an eighth pivot axis EPA that is transverse to the shaft axis SA. In at least one example, all of the pivot axes FFPA, SXPA, SVPA and EPA are parallel to each other and transverse to the shaft axis SA. A “third” distal link17070comprises a rigid body17072that defines a proximal end17074and a distal end17076. The proximal end17074is pivotally coupled to or pinned to the central joint16230on side B of the first reference plane RP1. The proximal end17074pivots about the seventh pivot axis SVPA. The distal end17036is pivotally coupled to or pinned to the distal joint member16250on side A of the first reference plane RP1such that the third distal link17070crosses through the first reference plane RP1. The distal end17076pivots about the eighth pivot axis EPA. The “fourth” distal link17080comprises a rigid body17082that defines a proximal end17084and a distal end17086. The proximal end17084is pivotally coupled to or pinned to the central joint member16230on side A of the first reference plane RP1and the distal end17086is pivotally coupled to or pinned to the distal joint member16250on side B of the first reference plane RP1such that the fourth distal link17080crosses the third distal link17070and passes through the first reference plane RP1. The proximal end17084pivots about the fifth pivot axis FFPA and the distal end17086pivots about the sixth pivot axis SXPA. In the illustrated example, the articulation joint16200is operably controlled by a cable control system that comprises four cables16310,16320,16330, and16340that extend through the elongate shaft assembly to operably interface with a cable control system that is supported within the housing of the surgical instrument. The cable control system may comprise a plurality of cable support members/capstans, pulleys, etc. that are controlled by one or more corresponding motors that are controlled by a control circuit portion of the surgical instrument. The cable control system is configured to manage the tensioning (pulling) and paying out of cables at precise times during the articulation process. As can be seen inFIGS.178and180, the cable16310extends through corresponding passage in the proximal joint member16210on side A of the first reference plane RP1and side C of the second reference plane RP2into a corresponding passage in the central joint member14530located on side D of the second reference plane RP2. The cable16310exits the central joint member16230and enters a corresponding passage in the distal joint member16250that crosses through the first reference plane RP1to exit the distal joint member16250at a location that is on side B of the first reference plane RP1and side D of the second reference plane RP2. Cable16310has a retainer lug163122thereon to prevent it from pulling through the distal joint member16250. Still referring toFIGS.178and180, the cable16320extends through a corresponding passage in the proximal joint member16210on side A of the first reference plane RP1and side D of the second reference plane RP2into a corresponding passage in the central joint member14530located on side C of the second reference plane RP2. The cable16320exits the central joint member16230and enters a corresponding passage in the distal joint member16250that crosses through the first reference plane RP1to exit the distal joint member16250at a location that is on side B of the first reference plane RP1and side C of the second reference plane RP2. Cable16320has a retainer lug16322thereon to prevent it from pulling through the distal joint member16250. As can also be seen inFIGS.178and180, the cable16330extends through a corresponding passage in the proximal joint member16210on side B of the first reference plane RP1and side C of the second reference plane RP2into a corresponding passage in the central joint member14530located on side D of the second reference plane RP2. The cable16330exits the central joint member16230and enters a corresponding passage in the distal joint member16250that crosses through the first reference plane RP1to exit the distal joint member16250at a location that is on side A of the first reference plane RP1and side D of the second reference plane RP2. Cable16330has a retainer lug16332thereon to prevent it from pulling through the distal joint member16250. As can be further seen inFIGS.178and180, the cable16340extends through a corresponding passage in the proximal joint member16210on side B of the first reference plane RP1and side D of the second reference plane RP2into a corresponding passage in the central joint member14530located on side C of the second reference plane RP2. The cable16330exits the central joint member16230and enters a corresponding passage in the distal joint member16250that crosses through the first reference plane RP1to exit the distal joint member16250at a location that is on side A of the first reference plane RP1and side C of the second reference plane RP2. Cable16340has a retainer lug16342thereon to prevent it from pulling through the distal joint member16250. To articulate the distal joint member16250in a first articulation direction FAD relative to the central joint member16230, the cable control system is actuated to apply tension to cables16330and16340while allowing cables16310and16320to sufficiently slacken. To articulate the distal joint member16250in a second articulation direction SAD, the cable control system is actuated to apply tension to cables16310and16320while allowing cables16330and16340to sufficiently slacken. To articulate the central joint member16230relative to the proximal joint member16210in a third articulation direction TAD, the cable control system is actuated to apply tension to cables16320and16340while allowing cables16310and16330to sufficiently slacken. To articulate the central joint member16230relative to the proximal joint member16210in a fourth articulation direction FRD, the