systems to control the speed of displacement limb for a surgical instrument

专利摘要:
The present invention relates to a motorized surgical instrument. The surgical instrument includes a movable displacement member between a first position and a second position to effect movement in an end actuator, a motor coupled to the displacement member, the motor being configured to drive the displacement member between the first position and the second position, and a control circuit coupled to the engine. The control circuit is configured to receive a signal indicative of force coming from a sensor, the signal being indicative of the force applied by a closing tube to the end actuator, to determine a closing force applied by the closing tube to the end actuator; determine the possibility that the closing force is within a limit of an expected closing force, and define a motor speed to drive the motor at a speed that corresponds to the closing force in relation to the expected force.
公开号:BR112019026371A2
申请号:R112019026371-3
申请日:2018-05-21
公开日:2020-07-21
发明作者:Frederick E. Shelton Iv；David C. Yates；Jason L. Harris
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] The present invention relates to surgical instruments and, in various circumstances, surgical instruments for stapling and cutting, and staple cartridges for them, which are designed for stapling and cutting fabrics. BACKGROUND TECHNIQUE
[0002] [0002] In a motorized surgical stapling and cutting instrument, it may be useful to control the speed of a cutting member or to control the articulation speed of an end actuator. The speed of a displacement member can be determined by measuring the time elapsed at predetermined position intervals of the displacement member or by measuring the position of the displacement member at predetermined time intervals. The control can be open circuit or closed circuit. Such measurements can be useful for assessing tissue conditions, such as tissue thickness, and adjusting the cutting element speed during a firing stroke to account for tissue conditions. The thickness of the fabric can be determined by comparing the expected speed of the cutting member with the actual speed of the cutting member. In some situations, it can be useful to pivot the end actuator at a constant pivot speed. In other situations, it may be useful to drive the end actuator at a different pivot speed than the standard pivot speed in one or more regions within a sweep range of the end actuator.
[0003] [0003] When using a motorized surgical cutting and stapling instrument, it is possible that the force to close the closing member and the rate of change in the closing force experienced by the end actuator may vary and the speed of dis- paro may not be adequate. Therefore, it may be desirable to control the firing speed of the cutting member or the firing member based on the closing force experienced by the end actuator. It may also be desirable to measure the load experienced by the closing member and to control the speed or rate of the cutting member or the firing member based on the decreasing load on the closing member. SUMMARY OF THE INVENTION
[0004] [0004] In one aspect, a surgical instrument is provided. The surgical instrument comprises: a movable displacement member between a first position and a second position to effect a movement in an end actuator; a motor coupled to the displacement member, the motor being configured to activate the displacement member between the first and second positions; and a control circuit coupled to the motor, and the control circuit is configured to: receive a signal indicating strength from a sensor, the signal being indicative of the force applied by a closing tube to the actuator edge; determine a closing force applied by the closing tube to the end actuator; determine the possibility that the closing force is within the limit of an expected closing force; and defining a motor speed to drive the motor at a speed that corresponds to the closing force in relation to the expected force.
[0005] [0005] In another aspect, the surgical instrument comprises a closing system configured to apply a closing force to an end actuator to transition the end actuator between an open position and a closed position; a displacement member coupled to the closure system, the displacement member being movable between a first position and a second position to effect a movement on the end actuator; a motor coupled to the displacement member, the motor being configured to drive the displacement member between the first position and the second position; and a control circuit coupled to the motor, the control circuit being configured to: determine the closing force exerted by the closing system; recover an expected closing force; determine the possibility that the closing force is within a tolerance of the expected closing force; and adjusting the motor to drive the displacement member at a speed, the speed corresponding to the closing force in relation to the expected closing force.
[0006] [0006] In another aspect, a method of controlling an engine in a surgical instrument is provided. The surgical instrument comprises a closing system configured to apply a closing force to an end actuator to transition the end actuator between an open position and a closed position, a displacement member coupled to the end system. - grounding, with the displacement member moving between a first position and a second position to make a movement on the end actuator, a motor coupled to the displacement member, the motor being configured to drive the displacement member between the first position and the second position; and a control circuit coupled to the engine, the method comprising: determining the closing force exerted by the closing system; recover an expected closing force; determine the possibility that the closing force is within a tolerance of the expected closing force; and defining a motor speed to drive the motor, the motor speed corresponding to the closing force in relation to the expected closing force. FIGURES
[0007] [0007] The innovative characteristics of the aspects described here are presented with particularity in the attached claims. However, these aspects, both in relation to the organization and the methods of operation, can be better understood by reference to the description below, taken in conjunction with the attached drawings.
[0008] [0008] Figure 1 is a perspective view of a surgical instrument that has a set of interchangeable drive axles operationally coupled to it, according to one aspect of this disclosure.
[0009] [0009] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument of Figure 1, according to an aspect of this disclosure.
[0010] [0010] Figure 3 is a view of the exploded set of portions of the interchangeable drive shaft assembly, according to one aspect of this disclosure.
[0011] [0011] Figure 4 is an exploded perspective view of an end actuator of the surgical instrument of Figure 1, according to an aspect of this disclosure.
[0012] [0012] Figures 5A and 5B are a block diagram of a control circuit for the surgical instrument of 1 that cover two drawing sheets, according to one aspect of this disclosure.
[0013] [0013] Figure 6 is a block diagram of the control circuit of the surgical instrument of Figure 1 that illustrates interfaces between the cable assembly, the supply assembly and the cable assembly and the interchangeable drive shaft assembly, according to one aspect of the present disclosure.
[0014] [0014] Figure 7 illustrates a control circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present disclosure.
[0015] [0015] Figure 8 illustrates a combinational logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present disclosure.
[0016] [0016] Figure 9 illustrates a sequential logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present disclosure.
[0017] [0017] Figure 10 is a diagram of an absolute positioning system for the surgical instrument of Figure 1, with the absolute positioning system comprising a motor controlled drive arrangement comprising a sensor position in accordance with an aspect of the present disclosure.
[0018] [0018] Figure 11 is an exploded perspective view of the sensor array for an absolute positioning system, which shows a set of control circuit board and the relative alignment of the elements of the sensor array, according to a or more aspects of the present disclosure.
[0019] [0019] Figure 12 is a diagram of a position sensor comprising a rotating magnetic absolute positioning system, according to an aspect of the present disclosure.
[0020] [0020] Figure 13 is a sectional view of an end actuator of the surgical instrument of Figure 1, showing a course of the firing member in relation to the tissue trapped within the end actuator, according to an aspect of the present revelation.
[0021] [0021] Figure 14 illustrates a block diagram of a surgical instrument programmed to control the distal translation of a displacement member, according to one aspect of the present disclosure.
[0022] [0022] Figure 15 illustrates a diagram plotting two displacement limb courses performed, according to one aspect of the present disclosure.
[0023] [0023] Figure 16 illustrates a cross-sectional view of an end actuator of a surgical instrument according to one or more aspects of the present disclosure.
[0024] [0024] Figure 17 is a sectional view of a closure tube and anvil sensor arrangement, the anvil being in an open position according to one aspect of the present disclosure.
[0025] [0025] Figure 17A is a detailed view of a distal end of a closing tube that includes a sensor arrangement in accordance with an aspect of the present disclosure.
[0026] [0026] Figure 18 is a sectional view of a closure tube and anvil sensor arrangement, the anvil being in a closed position according to one aspect of the present disclosure.
[0027] [0027] Figure 19 is a sectional view of a closure tube and anvil sensor arrangement, the anvil being in an open position according to one aspect of the present disclosure.
[0028] [0028] Figure 20 is a sectional view of a closure tube and anvil sensor arrangement, the anvil being in a closed position according to one aspect of the present disclosure.
[0029] [0029] Figure 21 is a plotting diagram of expected closing tube force versus actual closing tube force, displacement limb force and motor speed during a gripping and firing operation of the surgical instrument. according to one aspect of the present disclosure.
[0030] [0030] Figure 22 is a detailed view of the transition period of the plotting diagram of the force of the closing tube during a gripping and firing operation of the surgical instrument represented in Figure 21 according to one aspect of the present revelation.
[0031] [0031] Figure 23 is a detailed view of a time interval of the transition period of the closing tube force plotting diagram during a gripping and firing operation of the surgical instrument represented in Figure 21 according to a aspect of the present revelation.
[0032] [0032] Figure 24 is a detailed view of a time interval of the transition period of the plotting diagram of the force of the closing tube along a gripping and firing operation of the surgical instrument in Figure 21 according to an aspect of the present revelation.
[0033] [0033] Figure 25 is a logic flow diagram of a process representing a control program or a logical configuration for controlling the speed of the displacement member according to the force of the closing tube according to an aspect of the present disclosure. . DESCRIPTION
[0034] [0034] The applicant for the present application holds the following patent applications filed simultaneously with the same and which are each incorporated in this document as a reference in their respective totalities:
[0035] [0035] Attorney document number END8191USNP / 170054, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL STA- PLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION, by inventors Frederick E. Shelton, IV et a /., Deposited on June 20, 2017.
[0036] [0036] Attorney document number END8192USNP / 170055, entitled SURGICAL INSTRUMENT WITH VARIABLE DURATION
[0037] [0037] Attorney document number END8193USNP / 170056, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLA- CEMENT MEMBER MOTION OF A SURGICAL STAPLING AND CU- TTING INSTRUMENT, by the inventors Frederick E. de Shelton, IV et al., Filed on 20 June 2017.
[0038] [0038] Attorney document number END8194USNP / 170057, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUENT MENTAL TO ARTICULATION ANGLE OF END EFFECTOR, by the inventors Frederick E. Shelton, IV et a / ., filed on June 2017.
[0039] [0039] Attorney document number END8195USNP / 170058, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUENT, by the inventors Frederick E. Shelton, IV et a /., Filed on June 20, 2017 .
[0040] [0040] Attorney document number END8196USNP / 170059, entitled SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY by the inventors Frederick ES. Shelton, IV et al., Filed on June 20, 2017.
[0041] [0041] Attorney Document No. END8197USNP / 170060, entitled SYSTEMS AND METHODS FOR CONTROLLING VELO-
[0042] [0042] Attorney document number END8222USNP / 170125, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL STA- PLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTI-
[0043] [0043] Attorney Document No. END8199USNP / 170062M, entitled ECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, by the inventors Frederick E. Shelton, IV et a /., Filed on June 20, 2017 .
[0044] [0044] Attorney document number END8275USNP / 170185M, entitled TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUCTION, by the inventors Raymond E. Parfett, deposited on 20 June 2017.
[0045] [0045] Attorney document number END8268USNP / 170186, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE-
[0046] [0046] Attorney document number END8276USNP / 170187, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT
[0047] [0047] Attorney document number END8266USNP / 170188, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT
[0048] [0048] Attorney document number END8267USNP / 170189, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT
[0049] [0049] Attorney document number END8269USNP / 170190, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0050] [0050] Attorney document number END8270USNP / 170191, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR SPEED ACCORDING TO USER INPUT FOR A SURGICAL INSTRUENT, by the inventors Jason L. Harris et al /., Filed on June 20, 2017.
[0051] [0051] Attorney document number END8271USNP / 170192, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE-
[0052] [0052] Attorney document number END8274USDP / 170193D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et a / l., Deposited on June 20, 2017.
[0053] [0053] Attorney document number END8273USDP / 170194D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et a / l., Deposited on June 20, 2017.
[0054] [0054] Attorney document number END8272USDP / 170195D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR
[0055] [0055] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the revealed devices and methods. The features shown or described in one example can be combined with the features in other examples and modifications and variations are within the scope of this disclosure.
[0056] [0056] The terms "proximal" and "distal" refer to a doctor who handles the handle of the surgical instrument, the term "proximal" referring to the portion closest to the doctor and the term "distal" referring to to the portion located farthest from the doctor. For convenience, the spatial terms "vertical", "horizontal", "up" and "down" used in connection with the drawings are not intended to be limiting and / or absolute, as surgical instruments can be used in many guidelines and positions.
[0057] [0057] Exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. Such devices and methods, however, can be used in other surgical procedures and applications including open surgical procedures, for example. Surgical instruments can be inserted through a natural orifice or through an incision or perforation formed in the tissue. The functional portions or portions of the instrument's end actuator can be inserted directly into the body or via an access device that has a functional channel through which the end actuator and the elongated drive shaft can be advanced. surgical instrument.
[0058] [0058] Figures 1 to 4 illustrate a surgical instrument powered by motor 10 for cutting and fixing that may or may not be reused.
[0059] [0059] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operatively coupled thereto, according to an aspect of this disclosure. Enclosure 12 includes an end actuator 300 comprising a surgical cutting and cutting device
[0060] [0060] The cable assembly 14 may comprise a pair of interconnectable segments of cable compartment 16 and 18 interconnected by screws, push-fit elements, adhesive, etc. The cable compartment segments 16, 18 cooperate to form a portion of the pistol grip 19 that can be handled and manipulated by the clinician. The cable assembly 14 operationally supports a plurality of drive systems configured to generate and apply control movements to the corresponding portions of the interchangeable drive shaft assembly that is operationally attached to it. A screen can be provided below a cover 45.
[0061] [0061] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument 10 of Figure 1, according to an aspect of this disclosure. The cable assembly 14 may include a frame 20 that operationally supports a plurality of drive systems. The frame 20 can operationally support a "first" drive system or closing drive system 30, which can apply closing and opening movements to the interchangeable drive shaft assembly 200. The closing drive system 30 can include an actuator such as a closing trigger 32 pivotally supported by frame 20. The closing trigger 32 is pivotally coupled to the cable assembly 14 by a pivot pin 33 to allow the closing trigger 32 to be manipulated by a doctor. When the physician holds the pistol grip handle portion 19 of the cable assembly 14, the closing trigger 32 may pivot from an initial or "not acted" position to an "acted" position and, more particularly, to an fully compressed or fully actuated position.
[0062] [0062] The cable assembly 14 and the structure 20 can operationally support a trigger drive system 80 configured to apply trigger movements to the corresponding portions of the interchangeable drive shaft assembly fixed to it. The firing drive system 80 can employ an electric motor 82 located in the piston grip handle 19 of the cable assembly 14. Electric motor 82 can be a direct current (DC) motor with brushes having a rotation maximum of approximately 25,000 rpm, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable electric motor. The mo-
[0063] [0063] The electric motor 82 may include a rotary drive shaft (not shown), which, in an operational way, interfaces with a gear reducer assembly 84 mounted in coupling coupling with a set or rack, of teeth drive 122 on a longitudinally movable drive member 120. The longitudinally movable drive member 120 has a drive tooth rack 122 formed thereon for coupling input with a corresponding drive gear 86 of the gear reducer assembly gear 84.
[0064] [0064] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, and the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 counterclockwise. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable drive member 120 will be driven axially in the proximal direction "DP". The cable assembly 14 can include a switch that can be configured to reverse the polarity applied to the electric motor 82 by the power supply 90. The cable assembly 14 can include a sensor configured to detect the position of the drive member longitudinally movable 120 and / or the direction in which the longitudinally movable drive member 120 is being moved.
[0065] [0065] The activation of the electric motor 82 can be controlled by a trigger trigger 130 that is pivotally supported on the cable assembly 14. The trigger trigger 130 can be pivoted between an unacted position and an acted position .
[0066] [0066] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 comprising an elongated channel 302 configured to operationally support a surgical staple cartridge
[0067] [0067] Returning to Figure 1, the closing tube 260 is moved distally (direction "DD") to close the anvil 306, for example, in response to the action of the closing trigger 32 in the manner described in the previously mentioned reference publication of patent application No. 2014/0263541. Anvil 306 is opened by means of the proximal translation of the closing tube 260. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[0068] [0068] Figure 3 is another exploded view of portions of the interchangeable drive shaft assembly 200, according to one or more aspects of the present disclosure. The interchangeable drive shaft assembly 200 may include a sustained firing member 220 to perform axial displacement within the center column 210. The firing member 220 includes an intermediate firing shaft 222 configured to connect to a distal cutting portion or cutting bar 280. Trigger member 220 can be called a "second drive shaft" or a "second drive shaft set". The intermediate firing drive shaft 222 may include a longitudinal slot 223 at its end configured to receive a flap 284 at the proximal end 282 of the cutting bar 280. The longitudinal slot 223 and the proximal end 282 can be configured to allow relative movement between them and may comprise sliding joint 286. Sliding joint 286 may allow intermediate firing drive shaft 222 of firing member 220 to link end actuator 300 around link 270 without moving, or at least without substantially moving, the cutter bar 280. When the end actuator 300 has been properly oriented, the intermediate trigger drive shaft 222 can be advanced distally to a proximal side wall from the longitudinal slot 223 contact the flap 284 to advance the cutting bar 280 and fire a staple cartridge positioned inside the channel 302. The back 210 has an elongated opening or window 213 inside it to facilitate the assembly and insertion of the intermediate trigger drive shaft 222 inside the back 210. When the intermediate trigger drive shaft 222 has been inserted therein, an upper segment of the structure 215 can be engaged in the structure of the drive shaft 212 to enclose the intermediate drive shaft 222 and the cutter bar 280 itself. The operation of the trigger member 220 can be seen in the publication US patent application No. 2014/0263541. The central column 210 can be configured to slide a firing member 220 and the closing tube 260 that extends around the central column 210. The central column 210 can slide a driver articulation 230.
[0069] [0069] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple the pivoting actuator 230 to the firing member 220. The clutch assembly 400 includes a ring or sleeve. locking 402 positioned around firing member 220, locking sleeve 402 can be rotated between an engaged position, where locking sleeve 402 engages articulation actuator 230 to firing member 220, and a position disengaged, where the hinge actuator 230 is not operably coupled to the firing member 220. When the locking sleeve 402 is in the engaged position, the distal movement of the firing member 220 can move the hinge actuator 230 in the distal direction and, correspondingly, the proximal movement of the firing member 220 can move the hinge actuator 230 proximally. When the locking sleeve 402 is in the disengaged position, the movement of the firing member 220 is not transmitted to the hinge driver 230 and, as a result, the firing member 220 can move independently of the hinge driver 230. The nozzle 201 can be used to operatively engage and disengage the articulation drive system with the trigger drive system in the various ways described in US patent application publication No. 2014/0263541.
[0070] [0070] The interchangeable drive shaft assembly 200 may comprise a slide ring assembly 600 that can be configured to conduct electrical energy to the end actuator 300 and / or from it and / or communicate signals to the end actuator 300 and / or from it, for example. The slip ring assembly 600 may comprise a proximal connector flange 604 and a distal connector flange 601 positioned within a slot defined in the nozzle portions 202, 203. The flange of the proximal connector 604 may comprise a first face and flange of distal connector 601 may comprise a second face positioned adjacent and movable with respect to the first face. The distal connector flange 601 can rotate in relation to the proximal connector flange 604 around the geometric axis of the SA-SA drive shaft (Figure 1). The proximal connector flange 604 can comprise a plurality of concentric or at least substantially concentric conductors 602, defined on its first face. A connector 607 can be mounted on the proximal side of the distal connector flange 601 and can have a plurality of contacts, with each contact corresponding and in electrical contact with one of the conductors 602. This arrangement allows the relative rotation between the proximal connector flange 604 and distal connector flange 601, while electrical contact is maintained between them. The proximal connector flange 604 can include an electrical connector 606 that can place conductors 602 in signal communication with a drive shaft circuit board, for example. In at least one case, an electrical harness comprising a plurality of conductors can extend between the electrical connector 606 and the circuit board of the drive shaft. The electrical connector 606 can extend proximally through a connector opening defined on the chassis mounting flange. US patent application publication No. 2014/0263551, entitled "STAPLE CARTRIDGE TIS-SUE THICKNESS SENSOR SYSTEM", is hereby incorporated by reference in its entirety. US patent application publication No. 2014/0263552, entitled "STAPLE CARTRIDGE TISSUE THI-CKNESS SENSOR SYSTEM", is hereby incorporated by reference in its entirety. Additional details regarding the slip ring assembly 600 can be found in US patent application publication No. 2014/0263541.
[0071] [0071] The interchangeable drive shaft assembly 200 may include a proximal portion mounted securely to the cable assembly 14, and a distal portion that is rotatable about a longitudinal geometric axis. The distal swivel portion of the drive shaft can be rotated relative to the proximal portion around the slip ring assembly 600. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the drive shaft portion. distal rotary drive.
[0072] [0072] Figure 4 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to an aspect of this disclosure. End actuator 300 may include anvil 306 and surgical staple cartridge 304. Anvil 306 can be coupled to an elongated groove 302. Openings 199 can be defined in elongated groove 302 to receive pins 152 extending to from the anvil 306 to allow the anvil 306 to rotate from an open position to a closed position in relation to the elongated groove 302 and the surgical clip cartridge 304. A firing bar 172 is configured to translate longitudinally to the interior of the end actuator 300. The firing bar 172 can be built in a solid section or can include a laminated material comprising, for example, a stack of steel plates. The firing bar 172 comprises a rod with an "Il" profile 178 and a cutting edge 182 at a distal end thereof. One end of the distally designed firing bar 172 can be attached to the stem with a | 178 to assist in spacing the anvil 306 from a surgical staple cartridge 304 positioned in the elongated groove 302 when the mustache 306 is in the closed position. The rod with profile in | 178 can include a sharp cutting edge 182, which can be used to separate the fabric, according to the stem with profile in | 178 is advanced distally by the trigger bar 172. In operation, the stem with | 178 can, or fire, the surgical staple cartridge 304. The surgical staple cartridge 304 may include a molded cartridge body 194 that holds a plurality of staples 191 resting on the staple actuators 192 within the respective staple cavities open upward 195. A wedge slide 190 is driven distally by the rod with profile | 178, sliding over a cartridge tray 196 of the surgical staple cartridge 304. The wedge slide 190 moves the staple actuators 192 upwards to expel the staples 191 in deformation contact with the anvil 306, while the cutting edge 182 of the shank | 178 cuts the fabric tight.
[0073] [0073] The rod with profile | 178 can include top pins
[0074] [0074] Figures 5A and 5B are a block diagram of a control circuit 700 of the surgical instrument 10 of Figure 1 that comprises two drawing sheets according to an aspect of this disclosure. Referring mainly to Figures 5A and 5B, a handle assembly 702 can include a motor 714, which can be controlled by a motor driver 715 and can be employed by the triggering system of the surgical instrument 10. In various ways, the motor 714 can be a direct current (DC) drive motor with brushes with a maximum rotation speed of approximately 25,000 RPM. In other arrangements, the 714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 715 may comprise an H bridge starter comprising field effect transistors (FETs) 719, for example. The motor 714 can be powered by the supply set 706 releasably mounted to the cable set 200 to supply control energy to the surgical instrument 10. The supply set 706 may comprise a battery which may include several cells battery cells connected in series, which can be used as the power source to power the surgical instrument 10. In certain circumstances, the battery cells in the 706 power supply set can be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries that can be separably coupled to the 706 power pack.