cable control system is actuated to apply tension to cables16310and16330while allowing cables16320and16340to sufficiently slacken. Example 1—A surgical instrument comprising a shaft assembly that defines a shaft axis and has a surgical end effector operably coupled thereto by an articulation joint. The surgical end effector comprises a first jaw and a second jaw that is selectively movable between an open position and a closed position relative to the first jaw. The articulation joint comprises a distal joint member that is coupled to the surgical end effector. A central joint member operably interfaces with the distal joint member such that the distal joint member is selectively articulatable relative to the central joint member about a distal articulation axis that is transverse to the shaft axis. A proximal joint member is coupled to the shaft assembly and operably interfaces with the central joint member such that the central joint member is selectively articulatable relative to the proximal joint member about a proximal articulation axis that is transverse to the shaft axis and the distal articulation axis. The surgical instrument further comprises an articulation control system that operably interfaces with the articulation joint and the surgical end effector. The articulation control system is configured to apply articulation motions to the surgical end effector to selectively articulate the surgical end effector about the distal articulation axis and the proximal articulation axis. Example 2—The surgical instrument of Example 1, wherein the articulation control system is configured to apply closing motions to the second jaw of the surgical end effector. Example 3—The surgical instrument of Examples 1 or 2, wherein the articulation control system comprises a plurality of flexible actuators that extend through the proximal joint member, the central joint member, and the distal joint member and operably interface with a jaw closure system that is operably supported in the surgical end effector and configured to apply the closing motions to the second jaw. Example 4—The surgical instrument of Example 3, wherein the jaw closure system comprises a closure pulley assembly that is configured to apply the closing motions to said second jaw. Example 5—The surgical instrument of Example 4, wherein the closure pulley assembly comprises at least one closure cam that is configured to cammingly engage a mounting portion on the second jaw to apply the closure motions thereto. Example 6—The surgical instrument of Examples 3, 4 or 5, wherein the plurality of flexible actuators comprises a first cable, a second cable, a third cable, and a fourth cable. The first cable and the second cable extend through the proximal joint member, the central joint member, and the distal joint member on one side of the shaft axis. The third cable and the fourth cable extend through the proximal joint member, the central joint member, and the distal joint member on another side of the shaft axis. Example 7—The surgical instrument of Example 6, wherein the jaw closure system comprises a pulley unit that is supported by the surgical end effector and comprises a first pulley that is rotatably supported on one side of the shaft axis. A second pulley is supported on another side of the shaft axis and is coupled to the first pulley for rotational travel therewith. The first cable and the second cable operably interface with the first pulley and the third cable and the fourth cable operably interface with a third pulley and a fourth pulley. Example 8—The surgical instrument of Example 7, wherein the pulley unit is rotatable through a rotational travel path of at least three hundred thirty degrees by applying tension to one or more of the first cable, the second cable, the third cable, and the fourth cable. Example 9—The surgical instrument of Examples 7 or 8, wherein the first cable extends through a lower portion of the proximal joint member. The central joint member comprises a cable redirection unit that is configured to redirect the first cable out through an upper portion of the central joint member to pass through an upper portion of the distal joint member and engage the first pulley. The second cable extends through an upper portion of the proximal joint member and engages the redirection unit in the central jaw member which redirects the second cable out through a lower portion of the central jaw member to pass through a lower portion of the distal joint member to operably engage the first pulley. Example 10—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8 or 9, wherein the proximal joint member comprises a proximal joint distal face. The central joint member comprises a center joint proximal face that confronts the proximal joint distal face and wherein the central joint member further comprises a central joint distal face. The distal joint member comprises a distal joint proximal face that confronts the central joint distal face. Example 11—The surgical instrument of Example 10, wherein the proximal joint distal face comprises a plurality of proximal joint gear teeth that are configured for meshing engagement with corresponding central joint proximal gear teeth that are associated with the central joint proximal face. The central joint distal face comprises a plurality of central joint distal gear teeth that are configured for meshing engagement with corresponding distal joint proximal gear teeth that are associated with the distal joint proximal face. Example 12—The surgical instrument of Example 10, wherein the proximal joint distal face comprises a pair of spaced proximal joint distal apex portions. The central joint proximal face comprises a pair of spaced central joint proximal apex portions that are configured to confront the pair of spaced proximal joint distal apex portions. The central joint distal