[0075] [0075] The drive shaft assembly 704 may include a controller of the drive shaft assembly 722 that can communicate with a safety controller and a power management controller 716 through an interface, while the - drive shaft 704 and power supply 706 are coupled to cable assembly 702. For example, the interface may comprise a first portion of interface 725 which may include one or more electrical connectors for coupling coupling with connectors corresponding drive shaft assemblies and a second portion of interface 727 which may include one or more connectors for coupling coupling with the electrical connectors.
[0076] [0076] The interface can facilitate the transmission of one or more communication signals between the energy management controller 716 and the controller of the drive shaft assembly 722 by routing these communication signals through a main controller 717 located on cable assembly 702, for example. In other circumstances, the interface can facilitate a direct communication line between the power management controller 716 and the drive shaft assembly controller 722 via cable assembly 702, while the drive shaft assembly 704 and the power pack 706 are coupled to the cable set 702.
[0077] [0077] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one respect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single cycle flash memory integrated memory or other memory non-volatile, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the program StellarisWareO, 2 KB electronically programmable and erasable read-only memory (EEPROM), one or more pulse width modulation (PWM) modules, one or more quadrature encoder (QEI) input analogues, one or more 12-bit analog-to-digital converters (ADC) with 12 channels of analog input, details of which are available for the product data sheet.
[0078] [0078] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x, known under the trade name of Hercules ARM Cortex R4, also by Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0079] [0079] The power supply 706 may include a power management circuit which may comprise the power management controller 716, a power modulator 738 and a current sensor circuit 736. The power management circuit may be configured to modulate the battery's output power based on the power needs of the drive shaft assembly
[0080] [0080] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, an LCD monitor, LED indicators), hearing feedback devices (for example, a speaker, a bell) or feedback devices. tactile (for example, haptic actuators). In certain circumstances, output device 742 may comprise a screen 743 which may be included in cable assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 can provide feedback to a user of the surgical instrument 10 via the output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to the output device 742. The output device 742 can instead be integrated
[0081] [0081] Control circuit 700 comprises circuit segments configured to control the operations of the energized surgical instrument 10. A safety controller segment (segment 1) comprises a safety controller and the main controller segment 717 (segment 2). The safety controller and / or the main controller 717 are configured to interact with one or more additional circuit segments such as an acceleration segment, a display segment, a drive axis segment, an encoder segment, a segment motor, and a power segment. Each circuit segment can be coupled to the safety controller and / or main controller 717. The main controller 717 is also coupled to a flash memory. The main controller 717 also comprises a serial communication interface. Main controller 717 comprises a plurality of inputs coupled, for example, to one or more circuit segments, a battery, and / or a plurality of switches. The segmented circuit can be implemented by any suitable circuit, such as, for example, a printed circuit board (PCBA) set within the energized surgical instrument 10. It should be understood that the term processor, as used here, includes any microprocessor, processor, controller, controllers or other basic computing device that incorporates the functions of a central computer processing unit (CPU) in an integrated circuit or at most some integrated circuits. The main controller 717 is a programmable multipurpose device that accepts digital data as input, processes it according to the instructions stored in its memory, and provides results as output. This is an example of sequential digital logic, as it has internal memory. The control circuit 700 can be configured to implement one or more of the processes described here.
[0082] [0082] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. The input from the accelerometer can be used to transition to and from a suspension mode, identify the orientation of the surgical instrument energized, and / or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0083] [0083] The screen or display segment (segment 4) comprises a screen connector coupled to the main controller 717. The screen connector couples the primary controller 717 to a screen through one or more drivers of the integrated circuits of the screen. The drivers of the integrated circuits of the display may be integrated with the display and / or may be located separately from the display. The screen can comprise any suitable screen, such as an organic light-emitting diode (OLED) screen, a liquid crystal display (LCD), and / or any other suitable screen. In some examples, the screen segment is coupled to the safety controller.
[0084] [0084] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft assembly 200 (Figures 1 and 3) coupled to surgical instrument 10 (Figures 1 to 4) and / or a or more controls for an end actuator 300 coupled to the interchangeable drive shaft assembly 200. The drive shaft segment comprises a drive shaft connector configured to couple main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microprocessor with a ferroelectric random access memory (FRAM), an articulation switch, a drive shaft release Hall effect switch, and a PCBA EEPROM memory. drive shaft. The drive shaft PCBA EEPROM memory comprises one or more parameters, routines, and / or specific programs for the interchangeable drive shaft assembly 200 and / or for the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 200 and / or can be integral with the surgical instrument 10. In some instances, the drive shaft segment comprises a second drive shaft EEPROM. The second drive shaft EEPROM comprises a plurality of algorithms, routines, parameters, and / or other data that correspond to one or more sets of drive axes 200 and / or end actuators 300 that can interface with the energized surgical instrument 10.
[0085] [0085] The position encoder segment (segment 6) comprises one or more magnetic encoders of the rotation angle position. One or more magnetic encoders of the rotation angle position are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 of the surgical instrument 10 (Figures 1 to 4). In some instances, the magnetic encoders of the rotation angle position can be coupled to the safety controller and / or the main controller 717.
[0086] [0086] The motor circuit segment (segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 4). Motor 714 is coupled to the main microcontroller processor 717 by an H bridge driver comprising one or more H bridge field effect transistors (FETs) and a motor controller. The H bridge actuator is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current drain from the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety processor. In some instances, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0087] [0087] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of the motor 714 to the main controller 717. The main controller 717 provides a high pulse width modulation signal (PWM), a low PWM signal, a direction signal, a synchronization signal, and a motor restart signal to the motor controller via a buffer. The supply segment is configured to supply a segment voltage to each of the circuit segments.
[0088] [0088] The energy segment (segment 8) comprises a battery coupled to the safety controller, the main controller 717, and additional circuit segments. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more circuit segments. For example, in some examples, the segmented circuit may comprise 3.3V voltage converters and / or 5V voltage converters. A voltage amplification converter is configured to provide a voltage rise to a predetermined amount, such as up to 13V. The voltage amplifier converter is configured to supply additional voltage and / or current during operations that require a lot of energy and to avoid blackouts or low power supply conditions.
[0089] [0089] A plurality of keys are coupled to the safety controller and / or to the main controller 717. The keys can be configured to control the operations of the surgical instrument 10 (Figures 1 to 4), of the segmented circuit, and / or indicate a state of the surgical instrument 10. An ejection port switch and an ejection Hall switch are configured to indicate the state of an ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key from the left pivot side to the right side, one from the right pivot side to the right side, and a central pivot key to the right side are configured to control the articulation of an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or the end actuator 300 (Figures 1 and 4). A reverse key on the left side and a reverse key on the right side are coupled to the main controller 717. Keys on the left side comprising the key on the left pivot side for the left side, the key on the right pivot side for the left side. - dear, the central articulation key for the left side and the reverse key for the left side are coupled to the primary controller 717 by a flex connector on the left. The keys on the right side comprising the key on the left pivot side for the right side, the key on the right pivot side for the right side, the central pivot key for the right side, and the reverse key on the right side are coupled main controller 717 via a
[0090] [0090] Any suitable mechanical, electromechanical, or solid state keys can be used to implement the plurality of keys, in any combination. For example, the keys can limit the keys operated by the movement of components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, passage, positioning and end of an object's displacement. In other implementations, the switches can be solid state switches that work under the influence of a magnetic field such as Hall effect devices, magnetoresistive devices (MR), giant magnetoresistive devices (GMR), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid-state devices such as transistors (for example, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). Other keys may include wireless keys, ultrasonic keys, accelerometers, inertia sensors, among others.
[0091] [0091] Figure 6 is another block diagram of the control circuit
[0092] [0092] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 for sensory feedback to a user. These devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices ( eg haptic actuators). In certain circumstances, output device 742 may comprise a screen 743 that may be included in cable assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of surgical instrument 10 via output device 742. Interface 727 can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742 The output device 742 can be integrated with the supply set 706. Communication between the output device 742 and the drive shaft assembly controller 722 can be done via interface 725 while the shaft assembly exchangeable drive cable 704 is attached to cable assembly 702. Having described a control circuit 700 (Figures 5A, 5B and 6) to control the operation of the surgical instrument 10 (Figures d and 1 to 4), the disclosure now turns to various configurations of the surgical instrument 10 (Figures 1 to 4) and the control circuit 700.
[0093] [0093] Figure 7 illustrates a control circuit 800 configured to control aspects of the surgical instrument 10 (Figures 1 to 4),
[0094] [0094] Figure 8 illustrates a combinational logic circuit 810 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. The combinational logic circuit 810 can be configured to implement the various processes described here. Circuit 810 may comprise a finite state machine comprising a combinational logic circuit 812 configured to receive data associated with the surgical instrument 10 at an input 814, process the data by combinational logic 812 and provide an output 816.
[0095] [0095] Figure 9 illustrates a sequential logic circuit 820 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement the process described here. Circuit 820 may comprise a finite state machine. Sequential logic circuit 820 may comprise a combinational logic circuit 822, at least one memory circuit 824, a clock 829 and, for example. The at least one memory circuit 820 can store a state of the finite state machine current. In certain cases, the 820 sequential logic circuit can be synchronous or asynchronous. The combinational logic circuit 822 is configured to receive the data associated with the surgical instrument 10, an input 826, process the data through the combinational logic circuit 822, and provide an output 828. In other respects, the circuit may comprise a combination the 802 processor and the finite state machine to implement various processes of the present invention. In other respects, the finite state machine may comprise a combination of the combinational logic circuit 810 and the sequential logic circuit 820.
[0096] [0096] Aspects can be implemented in the form of a manufacturing article. The article of manufacture may include a computer-readable storage medium arranged to store logic, instructions and / or data for the execution of various operations of one or more aspects. For example, the article of manufacture may comprise a magnetic disk, an optical disk, flash memory or firmware containing computer program instructions suitable for execution by a general purpose processor or application-specific processor.
[0097] [0097] Figure 10 is a diagram of an absolute positioning system 1100 of surgical instrument 10 (Figures 1 to 4), with the absolute positioning system 1100 comprising a motor controlled drive circuit arrangement comprising a sensor arrangement 1102, in accordance with an aspect of the present disclosure. Position sensor 1102 for an absolute positioning system 1100 provides a unique position signal that corresponds to the location of a displacement member
[0098] [0098] An 1120 electric motor may include a rotary drive shaft 1116, which interfaces operationally with a gear set 1114, which is mounted on a coupling hitch with a set, or rack, of drive teeth on the drive member. drive 1111. A sensor element 1126 can be operatively coupled to a gear assembly 1114 so that a single revolution of the sensor element 1126 corresponds to some linear longitudinal translation of the displacement member 1111. An array of gears and sensors 1118 can be connected to the linear actuator by means of a rack and pinion arrangement, or by a rotary actuator, by means of a gear wheel or other connection. A power source 1129 supplies power to the absolute positioning system 1100 and an output indicator 1128 can show the output of the absolute positioning system 1100. In Figure 2, the drive member 1111 represents the longitudinally driving member. movable 120 comprising a drive tooth rack 122 formed therein for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84. Displacement member 1111 represents the longitudinally movable trigger member 220, the trigger bar 172, the rod with profile | 178, or combinations thereof.