face comprises a pair of spaced central joint distal apex portions. The distal joint proximal face comprises a pair of spaced distal joint proximal apex portions that are configured to confront the pair of spaced central joint distal apex portions. Example 13—The surgical instrument of Example 12, wherein each proximal joint distal apex portion comprises a first arcuate distal surface that is configured to rockingly engage a first arcuate proximal surface on a corresponding central joint proximal apex portion. Each central joint distal apex portion comprises a second arcuate distal surface that is configured to rockingly engage a second arcuate proximal surface on a corresponding distal joint proximal apex portion. Example 14—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 or 13, further comprising a drive shaft arrangement that extends through the proximal joint member, the central joint member, and the distal joint member to operably interface with the surgical end effector to apply drive motions thereto. Example 15—The surgical instrument of Example 14, wherein the drive shaft arrangement comprises a rotary drive shaft arrangement. Example 16—The surgical instrument of Example 15, wherein the rotary drive shaft arrangement comprises a proximal rotary drive shaft that has a distal end that is rotatably supported in the proximal joint member. The rotary drive shaft arrangement further comprises a first rotary drive shaft that has a first distal end that is rotatably coupled to the distal end of the proximal rotary drive shaft. The first rotary drive shaft spans between the proximal joint member and the central joint member and further comprises a first distal end that is rotatably coupled to a central bearing that is supported in the central joint member. A second rotary drive shaft comprises a second proximal end that is rotatably coupled in the central bearing in the central joint member. The second rotary drive shaft spans between the central joint member and the distal joint member to be operably coupled to a rotary drive member. Example 17—The surgical instrument of Examples 3, 4, 5, 6, 7, 8, 9, 14, 15 or 16, wherein the central joint member is not directly attached to the proximal joint member, wherein the distal joint member is not directly attached to the central joint member, wherein the central joint member is held in operable pivotal engagement with the proximal joint member by the plurality of flexible actuators, and wherein the distal joint member is held in operable pivotal engagement with the central joint member by the plurality of flexible actuators. Example 18—A surgical instrument comprising a shaft assembly that defines a shaft axis. The surgical instrument further comprises a surgical end effector that is operably coupled to the shaft assembly by an articulation joint. The surgical end effector comprises an elongate channel that is configured to operably support a surgical staple cartridge therein. An anvil is pivotally supported relative to the elongate channel and is selectively movable between an open position and a closed position relative to the surgical staple cartridge supported in the elongate channel. The articulation joint comprises a distal joint member that is coupled to the elongate channel. A central joint member operably interfaces with the distal joint member such that the distal joint member is selectively articulatable relative to the central joint member about a distal articulation axis that is transverse to the shaft axis. A proximal joint member is coupled to the shaft assembly and operably interfaces with the central joint member such that the central joint member is selectively articulatable relative to the proximal joint member about a proximal articulation axis that is transverse to the shaft axis and the distal articulation axis. The surgical instrument further comprises an articulation control system that operably interfaces with the articulation joint and the surgical end effector. The articulation control system is configured to apply articulation motions to the surgical end effector to selectively articulate the surgical end effector about the distal articulation axis and the proximal articulation axis. The articulation control system is configured to apply closing motions to the second jaw of the surgical end effector. Example 19—The surgical instrument of Example 18, wherein the articulation control system comprises a plurality of flexible actuators that extend through the proximal joint member, the central joint member, and the distal joint member and operably interface with an anvil closure system that is operably supported in the elongate channel and is configured to apply closing motions to the anvil. Example 20—The surgical instrument of Examples 18 or 19, wherein the anvil closure system comprises a closure pulley assembly configured to apply said closing motions to the anvil. Example 21—The surgical instrument of Examples 18, 19 or 20, wherein the surgical end effector further comprises a firing member that is configured to axially move between a starting position and an ending position within the surgical end effector in response to firing motions applied to the firing member by a rotary drive system that extends through the proximal joint member, the central joint member, and the distal joint member. As used in any aspect herein, the term “control circuit” may refer to, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor including one or more individual instruction processing cores, processing unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic array (PLA), or field programmable gate array (FPGA)), state machine circuitry, firmware that stores instructions executed by programmable circuitry, and any combination thereof. The control circuit may, collectively or individually, be embodied as circuitry that forms part of a larger system, for example, an integrated circuit (IC), an application-specific integrated circuit (ASIC), a system on-chip (SoC), desktop computers, laptop computers, tablet computers, servers, smart phones, etc. Accordingly, as used herein “control circuit” includes, but is not limited to, electrical circuitry having at least one discrete electrical circuit, electrical circuitry having at least one integrated circuit, electrical circuitry having at least one application specific integrated circuit, electrical circuitry forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program which at least partially carries out processes and/or devices described herein, or a microprocessor configured by a computer program which at least partially carries out processes and/or devices described herein), electrical circuitry forming a memory device (e.g., forms of random access memory), and/or electrical circuitry forming a communications device (e.g., a modem, communications switch, or optical-electrical equipment). Those having skill in the art will recognize that the subject matter described herein may be implemented in an analog or digital fashion or some combination thereof. While several forms have been illustrated and described, it is not the intention of Applicant to restrict or limit the scope of the appended claims to such detail. Numerous modifications, variations, changes, substitutions, combinations, and equivalents to those forms may be implemented and will occur to those skilled in the art without departing from the scope of the present disclosure. Moreover, the structure of each element associated with the described forms can be alternatively described as a means for providing the function performed by the element. Also, where materials are disclosed for certain components, other materials may be used. It is therefore to be understood that the foregoing description and the appended claims are intended to cover all such modifications, combinations, and variations as falling within the scope of the disclosed forms. The appended claims are intended to cover all such modifications, variations, changes, substitutions, modifications, and equivalents. One or more components may be referred to herein as “configured to,” “configurable to,” “operable/operative to,” “adapted/adaptable,” “able to,” “conformable/conformed to,” etc. Those skilled in the art will recognize that “configured to” can generally encompass active-state components and/or inactive-state components and/or standby-state components, unless context requires otherwise. Those skilled in the art will recognize that, in general, terms used herein, and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to claims containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, etc.” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, and C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). In those instances where a convention analogous to “at least one of A, B, or C, etc.” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, or C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). It will be further understood by those within the art that typically a disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms unless context dictates otherwise. For example, the phrase “A or B” will be typically understood to include the possibilities of “A” or “B” or “A and B.” With respect to the appended claims, those skilled in the art will appreciate that recited operations therein may generally be performed in any order. Also, although various operational flow diagrams are presented in a sequence(s), it should be understood that the various operations may be performed in other orders than those which are illustrated, or may be performed concurrently. Examples of such alternate orderings may include overlapping, interleaved, interrupted, reordered, incremental, preparatory, supplemental, simultaneous, reverse, or other variant orderings, unless context dictates otherwise. Furthermore, terms like “responsive to,” “related to,” or other past-tense adjectives are generally not intended to exclude such variants, unless context dictates otherwise. It is worthy to note that any reference to “one aspect,” “an aspect,” “an exemplification,” “one exemplification,” and the like means that a particular feature, structure, or characteristic described in connection with the aspect is included in at least one aspect. Thus, appearances of the phrases “in one aspect,” “in an aspect,” “in an exemplification,” and “in one exemplification” in various places throughout the specification are not necessarily all referring to the same aspect. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner in one or more aspects. Any patent application, patent, non-patent publication, or other disclosure material referred to in this specification and/or listed in any Application Data Sheet is incorporated by reference herein, to the extent that the incorporated materials is not inconsistent herewith. 