[0099] [0099] A single revolution of the sensor element 1126 associated with the position sensor 1112 is equivalent to a longitudinal linear displacement d1 of the displacement member 1111, where d1 represents the longitudinal linear distance by which the displacement member 1111 lies. moves from point "a" to point "b" after a single revolution of the sensor element 1126 coupled to the displacement member 1111. The sensor arrangement 1102 can be connected by means of a gear reduction resulting in the position sensor - tion 1112 completing one or more revolutions for the full travel of the travel member 1111. The position sensor 1112 can complete multiple revolutions for the full travel of the travel member 1111.
[0100] [0100] A series of keys 1122a to 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the 1112 position sensor. The state of the switches 1122a to 1122n is fed back to a controller 1104 that applies logic to determine a single position signal that corresponds to the longitudinal linear displacement d1 + d2 + ... dn of the drive member 1111. The sensor output 1124 position 1112 is supplied to controller 1104. Position sensor 1112 of sensor array 1102 can comprise a magnetic sensor, an analog rotary sensor such as a potentiometer, a series of analog Hall effect elements that emit a unique combination position of signs or values.
[0101] [0101] The absolute positioning system 1100 provides absolute positioning of the displacement member 1111 with the instrument energizing without having to retract or advance the driving member 1111 to the reset position (zero or initial), as it can be the case with conventional rotary encoders that merely count the number of progressive or regressive steps that the 1120 motor has traveled to infer the position of a device actuator, actuation bar, scalpel, and the like.
[0102] [0102] Controller 1104 can be programmed to perform various functions, such as precise control of the speed and position of the joint and scalpel systems. In one aspect, controller 1104 includes a processor 1108 and a memory 1106. The electric motor 1120 can be a direct current motor with brushes with a gearbox and mechanical connections with a hinge or scalpel system. In one aspect, an 1110 motor drive can be an A3941 available from Allegro Microsystems, Inc. Other motor drives can be readily replaced for use in the 1100 absolute positioning system. A more detailed description of the positioning system absolute number 1100 is described in US patent application No. 15 / 130,590, entitled SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, filed on April 15, 2016, the disclosure of which is incorporated herein by reference.
[0103] [0103] Controller 1104 can be programmed to provide precise control of the speed and position of travel member 1111 and articulation systems. Controller 1104 can be configured to compute a response in controller 1104 software. The computed response is compared to a measured response from the real system to obtain an "observed" response, which is used for actual feedback-based decisions. The answer
[0104] [0104] The absolute positioning system 1100 can comprise and / or be programmed to implement a re-information controller, such as a PID, state feedback, and an adaptive controller. An 1129 power supply converts the signal from the feedback controller to a physical input to the system, in this case the voltage. Other examples include pulse width modulation (PWM) of voltage, current and force. Other 1118 sensors can be provided to mediate the physical parameters of the physical system in addition to the position measured by the 1112 position sensor. In a digital signal processing system, an 1100 absolute positioning system is coupled to a capture system digital data in which the output of the absolute positioning system 1100 will have a finite resolution and sampling frequency. The 1100 absolute positioning system can comprise a comparison and combination circuit to combine a computed response with a measured response through the use of algorithms, such as a weighted average and a theoretical control circuit, that trigger the calculated response towards the measured response. The computed response of the physical system considers properties such as mass, inertia, viscous friction, resistance to inductance, etc., to predict by knowing the input which will be the states and outputs of the physical system. Controller 1104 can be a control circuit 700 (Figures 5A and 5B).
[0105] [0105] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The 1110 A3941 driver is an entire bridge controller for use with semiconductor metal oxide field effect transistors (MOSFET). external power, N channel, specifically designed for inductive loads, such as
[0106] [0106] Having described a general architecture for implementing aspects of an absolute positioning system 1100 for a sensor array 1102, the disclosure now turns to Figures 11 and 12 for a description of an aspect of an array arrangement. sensor 1102 for the absolute positioning system 1100. Figure 11 is an exploded perspective view of the sensor arrangement 1102 for the absolute positioning system 1100, showing a circuit 1205 and the relative alignment of the elements of the sensor arrangement 1102, according to one aspect. The sensor arrangement 1102 for an absolute positioning system 1100 comprises a position sensor 1200, a magnet sensor element 1202, a magnet holder 1204, which rotates with each full stroke of the travel member 1111, and a gear set 1206 to provide gear reduction. With brief reference to Figure 2, the displacement member 1111 can represent the longitudinally movable drive member 120 which comprises a drive tooth rack 122 for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84. Returning to Figure 11, a structural element, such as a bracket 1216, is provided to support gear set 1206, magnet holder 1204 and magnet 1202. Position sensor 1200 comprises one or more magnetic elements of detection, as Hall effect elements, and is positioned close to magnet 1202. As magnet 1202 rotates, the magnetic detection elements of position sensor 1200 determine the absolute angular position of magnet 1202 during a revolution.
[0107] [0107] The sensor array 1102 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to their ability to measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresis, magnetic tunnel junctions, giant magneto impedance, magnetostrictive / piezoelectric compounds, magnetodiode, magnetic transistor , optical fiber, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0108] [0108] A gear set comprises a first gear 1208 and a second gear 1210 in coupling hitch to provide a connection with a gear ratio of 3: 1. A third gear 1212 rotates around a drive shaft 1214. The third gear 1212 is engaged in coupling with the drive member 1111 (or 120 as shown in Figure 2) and rotates in a first direction as the drive element 1111 advances in a distal direction D and rotates in a second direction as the drive member 1111 retracts in a proximal direction P. The second gear 1210 also rotates about the drive axis 1214 and therefore the rotation of the second gear 1210 around the drive shaft 1214 corresponds to the longitudinal translation of the drive member 1111. In this way, a full stroke of the drive member 1111, either in the distal or proximal direction, D, P , corresponds to three revolutions of the second gear 1210 and a single rotation of the first gear 1208. Since the magnet holder 1204 is coupled to the first gear 1208, the magnet holder 1204 completes a rotation with c complete stroke of drive member 1111.
[0109] [0109] The position sensor 1200 is supported by a position sensor holder 1218, defining an opening 1220 suitable for holding the position sensor 1200 in precise alignment with a magnet 1202 rotating down inside the magnet holder 1204. The accessory it is coupled to bracket 1216 and circuit 1205 and remains stationary while magnet 1202 rotates with magnet holder 1204. A hub 1222 is provided that attaches to first gear 1208 and magnetic support 1204. Second gear 1210 and the third gear 1212 coupled to the shaft 1214 are also shown.
[0110] [0110] Figure 12 is a diagram of a position sensor 1200 for an absolute positioning system 1100, which comprises a rotating magnetic absolute positioning system, according to an aspect of the present invention. The position sensor 1200 can be implemented as a rotary, magnetic, single-chip, ASSOSSEQFT position sensor, available from Austria Microsystems, AG. The position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system 1100. Position sensor 1200 is a low voltage, low power component and includes four Hall effect elements 1228A, 1228B, 1228C, 1228D in one area 1230 of position sensor 1200 which is located above magnet 1202 (Figures 15 and 16). A high-resolution ADC 1232 and a smart power management controller 1238 are also provided on the integrated circuit. A CORDIC 1236 processor (acronym for COordinate Rotation Digital Computer), also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only operations addition, subtraction, bit offset and search table. The angular position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as an SP | 1234 for controller 1104. Position sensor 1200 provides 12 or 14 bits of resolution. The position sensor 1200 can be an ASS055 integrated circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4x4x0.85 mm.
[0111] [0111] The Hall effect elements 1228A, 1228B, 1228C, 1228D are located directly above the rotating magnet 1202 (Figure 11). The Hall effect is a well-known effect and for convenience it will not be described in detail in the present invention, however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electrical conductor transverse to a electric current in the conductor and a magnetic field perpendicular to the current. The Hall coefficient is defined as the ratio between the induced electric field and the product of the current density by the applied magnetic field. It is a characteristic of the material from which the conductor is made, since its value depends on the type, number and properties of the load carriers that make up the chain. In the ASS5055 1200 position sensor, Hall effect elements 1228A, 1228B, 1228C, 1228D are capable of producing a voltage signal indicative of the absolute positioning of magnet 1202 in terms of the angle relative to a single revolution of magnet 1202. This value The angle, which is a single position signal, is calculated by the CORDIC 1236 processor, is stored integrated in the ASS055 1200 position sensor in a register or memory. The angle value that is indicative of the position of magnet 1202 during a revolution is provided to controller 1104 in a variety of techniques, for example, when energizing or upon demand from controller 1104.
[0112] [0112] The ASS5055 1200 position sensor needs only a few external components to operate when connected to controller 1104. Six wires are required for simple application using a single power supply: two wires for power and four 1240 wires for the SP interface | 1234 with controller 1104. A seventh connection can be added in order to send an interrupt signal to controller 1104 informing that a new valid angle can be read. Upon energization, the ASS5055 1200 position sensor performs a complete energization sequence, including an angle measurement. The completion of this cycle is indicated as an INT 1242 output, and the angle value is stored in an internal register. Once this output is configured, the ASS055 1200 position sensor goes into suspended mode. Controller 1104 can respond to the INT request on output INT 1242 by reading the angle value from the position sensor ASS055 1200 via the SPI 1234 interface. Once the angle value is read by controller 1104, the output INT 1242 is released again. Sending a "read angle" command through the SPI 1234 interface via controller 1104 to position sensor 1200 also automatically energizes the integrated circuit and starts another angle measurement. As soon as controller 1104 finishes reading the angle value, the INT 1242 output is released and a new result is stored in the angle register. The end of this angle measurement is indicated again by the configuration of output INT 1242 and the corresponding flag in the status register.
[0113] [0113] Due to the measurement principle of the ASS5055 1200 position sensor, only a single angle measurement is performed in a very short time (-600 us) after each energization sequence. As soon as an angle measurement is completed, the ASS055 1200 position sensor enters the de-energized state. There is no filter of the angle value by digital average implemented, as this would require more than one angle measurement and, consequently, a longer power-up time, which is not desired in low power applications. The angle variation can be reduced by averaging several angle samples on controller 1104. For example, an average of four samples reduces the variation by 6 dB (50%).