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. In summary, numerous benefits have been described which result from employing the concepts described herein. The foregoing description of the one or more forms has been presented for purposes of illustration and description. It is not intended to be exhaustive or limiting to the precise form disclosed. Modifications or variations are possible in light of the above teachings. The one or more forms were chosen and described in order to illustrate principles and practical application to thereby enable one of ordinary skill in the art to utilize the various forms and with various modifications as are suited to the particular use contemplated. It is intended that the claims submitted herewith define the overall scope. The surgical instrument systems described herein have been described in connection with the deployment and deformation of staples; however, the embodiments described herein are not so limited. Various embodiments are envisioned which deploy fasteners other than staples, such as clamps or tacks, for example. Moreover, various embodiments are envisioned which utilize any suitable means for sealing tissue. For instance, an end effector in accordance with various embodiments can comprise electrodes configured to heat and seal the tissue. Also, for instance, an end effector in accordance with certain embodiments can apply vibrational energy to seal the tissue. Many of the surgical instrument systems described herein are motivated by an electric motor; however, the surgical instrument systems described herein can be motivated in any suitable manner. In various instances, the surgical instrument systems described herein can be motivated by a manually-operated trigger, for example. In certain instances, the motors disclosed herein may comprise a portion or portions of a robotically controlled system. Moreover, any of the end effectors and/or tool assemblies disclosed herein can be utilized with a robotic surgical instrument system. U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example, discloses several examples of a robotic surgical instrument system in greater detail. The entire disclosures of: U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, which issued on Apr. 4, 1995; U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on Feb. 21, 2006; U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued on Sep. 9, 2008; U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which issued on Dec. 16, 2008; U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010; U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, which issued on Jul. 13, 2010; U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013; U.S. patent application Ser. No. 11/343,803, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No. 7,845,537; U.S. patent application Ser. No. 12/031,573, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed Feb. 14, 2008; U.S. patent application Ser. No. 12/031,873, entitled END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed Feb. 15, 2008, now U.S. Pat. No. 7,980,443; U.S. patent application Ser. No. 12/235,782, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No. 8,210,411; U.S. patent application Ser. No. 12/235,972, entitled MOTORIZED SURGICAL INSTRUMENT, now U.S. Pat. No. 9,050,083; U.S. patent application Ser. No. 12/249,117, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, now U.S. Pat. No. 8,608,045; U.S. patent application Ser. No. 12/647,100, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY, filed Dec. 24, 2009, now U.S. Pat. No. 8,220,688; U.S. patent application Ser. No. 12/893,461, entitled STAPLE CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613; U.S. patent application Ser. No. 13/036,647, entitled SURGICAL STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No. 8,561,870; 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; U.S. patent application Ser. No. 13/524,049, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed on Jun. 15, 2012, now U.S. Pat. No. 9,101,358; U.S. patent application Ser. No. 13/800,025, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. Pat. No. 9,345,481; U.S. patent application Ser. No. 13/800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. Patent Application Publication No. 2014/0263552; U.S. Patent Application Publication No. 2007/0175955, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM, filed Jan. 31, 2006; and U.S. Patent Application Publication No. 2010/0264194, entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby incorporated by reference herein. Although various devices have been described herein in connection with certain embodiments, modifications and variations to those embodiments may be implemented. Particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, the particular features, structures, or characteristics illustrated or described in connection with one embodiment may be combined in whole or in part, with the features, structures or characteristics of one or more other embodiments without limitation. Also, where materials are disclosed for certain components, other materials may be used. Furthermore, according to various embodiments, a single component may be replaced by multiple components, and multiple components may be replaced by a single component, to perform a given function or functions. The foregoing description and following claims are intended to cover all such modification and variations. The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, a device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps including, but not limited to, the disassembly of the device, followed by cleaning or replacement of particular pieces of the device, and subsequent reassembly of the device. In particular, a reconditioning facility and/or surgical team can disassemble a device and, after cleaning and/or replacing particular parts of the device, the device can be reassembled for subsequent use. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application. The devices disclosed herein may be processed before surgery. First, a new or used instrument may be obtained and, when necessary, cleaned. The instrument may then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, and/or high-energy electrons. The radiation may kill bacteria on the instrument and in the container. The sterilized instrument may then be stored in the sterile container. The sealed container may keep the instrument sterile until it is opened in a medical facility. A device may also be sterilized using any other technique known in the art, including but not limited to beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and/or steam. While this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.