[0114] [0114] Figure 13 is a cross-sectional view of an end actuator 2502 of surgical instrument 10 (Figures 1 to 4) showing a firing stroke of the rod with profile in | 2514 with respect to the fabric 2526 trapped within end actuator 2502, in accordance with an aspect of the present disclosure. The end actuator 2502 is configured to operate with the surgical instrument 10 shown in Figures 1 to 4. The end actuator 2502 comprises an anvil 2516 and an elongated groove 2503 with a staple cartridge 2518 positioned in the elongated groove 2503. A bar firing block 2520 is translatable distally and proximally along a longitudinal geometry axis 2515 of end actuator 2502. When end actuator 2502 is not pivoted, end actuator 2502 is in line with the instrument driving shaft. A rod with profile in | 2514 comprising a cutting edge 2509 is illustrated in a distal portion of the firing bar
[0115] [0115] An exemplary firing stroke of the rod with profile in | 2514 is illustrated by a graphic 2529 aligned with end actuator 2502. The example fabric 2526 is also shown aligned with end actuator 2502. The stroke of the firing member can comprise a start position of stroke 2527 and an end position 2528. During a firing stroke of the rod with profile in | 2514, the rod with profile | 2514 can be advanced distally from the start position 2527 to the end position 2528. The rod with profile | 2514 is shown in an exemplary location of a 2527 start position. Graph 2529 of the stem shooting member travel with | 2514 illustrates five regions of travel of the firing member 2517, 2519, 2521, 2523 and 2525. In a first region of the firing course 2517, the stem | 2514 can begin to advance distally. In the first region of the 2517 firing stroke, the rod with a | 2514 can contact the wedge slide 2513 and start moving it distally. While in the first region, however, cutting edge 2509 may not come into contact with the fabric and the wedge slide 2513 may not come into contact with a staple driver
[0116] [0116] In the second travel region of firing member 2519, cutting edge 2509 can start to come into contact and cut the fabric 2526. In addition, the wedge slide 2513 can start to come in contact with the clamp actuators 2511 to drive clamps 2505. The force to drive the rod with profile in | 2514 may start to increase gradually. As shown, the fabric initially found can be compressed and / or thinner due to the way the anvil 2516 rotates in relation to the staple cartridge
[0117] [0117] As discussed above and with reference now to Figures 10 to 13, electric motor 1122 positioned inside the surgical instrument cable set 10 (Figures 1 to 4) can be used to advance and / or retract the triggering system for the drive shaft assembly, including the rod with profile | 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or cut the tissue captured inside the end actuator 2502. The stem with | 2514 can be advanced or retracted at a desired speed, or within a desired speed range. Controller 1104 can be configured to control the speed of | 2514. Controller 1104 can be configured to predict the speed of the rod with | 2514 based on various parameters of the energy supplied to the 1122 electric motor, such as voltage and / or current, for example, and / or other operating parameters of the 1122 electric motor or external influences. Controller 1104 can be configured to predict the speed of the rod-shaped profile | 2514 based on previous values of current and / or voltage supplied to electric motor 1122 and / or previous states of the system, such as speed, acceleration and / or position. Controller 1104 can be configured to detect the speed of the | 2514 using the absolute positioning sensor system described here. The controller can be configured to compare the predicted speed of the rod with | 2514 and the detected speed of the rod with profile | 2514 to determine if the power of the 1122 electric motor needs to be increased in order to increase the speed of the profile rod | 2514 and / or decreased in order to decrease the speed of the rod with profile in | 2514. US patent No. 8,210,411, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, is hereby incorporated by reference in its entirety. US patent No. 7,845,537, entitled SURGICAL INSTRUMENT HAVING RE-CORDING CAPABILITIES, is hereby incorporated by reference in its entirety.
[0118] [0118] The force acting on the rod with profile in | 2514 can be determined using several techniques. The strength of the rod with profile | 2514 can be determined by measuring the current of the motor 2504, the current of the motor 2504 being based on the load experienced by the rod with profile in | 2514 as it advances distally. The strength of the rod with profile | 2514 can be determined by placing a strain gauge on the drive member 120 (Figure 2), on the trigger member 220 (Figure 2), on the stem with | 2514 (shank with profile at | 178, Figure 20), on the firing bar 172 (Figure 2), and / or at a proximal end of the cutting edge 2509. The strength of the shank with profile in | 2514 can be determined by monitoring the actual position of the stem with profile in | 2514 which moves at an expected speed based on the speed of the adjusted motor current 2504 after a predetermined elapsed period T; and by comparing the actual position of the rod with profile | 2514 in relation to the expected position of the rod with profile | 2514 based on the current speed of the motor 2504 at the end of the T1 period. Thus, if the actual position of the stem with a | 2514 is less than the expected position of the | 2514, the force on the rod with profile | 2514 is greater than a nominal force. On the other hand, if the actual position of the rod with | 2514 is greater than the expected position of the rod with profile | 2514, the force on the rod with profile | 2514 is less than the nominal force. The difference between the actual and expected positions of the stem with profile in | 2514 is proportional to the deviation of the force on the stem with | 2514 from the nominal force. These techniques are described in the attorney's document number END8195USNP, which is incorporated herein by reference in its entirety.
[0119] [0119] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of a displacement member according to an aspect of the present disclosure. In one aspect, the 2500 surgical instrument is programmed to control the distal translation of an 1111 displacement member such as the | 2514. The surgical instrument 2500 comprises an end actuator 2502 which may comprise an anvil 2516, a rod with a profile in | 2514 (including a sharp cutting blade 2509), and a removable staple cartridge 2518. End actuator 2502, anvil 2516, stem with profile | 2514 and staple cartridge 2518 can be configured as described here, for example, in relation to Figures 1 to 13.
[0120] [0120] The position, movement, displacement, and / or translation of a displacement member 1111, such as the rod with profile in | 2514, can be measured by the absolute positioning system
[0121] [0121] Control circuit 2510 can generate a 2522 motor setpoint signal. The 2522 motor setpoint signal can be supplied to a 2508 motor controller. The 2508 motor controller can comprise one or more circuits configured to provide a motor 2524 drive signal to motor 2504 to drive motor 2504, as described in the present invention. In some instances, the 2504 motor may be a brushed direct current (DC) electric motor, such as motor 82, 714, 1120 shown in Figures 1, 5B, 10. For example, the speed of the 2504 motor may be proportional to the motor 2524 drive signal. In some instances, motor 2504 may be a brushless DC electric motor and the motor 2524 drive signal may comprise a pulse width modulated (PWM) signal supplied to one or more windings of the motor stator 2504. In addition, in some examples, the motor controller 2508 can be omitted, and the control circuit 2510 can generate the motor 2524 drive signal directly.
[0122] [0122] The 2504 motor can receive power from a 2512 power source. The 2512 power source can be or include a battery, a super capacitor, or any other suitable 2512 power source. The 2504 motor can be mechanically coupled to the rod with profile in | 2514 by means of a 2506 transmission. The 2506 transmission may include one or more gears or other connecting components for coupling the 2504 motor to the 1 2514 profiled rod. A 2534 position sensor can detect a position of the profiled rod |
[0123] [0123] The 2510 control circuit can be in communication with one or more 2538 sensors. The 2538 sensors can be positioned on the end actuator 2502 and adapted to work with the 2500 surgical instrument to measure the various parameters derived as the distance of the gap in relation to time, the compression of the tissue in relation to time, and the tension of the anvil in relation to time. The 2538 sensors can comprise, for example, a magnetic sensor, a magnetic field sensor, a voltage meter, a pressure sensor, a force sensor, an inductive sensor such as a current sensor parasites, a resistive sensor, a capacitive sensor, an optical sensor, and / or any other sensors suitable for measuring one or more parameters of the end actuator 2502. The 2538 sensors may include one or more sensors.
[0124] [0124] The one or more 2538 sensors may comprise a voltage meter such as, for example, a microtension meter, configured to measure the magnitude of the voltage on the 2516 anvil during a tight condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 2538 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the bi-
[0125] [0125] The 2538 sensors can be configured to measure the forces exerted on the anvil 2516 by the closing drive system 30. For example, one or more 2538 sensors can be at a point of interaction between the closing tube 260 (Fig. 3) and the anvil 2516 to detect the closing forces applied by the closing tube 260 to the anvil 2516. The forces exerted on the anvil 2516 may be representative of the tissue compression experienced by the section of the tissue captured between the anvil 2516 and the staple cartridge 2518. The one or more 2538 sensors can be positioned at various points of interaction along the closing drive system 30 (Figure 2) to detect the closing forces applied to the 2516 anvil by the drive system. closing 30. The one or more 2538 sensors can be sampled in real time during a gripping operation by a processor as described in Figures 5A and 5B. The 2510 control circuit receives sample measurements in real time to provide and analyze time-based information and evaluate, in real time, the closing forces applied to the 2516 anvil.
[0126] [0126] A current sensor 2536 can be used to measure the current drained by the 2504 motor. The force required to advance the rod with profile in | 2514 corresponds to the current drained by the motor
[0127] [0127] Using the physical properties of the instruments shown here, now with reference to Figures 1 to 14, and with reference to
[0128] [0128] The actual drive system for the 2500 surgical instrument is configured to drive the displacement member, cutting member or shank with | 2514, by a DC motor with brushes with gearbox and mechanical connections to an articulation system and / or scalpel. Another example is the 2504 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 2504 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system. .
[0129] [0129] Before explaining in detail the aspects of the 2500 surgical instrument, it should be noted that the exemplifying aspects are not limited, in terms of application or use, to the details of construction and arrangement of the parts illustrated in the drawings and in the description
[0130] [0130] Several exemplifying aspects are directed to a 2500 surgical instrument that includes a 2502 end actuator with motor-driven surgical stapling and cutting implements. For example, a 2504 motor can drive a displacement member distally and proximally along a longitudinal geometric axis of end actuator 2502. End actuator 2502 can comprise an articulating anvil 2516 and, when configured for use , an ultrasonic blade 2518 positioned on the opposite side of the anvil 2516. A doctor can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, the 2504 motor can drive the displacement member distally along from the longitudinal geometric axis of the end actuator 2502 from a proximal start position to an end position distal from the start position. As the displacement member moves distally, the stem with a | 2514 with a cutting element positioned at a distal end, you can cut the fabric between the staple cartridge 2518 and the anvil 2516.
[0131] [0131] In several examples, the 2500 surgical instrument may comprise a 2510 control circuit programmed to control the distal translation of the displacement limb, such as the stem with profile in | 2514, for example, based on one or more tissue conditions. The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. The 2510 control circuit can be programmed to select a control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker fabric is present, the 2510 control circuit can be programmed to move the displacement member at a lower speed and / or with a lower power. When a thinner fabric is present, the 2510 control circuit can be programmed to move the displacement member at a higher speed and / or with greater power.
[0132] [0132] In one aspect, control circuit 2510 can initially operate motor 2504 in an open circuit configuration for a first open circuit portion of a travel of the travel member. Based on a response from the 2500 instrument during the open circuit portion of the course, the 2510 control circuit can select a trip control program. The response of the instrument may include a translation of the distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 2504 during the open circuit portion, a sum of pulse widths a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed loop portion of the stroke, control circuit 2510 can modulate motor 2504 based on translation data that describes a position of the displacement member in a closed circuit manner to translate the displacement member at a constant speed.
[0133] [0133] Figure 15 illustrates a diagram 2580 that plots two exemplifying courses of the displacement member performed according to one aspect of the present disclosure. Diagram 2580 comprises two geometric axes. A horizontal geometric axis 2584 indicates the elapsed time. A vertical axis 2582 indicates the position of the rod with profile | 2514 between a start position of the stroke 2586 and an end position of the stroke 2588. On the horizontal geometry axis 2584, the control circuit 2510 can receive the trip signal and begin to provide the initial motor configuration in to. The open circuit portion of the travel of the displacement member is an initial period of time that can elapse between to and t1.
[0134] [0134] A first example 2592 shows a response from the surgical instrument 2500 when a thick tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the open loop portion of the displacement limb course, for example , the initial period of time between to and ti, the rod with profile at 1 2514 can move from the initial position of the stroke 2586 to the position 2594. Control circuit 2510 can determine that that position 2594 corresponds to a trigger control program that advances the rod with profile in | 2514 at a constant selected speed (Vlenta), indicated by the slope of example 2592 after t: (for example, in the closed circuit portion). The 2510 control circuit can drive the rod with profile | 2514 for Vlenta speed by monitoring the position of the rod with profile in | 2514 and modulation of the engine setpoint 2522 and / or the motor start signal 2524 to maintain Vlenta. A second example 2590 shows a response from the surgical instrument 2500 when a thin tissue is positioned between the anvil 2516 and the staple cartridge 2518.
[0135] [0135] During the initial time period (for example, the open circuit period) between to and t1, the rod with profile in | 2514 can move from the initial position of stroke 2586 to position 2596. The control circuit can determine that position 2596 corresponds to a trigger control program that advances the travel member at a constant selected speed (Fast). Because the fabric in example 2590 is thinner than the fabric in example 2592, it can provide less resistance to the movement of the | 2514. As a result, the | 2514 can move a larger portion of the course during the initial time period. In addition, in some instances, a thinner fabric (e.g., a larger portion of the displacement limb travel during the initial time period) may correspond to higher velocities of the displacement member after the initial time period.
[0136] [0136] Figure 16 illustrates a cross-sectional view of a 912 end actuator of a surgical instrument in accordance with an aspect of the present disclosure. The end actuator 912 is an aspect of the end actuator 300 (Figures 1 and 4) that can be adapted to operate with the surgical instrument 10 (Figure 1) to measure the various derived parameters, such as span distance versus time, compression of the tissue as a function of time and deformation of the anvil as a function of time. Consequently, end actuator 912 may include one or more sensors configured
[0137] [0137] The first sensor 920 and / or the second sensor 926 may comprise, for example, a magnetic field sensor embedded in an anvil 914, and is configured to detect a magnetic field generated by a magnet 924 embedded in a member claw 916 and / or staple cartridge 918. Anvil 914 is pivotally pivoted between open and closed positions. The intensity of the detected magnetic field can correspond, for example, to the thickness and / or the completeness of a piece of fabric located between the anvil 914 and the claw member 916. In certain cases, the first sensor 920 and / or the second sensor 926 may comprise a strain gauge, such as a microstrain gauge, configured to measure the magnitude of the strain on anvil 914 during a stuck condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage.
[0138] [0138] In some respects, one or more sensors of the end actuator 912 such as, for example, the first sensor 920 and / or the second sensor 926 may comprise a configured pressure sensor
[0139] [0139] The sensors of the end actuator 912, such as the first sensor 920, can be configured to measure the gap 922 between the anvil 914 and the claw member 916. In certain cases, the gap 922 can be representative of the thickness and / or compressibility of a section of tissue stuck between the anvil 914 and the claw member 916. The gap 922 may be representative of the force applied to the anvil 914 to compress the tissue. In one aspect, the gap 922 between the anvil 914 and the claw member 916 can be measured by placing a magnetic field sensor on the anvil 914 and positioning a magnet on the claw member 916, so that span 922 is proportional to the signal detected by the magnetic field sensor, and the signal is proportional to the distance between the magnet and the magnetic field sensor. It will be recognized that the location of the magnetic field sensor and the magnet can be changed so that the magnetic field sensor is positioned over the claw member 916 and the magnet is placed over the anvil 914.
[0140] [0140] The sensors of the end actuator 912, such as the first sensor 920, can be configured to measure one or more forces exerted on the anvil 914 by the closing drive system 30. For example, the first sensor 920 can be at a point of interaction between the closing tube 260 (Figure 3) and the anvil 914 to detect the closing forces applied
[0141] [0141] Figures 17 to 20 are seen in cross section of an anvil and a closing tube sensor arrangement with the anvil 914 in the open and closed positions in accordance with an aspect of the present disclosure. As discussed above, in relation to Figure 16, the surgical instrument can include a 6600 sensor or a sensor set that is configured to measure a force exerted on the anvil 914 by the closure system. In one aspect, the closing system comprises a closing tube 260. In this example, the sensor 6600 can be positioned at an interaction point between the proximal end 6500 of anvil 914 and the distal end 6502 of closing tube 260. When the closing tube 260 is moved distally to close anvil 914, the distal end 6502 of closing tube 260 contacts the proximal end 6500 of anvil 914, as shown in Figures 18 and 20. The sensor 6600 positioned at this point of interaction can therefore measure the absolute or relative degree of force exerted by and between the closing tube 260 and the anvil 914. The 6600 sensor can include strain gauges; hydraulic, pneumatic, piezoelectric and capacitive load cells; piezoelectric crystal force transducers; and any other type of device capable of detecting pressure or force exerted between the anvil 914 and the closing tube 260. The 6600 sensor can be operationally coupled to a processor and / or control circuit, as described in Figures 5 to 10 and 14 , for example, so that the 6600 sensor output is sampled or received by the processor and / or the control circuit for use through them. The 6600 sensor output can be supplied as a digital signal.
[0142] [0142] The sensor 6600 can be positioned at the distal end 6502 of the closing tube 260, as shown in Figures 17 and 18. The sensor 6600 can comprise one or more effort meters 6504. The effort meters 6504 can be configured to detect a longitudinal or axial mechanical effort experienced by the closing tube 260 as it comes into contact with the anvil 914. The 6504 strain gauges can be arranged on a Wheatstone bridge. In another aspect, the sensor 920 can be positioned at the proximal end 6500 of the anvil 914, as shown in Figures 19 and 20. In this aspect, the sensor 6600 can, for example, comprise a mobile element 6512 that is operationally coupled to a measuring cell. load 6514 which is configured to detect a degree of force from contact with the distal end 6502 of the closing tube 260. The above examples can be additionally applied interchangeably to both the proximal end of the 6500 anvil as to the distal end of the closing tube 6502. In still other aspects, the 6600 sensor may comprise one or more force sensing devices arranged both on the proximal end of the anvil 6500 and on the distal end of the closing tube 6502.
[0143] [0143] Figure 21 is a 6700 diagram of plotting expected closing pipe force versus actual closing pipe force, displacement limb force and motor speed over a gripping and firing operation. surgical instrument. In the following description of diagram 6700, reference is also made to Figures 17 to 20. Diagram 6700 includes a first graph 6702 of plotting the closing tube force 6710 over time 6708, a second graph 6704 of plotting the force of displacement member 6712 in relation to time 6708 and a third graph 6706 of plotting motor speed 6714 in relation to time 6708. The plot time of the geometric axis x 6708 for each of the first graph 6702, the second graph 6704 and the third graph 6706 is normalized and aligned so that it corresponds to a single gripping and firing operation performed by the surgical instrument. Each gripping and firing operation performed by the surgical instrument is delineated in three time periods between the initial time 6750 and the final time 6752: the closing time period t., The transition time period t: and the period trigger time tr.
[0144] [0144] In the first graph 6702, the expected closing tube force 6716 is plotted through each of the closing time period t., The transition time period t: t and the firing time period tr. The expected 6716 closing tube force is the force that is exerted or experienced by the closing tube 260 when the closing tube 260 keeps the end actuator closed. The expected closing tube force 6716 can be measured, for example, by a sensor 6600 configured to detect a force at a point of interaction between the closing tube 260 and the anvil 914, as described above. In the second graph
[0145] [0145] In several respects, the expected clamping tube force 6716, the expected displacement limb force 6720 and the expected motor speed 6724 have been modeled or experimentally determined for a given set of conditions, such as thickness of fabric, the type of operation performed (cutting, stapling or a combination of them) and the type of cartridge. The expected closing tube strength 6716, the expected displacement member force 6720 and the specific expected motor speed 6724 shown in Figures 21a 24 are illustrative, however. The expected closing tube force 6716, the expected displacement member force 6720 and the expected motor speed 6720 can be stored in the memory of the surgical instrument and ceased during its operation. The expected bore pipe force 6716, the expected displacement limb force 6720 and the expected motor speed 6720 can be stored as algorithms performed by the processor that performs runtime calculations, a series of different values in a lookup table, a formula for the best fit of a linear or non-linear curve based on the characterization data or any other of these formats.
[0146] [0146] The closing time period t. starts at start time 6750 when the operator starts using the surgical instrument by closing anvil 914, claw member 916 and / or staple cartridge 918 (Figure 16) to secure a tissue to the end actuator. The end actuator is closed by a closing system that receives input from the operator and exerts a closing force on the end actuator. In one aspect, the closing system comprises a closing tube 260 configured to exert a closing force on the end actuator as the closing tube 260 is moved distally. The expected closing tube force 6716 has an initial lift period 6754 as the closing tube 260 leans against the corresponding portion of the end actuator, causing the end actuator to close and secure or thread the tissue. After the initial lift phase 6754, the expected closing tube force 6716 then has a decline phase 6756 as the trapped tissue relaxes. When the trapped tissue relaxes, it is necessary that the closing tube 260 exerts less force to keep the trapped tissue by the end actuator. The relaxation response of the trapped tissue may be due, for example, to fluid leaving the trapped area and / or a mechanical response of the trapped tissue. The decline phase 6756 of the expected tube closing force 6716 approaches asymptotically a steady state value CTF: over the closing time period t. until displacement member 1111 begins to advance.
[0147] [0147] When displacement member 1111 starts to advance, that is, it is triggered, there is a transition time period t: in the expected closing tube strength 6716 as the end actuator transitions from the closed state only by the closing tube 260 to the closed state by a combination of the closing tube 260 with the rod with profile in | 178 (Figure 4). As described in more detail above, as the displacement member 1111 advances distally, the stem portions with | 178 engage the staple cartridge 304 and / or the anvil 306,
[0148] [0148] When the transition time period t. has finished, the expected clamping tube force 6716 gradually decreases 6760 during the firing time period t «when the profile rod | 178 advances through the end actuator to staple and / or cut the trapped tissue. On the other hand, the expected linear displacement force 6720 has a decline phase with a generally sinusoidal shape 6764 through the tripping time period tr. In one respect, each peak during the 6764 sinusoidal decline phase corresponds, for example, to the firing of a staple in the tissue held by the stem with a | 178. In each clamp, the force experienced or exerted by the displacement member 1111 decreases for a period of time, before rising again before the subsequent clamp is fired. In addition, the expected global displacement limb force 6720 gradually decreases over the sinusoidal decline phase 6764, as the amount of force required to advance the stem with profile in | 178 through the fabric decreases as the fabric is attached and / or stapled. The cutting and / or stapling operation of the trapped tissue is completed at the end of time 6752.
[0149] [0149] The force experienced by the closing tube 260 and the force experienced by the displacement member 1111 are inversely related to each other during the transition time period t, since the greater the force experienced by the displacement member , the slower it will advance through the trapped tissue. The slower the advancement of the 1111 displacement member, the smaller the control take of the rod with profile in | 178 on the closed state maintenance of the end actuator in relation to the closing tube 260. The smaller the control of the stem with profile in | 178 in relation to the closing tube 260, more force will be experienced by the closing tube 260. Therefore, monitoring the actual closing tube force 6718 can be used effectively as a substitute to indirectly monitor the limb function. displacement 1111, which is characterized by the force that it experiences as it progresses, that is, the actual displacement limb force 6722. In one aspect, if the actual closed-pipe force 6718 is greater than the pipe force expected closing force 6716, then the actual displacement limb force 6722 is less than the expected displacement limb force 6720. When the actual displacement limb force 6722 is low, then the load experienced by displacement limb 1111 , that is, the tissue resistance experienced by the stem with a profile in | 178, may be correspondingly less than expected. When the rod with profile in | 178 encounters low fabric resistance, so the motor speed can be increased in order to advance the shaft with | 178 more quickly. It may be desirable to increase the speed of the rod with profile | 178 when low tissue resistance is found in order to decrease the amount of time taken by the cutting and / or stapling operation by the surgical instrument. Consequently, if the actual closing tube force 6718 is less than the expected closing tube force 6716, then the actual displacement limb force 6722 is greater than the expected displacement limb force 6720. When the limb force actual displacement 6722 is high, then, the load experienced by the displacement member 1111, that is, the tissue resistance experienced by the rod with profile in | 178, can be correspondingly larger than expected. When the rod with profile in | 178 encounters high resistance of the fabric, so the motor speed can decrease in order to advance the rod with profile in | 178 more slowly. The decrease in the speed of the rod with profile in | 178 may be desirable when high fabric strengths are encountered to avoid overloading the motor and to prevent malformation of the clamps caused by the clamps that are not sufficiently driven through the fabric.
[0150] [0150] Figure 22 is a detailed view of the transition period tt of the first graphic 6702 illustrated in Figure 21 according to an aspect of the present disclosure. Ideally, the closing tube force behaves in a known manner that is illustrated in one aspect by the expected 6716 closing tube force; however, when the surgical instrument is used in practice, the actual performance of the surgical instrument will vary due to deviations from expected tissue conditions, environmental factors and other variables. Since the force of the actual closing tube 6718 is detectable and the inverse relationship between the force of the closing tube and the force of the displacement member is known, the surgical instrument can, in some respects, be configured to adjust the motor that drives the displacement member 1111 to compensate for the variable or unexpected load encountered thus when deviations in the force of the actual closing tube 6718 from the expected closing tube force 6716 are detected. Since the expected 6716 closing tube strength may represent the preferred operating state for the surgical instrument, it may therefore be desirable to adjust the actual 6718 closing tube strength to match the expected 6716 closing tube strength along a gripping and firing operation performed by the surgical instrument.
[0151] [0151] It should be noted that Figures 21 to 24 merely represent examples for the actual closing tube force 6718 and the actual displacement limb force 6722 to illustrate the principles of various aspects of the surgical instrument. The force of the actual closing tube 6718 and the force of the displacement limb 6722 will vary with each use of the surgical instrument according to varying tissue conditions, varying environmental conditions, the types of operations performed by the surgical instrument, and so on. onwards.
[0152] [0152] In one aspect, the transition time period t: is divided into a series of distinct time intervals to, t1, .. tn. At each time interval, the control circuit samples the actual closing tube force 6718, calculates or retrieves the expected closing tube force 6716 for a given time interval, and then compares the closing tube force actual 6718 to the expected closing tube force 6716. If the actual closing tube force 6718 is within a limit of the expected closing tube force 6716, then no action is taken by the surgical instrument. No action was taken by the surgical instrument because,
[0153] [0153] Referring again to Figure 21, the third graphic 6706 shows several examples of the behavior of the engine speed that drives the rod with profile in | 178 during the firing time period t; which reflects the relationship between the actual closing tube force 6718 and the actual displacement limb force 6722. After the initial tilt phase 6766, as the | 178 is triggered during the transition time period tr, the motor speed will correspond to the possibility that the actual closing pipe force 6718 is above, within or below an expected closing pipe force limit 6716. If the rod with profile in | 178 encounters less than expected resistance, that is, the displacement limb force is less than expected and the closing pipe force is greater than expected, so the motor speed will rapidly increase 6772 to a speed maximum V: to translate the stem with profile in | 178 at the fastest possible speed. If the rod with profile in | 178 find the expected resistance, that is, the displacement limb and pipe tube forces
[0154] [0154] Figure 25 is a logic flow diagram of a 6800 process representing a control program or a logical configuration for controlling the speed of the displacement member according to the closing tube force according to an aspect of the present revelation. In the following description of process 6800, reference is also made to Figures 14 and 17 to 20. Consequently, process 6800 first initiates a 6802 firing stroke for displacement member 2520, which causes displacement member 2520 advance distally to end actuator 2502. Before the firing stroke is started 6802, the tissue has already been trapped by end actuator 2502 due to the action of closing tube 260.
[0155] [0155] After the firing stroke is started 6802, in one aspect, the control circuit 2510 determines 6804 the actual closing force CF, applied by the closing drive system at a time t. aspects, the actual closing force CFa can be directly detected by a sensor configured to detect a force or tension exerted or experienced by the closing tube 260 against the anvil 834 or the staple cartridge 2518 at an interaction point. In other respects, the strength of the
[0156] [0156] Process 6800, as performed by control circuit 2510, then determines 6806 the expected closing tube force CFo corresponding to the specific time t .. In one aspect, control circuit 2510 determines 6806 a expected closing tube force CFe by retrieving the value of the expected closing tube force CFe corresponding to time t, from a query table stored, for example, in a memory of the surgical instrument. In other respects, the control circuit 2510 determines 6806 the expected closing tube force CFe by calculating the value of the expected closing tube force CFe according to an algorithm performed by the control circuit 2510.
[0157] [0157] Process 6800, as executed by control circuit 2510, next determines 6808 the possibility of the actual closing force CF. it is within a limit of the expected closed pipe force CFe. In one aspect, the control circuit 2510 determines 6808 the possibility that the actual closing force CF, is within the limit of the expected closing pipe force CFe by directly comparing the two values to determine the possibility of that are within a boundary with each other. In another aspect, the control circuit uses a derivative of a curve of better adjustment of the expected closing tube force 6716 and of the actual closing tube force 6718 during a time interval from a previous time t .: until the current time t, to determine whether the rate of change of the actual closing pipe force 6718 is within a limit of the expected closing pipe force 6716. In another aspect,
[0158] [0158] For example, Figure 23 represents a time interval in which the actual closing tube force 6718 exceeds the expected closing tube force 6716. As shown in Figure 23, at time ti, control circuit 2510 determines the value of the actual closing tube force 6902 and the value of the expected closing tube force 6900 which corresponds to time t1. The control circuit 2510 then calculates a first difference 312 between the value of the actual closing tube force 6902 and the value of the expected closing tube force 6904 from the previous time to and a second difference õ1e between the value of the force of expected closing tube 6900 and the value of expected closing tube force 6904 from the previous time. The control circuit then compares the differences d1a, d1e at time t, to determine whether the first difference d1a is within a limit + x of the second difference 31e. Since the first difference ô1a is greater than the second difference d1e + x (that is, the actual closing tube strength value 6902 is above the tolerance limit of the expected closing tube force value 6900 at time t1 :), then, the actual displacement limb force 6722 is less than the expected displacement limb force 6720 and the control circuit 2510 of the surgical instrument can compensate by increasing the speed at which the profile rod in | 2514 transfer.
[0159] [0159] As another example, Figure 24 represents a time interval in which the actual closing tube force 6718 is less than the expected closing tube force 6716. As shown in Figure 24, at time t3 the control circuit 2510 determines the actual closing pipe force value 6908 and the expected closing pipe force value 6906 that corresponds to time t3. The control circuit 2510 then calculates a first difference 53a between the actual closing tube force value 6908 and the expected closing tube force value 6910 from the previous time tz and a second difference õ3e between the force value of expected closing tube 6906 and the value of the expected closing tube force 6910 from the previous time t2. The control circuit then compares the differences 3a, d3e at time t3 to determine whether the first difference õ32 is within a limit + x of the second difference 3e. Since the first difference 3a Is Less than the second difference d3e - x, the actual displacement limb force 6722 is greater than the expected displacement limb force 6720 and the 2510 control circuit of the surgical instrument can compensate decreasing the speed at which the displacement member 1111 travels.
[0160] [0160] If the actual closing tube force CF is outside the tolerance range of the expected closing tube force CFe, the 6800 process proceeds along the NO branch and the 2510 control circuit adjusts 6810 the speed of the displacement, such as, for example, the rod with profile | 2514. In the example where the displacement member is the | 2514, the speed at which the rod with profile | 2514 transfer is adjusted according to the possibility of the actual closing tube force CF. be above or below the limit range of the expected closing tube force CFe. If the actual closing pipe force CF is above the limit range of the expected closing pipe force CFe, as shown in Figure 23, control circuit 2510 generates a motor setpoint signal 2522 that is provided to the motor controller 2508 to start the motor 2504 at a speed that is greater than the current speed at which the 2504 motor is set. On the other hand, if the actual closing tube force CF is below the limit range of the expected closing tube force CFe, as shown in Figure 24, the 2510 control circuit generates a motor setting 2522 which is provided to motor controller 2508 to drive motor 2504 at a speed that is less than the current speed at which motor 2504 is set. In one aspect, the setting applied to the 2504 engine can be a fixed value. In another respect, the adjustment applied to the 2504 engine can be proportional to the degree to which the actual closing tube force CF. is above or below the limit range of the expected closing tube force CFe. In yet another aspect, the adjustment applied to the 2504 motor can be calculated by the control circuit 2510 according to a linear or non-linear function.
[0161] [0161] If the actual closing pipe force CF is within the tolerance range of the expected closing pipe force CFe, process 6800 continues along the YES branch and control circuit 2510 then determines 4084 the possibility of the stem travel with profile in | 2514 be completed. Alternatively, after the speed of the rod with profile | 2514 is set to 6810, the control circuit 2510 then determines, in a similar way, 6812 the possibility of the stem travel with profile in | 2514 be completed. If the firing stroke is completed, process 6800 proceeds along the branch YES and 6800 is completed 6814. If the firing course is not completed, process 6800 proceeds along the branch NO and a 6804 determination circuit continues of the actual closing tube force CFa, determination 6806 of the expected closing tube force CFe, determination 6808 of the possibility that they are within a limit between them, and of the 6810 adjustment to the speed of the rod with profile in | 2514 accordingly for each subsequent time interval tx + 1, bx + 2, .. b + n. In other words, the 6800 process continues to monitor the strength of the closing tube and to adjust the speed of the stem with profile in | 2514 accordingly until the cutting and / or stapling operation is completed.
[0162] [0162] The function or process 6800 described here can be performed by any of the processing circuits described here, such as control circuit 700 described in Figures 5 and 6, circuits 800, 810, 820 described in Figures 7 to 9, the microcontroller 1104 described together with Figures 10 and 12, and / or the control circuit 2510 described in Figure 14.
[0163] [0163] The aspects of the motorized surgical instrument can be practiced without the specific details revealed in the present invention. Some aspects were shown as block diagrams instead of details. Parts of this disclosure can be presented in terms of instructions that operate on data stored in a computer's memory. An algorithm refers to the self-consistent sequence of steps that lead to the desired result, in which a "step" refers to the manipulation of physical quantities that can take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared and manipulated in any other way. These signs can be called bits, values, elements, symbols, characters, terms, numbers. These terms and similar terms can be associated with the appropriate physical quantities and are merely convenient identifications applied to these quantities.
[0164] [0164] In general, the aspects described here, which can be implemented, individually and / or collectively, by a wide range of
[0165] [0165] The previously mentioned description presented aspects of the devices and / or processes through the use of block diagrams, flowcharts, and / or examples, which may contain one or more functions and / or operation. Each function and / or operation within such block diagrams, flowcharts or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware or virtually any combination of them. In one aspect, several portions of the subject described here can be implemented by means of specific application integrated circuits (ASICs), field programmable port arrangements (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates, or other integrated formats. Some aspects revealed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs operating on one or more computers). computer systems), as one or more programs operating on one or more processors (for example, as one or more programs operating on one or more microprocessors), as firmware, or virtually as any combination thereof, and to design the circuitry and / or writing the code for the software and firmware would be within the scope of practice of a person skilled in the art in the light of this disclosure.
[0166] [0166] The mechanisms of the revealed subject can be distributed as a program product in a variety of ways, and an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission media used for effectively perform the distribution. Examples of a signal transmission medium include, but are not limited to, the following: recordable type media such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a tape digital, computer memory, etc .; and transmission-type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a wired communication link, a wireless communication link (for example example, transmitter, receiver, transmission logic, reception logic, etc.).
[0167] [0167] The previously mentioned description of one or more aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described with the purpose of illustrating the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with several modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[0168] [0168] Various aspects of the matter described in this document are defined in the following numbered examples: Example 1. A surgical instrument comprises: a member of movable displacement between a first position and a second position to effect a movement in an end actuator ; a motor coupled to the displacement member, the motor being configured to drive the displacement member between the first position and the second position; and a control circuit coupled to the motor, the control circuit being configured to: receive a signal indicating the force coming from a sensor, the signal being indicative of the force applied by a closing tube to the actuator edge; determine a closing force applied by the closing tube to the end actuator; determine the possibility that the closing force is within the limit of an expected closing force; and defining a motor speed to drive the motor at a speed that corresponds to the closing force in relation to the expected force.
Example 2. Surgical instrument, according to Example 1, which additionally comprises a sensor coupled to the control circuit, the sensor being configured to detect a force exerted at a point of interaction between the end actuator and the tube closing.
Example 3. Surgical instrument, according to Example 2, the closing force comprising the force exerted at the point of interaction between the end actuator and the closing tube.
Example 4. Surgical instrument, according to Example 1 to Example 3, the control circuit being configured to recover the expected closing force of a memory.
Example 5. Surgical instrument, according to Example 1 to Example 4, the control circuit is configured to compare a value of the closing force to a value of the expected closing force and to determine the possibility of a closing force is within a limit of the expected closing force based on the results of the comparison.
Example 6. Surgical instrument, according to Example 1 to Example 5, where the control circuit is configured to compare a first difference between the closing force and a previous expected closing force and a second difference between the expected closing force and the previous expected closing force and to determine the possibility that the closing force is within a limit of the expected closing force based on the results of the comparison.
Example 7. Surgical instrument, according to Example 1 to Example 6, which further comprises: an end actuator; and a closing tube coupled to the end actuator, the closing tube being configured to apply a closing force to the end actuator.
Example 8. Surgical instrument comprising: a closing system configured to apply a closing force to an end actuator to transition the end actuator between an open position and a closed position; a displacement member coupled to the closure system, the displacement member being movable between a first position and a second position to effect a movement on the end actuator; a motor coupled to the displacement member, the motor being configured to drive the displacement member between the first position and the second position; and a control circuit coupled to the motor, the control circuit being configured to: determine the closing force exerted by the closing system; recover an expected closing force; determine the possibility that the closing force is within a tolerance of the expected closing force; and adjusting the motor to drive the displacement member at a speed, the speed corresponding to the closing force in relation to the expected closing force.
Example 9. Surgical instrument, according to Example 8, which additionally comprises a sensor coupled to the control circuit, the sensor being configured to detect the closing force.
Example 10. Surgical instrument, according to Example 9, the sensor being arranged at an interaction point between the closing system and the end actuator.
Example 11. Surgical instrument, according to Example 8 through Example 10, the control circuit being configured to recover the expected closing force of a memory.
Example 12. Surgical instrument, according to Example 8 through Example 11, the control circuit being configured to compare a value of the closing force to a value of the expected closing force and to determine the possibility of a closing force is within an expected closing force limit based on the comparison.
Example 13. Surgical instrument, according to Example 8 through Example 12, the control circuit being configured to compare a first difference between the closing force and a previous expected closing force and a second difference between the expected closing force and the previous expected closing force and to determine the possibility that the closing force is within a limit of the expected closing force based on the results of the comparison.
Example 14. Surgical instrument, according to Example 8 to Example 13, which further comprises: an end actuator; and a closing tube coupled to the end actuator, the closing tube being configured to apply a closing force to the end actuator.
Example 15. Method of controlling an engine in a surgical instrument, the surgical instrument comprising a closing system configured to apply a closing force to an end actuator to transition the end actuator between a open position and a closed position, with a displacement member being coupled to the closing system, the displacement member is movable between a first position and a second position to effect a movement in the end actuator, a motor is coupled to the displacement member, the motor being configured to drive the displacement member between the first position and the second position; and a control circuit coupled to the motor, the method comprising: determining the closing force exerted by the closing system; recover an expected closing force; determine the possibility that the closing force is within a tolerance of the expected closing force; and defining a motor speed to start the motor, the motor speed corresponding to the closing force in relation to the expected closing force.
Example 16. Method, according to Example 15, which additionally comprises the recovery, through the control circuit, of the expected closing force of the memory.
Example 17. Method, according to Example 15, which further comprises the detection, by means of a sensor coupled to the control circuit, of a force exerted by the closing system at a point of interaction with the end actuator.
Example 18. Method, according to Example 17, which further comprises the determination, by means of the control circuit, of the closing force exerted by the closing system.
Example 19. Method according to Example 15, which further comprises comparing, through the control circuit, a value of the closing force to a value of the expected closing force and determining, using the control circuit - trolley, the possibility that the closing force is within a limit of the expected closing force based on the results of the comparison.
Example 20. Method according to Example 15 to Example 19, which further comprises comparing, by means of the control circuit, of a first difference between the closing force and a previous expected closing force and a second - the difference between the expected closing force and the previous expected closing force and the determination, through the control circuit, of the possibility that the closing force is within a limit of the expected closing force based on the results comparison.

权利要求:
Claims (20)
[1]
1. Surgical instrument characterized by comprising: a movable displacement member between a first position and a second position to effect a movement in an end actuator; a motor coupled to the displacement member, the motor being configured to drive the displacement member between the first position and the second position; and a control circuit coupled to the motor, and the control circuit is configured to: receive a signal indicating the force coming from a sensor, the signal being indicative of the force applied by a closing tube to the actuator edge; determining a closing force applied by the closing tube to the end actuator; determine the possibility that the closing force is within the limit of an expected closing force; and defining a motor speed to drive the motor at a speed that corresponds to the closing force in relation to the expected force.
[2]
2. Surgical instrument, according to claim 1, characterized by additionally comprising a sensor coupled to the control circuit, the sensor being configured to detect a force exerted at an interaction point between the end actuator and the tube closing.
[3]
3. Surgical instrument, according to claim 2, characterized in that the closing force comprises the force exerted at the point of interaction between the end actuator and the closing tube.
[4]
4. Surgical instrument, according to claim 1,
characterized in that the control circuit is configured to recover the expected closing force of a memory.
[5]
5. Surgical instrument, according to claim 1, characterized in that the control circuit is configured to compare a value of the closing force to a value of the expected closing force and to determine the possibility of the closing force being within a limit of the expected closing force based on the results of the comparison.
[6]
6. Surgical instrument, according to claim 1, characterized in that the control circuit is configured to compare a first difference between the closing force and a previous expected closing force and a second difference between the expected closing force and the force previous expected closing force and to determine the possibility that the closing force is within a limit of the expected closing force based on the results of the comparison.
[7]
7. Surgical instrument according to claim 1, characterized in that it further comprises: an end actuator; and a closing tube coupled to the end actuator, the closing tube being configured to apply a closing force to the end actuator.
[8]
8. Surgical instrument, characterized by comprising: a closing system configured to apply a closing force to an end actuator to make the transition of the end actuator between an open position and a closed position; a displacement member coupled to the closing system, the displacement member being movable between a first position and a second position to effect movement in the end actuator; a motor coupled to the displacement member, the motor being configured to drive the displacement member between the first position and the second position; and a control circuit coupled to the motor, and the control circuit is configured to: determine the closing force exerted by the closing system; recover an expected closing force; determine the possibility that the closing force is within a tolerance of the expected closing force; and adjust the motor to drive the displacement member at a speed, the speed corresponding to the closing force in relation to the expected closing force.
[9]
9. Surgical instrument, according to claim 8, characterized by additionally comprising a sensor coupled to the control circuit, the sensor being configured to detect the closing force.
[10]
10. Surgical instrument, according to claim 9, characterized in that the sensor is arranged at a point of interaction between the closing system and the end actuator.
[11]
11. Surgical instrument, according to claim 8, characterized in that the control circuit is configured to recover the expected closing force of a memory.
[12]
12. Surgical instrument according to claim 8, characterized in that the control circuit is configured to compare a value of the closing force to a value of the expected closing force and to determine the possibility that the closing force is within a expected closing force limit based on the comparison.
[13]
13. Surgical instrument, according to claim 8,
characterized in that the control circuit is configured to compare a first difference between the closing force and a previous expected closing force and a second difference between the expected closing force and the previous expected closing force and to determine the possibility of the force the closing force is within a limit of the expected closing force based on the results of the comparison.
[14]
Surgical instrument according to claim 8, characterized in that it further comprises: an end actuator; and a closing tube coupled to the end actuator, the closing tube being configured to apply a closing force to the end actuator.
[15]
15. Method of controlling an engine in a surgical instrument, the surgical instrument comprising a closing system configured to apply a closing force to an end actuator to transition the end actuator between a position open and a closed position, with a displacement member being coupled to the closing system, the displacement member is movable between a first position and a second position to effect movement in the end actuator, a motor is coupled to the displacement member , the motor being configured to drive the displacement member between the first position and the second position; and a control circuit is coupled to the motor, the method being characterized by understanding: determining the closing force exerted by the closing system; recover an expected closing force; determine the possibility that the closing force is within a tolerance of the expected closing force; and adjusting a motor speed to drive the motor, the motor speed corresponding to the closing force in relation to the expected closing force.
[16]
16. Method, according to claim 15, characterized by additionally understanding the recovery, through the control circuit, of the expected closing force of the memory.
[17]
17. Method according to claim 15, characterized in that it further comprises the detection, by means of a sensor coupled to the control circuit, of a force exerted by the closing system at a point of interaction with the end actuator.
[18]
18. Method, according to claim 17, characterized in that it further comprises the determination, by means of the control circuit, of the closing force exerted by the closing system.
[19]
19. Method, according to claim 15, characterized by comprising additionally the comparison, through the control circuit, a value of the closing force to a value of the expected closing force and the determination, through the control circuit, the possibility that the closing force is within a limit of the expected closing force based on the results of the comparison.
[20]
20. Method, according to claim 15, characterized by further comprising the comparison, through the control circuit, of a first difference between the closing force and a previous expected closing force and a second difference between the expected closing force and the expected expected closing force and the determination, through the control circuit, of the possibility that the closing force is within a limit of the expected closing force based on the results of the comparison .
706 ”P
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FEEL R 'Y l BR | - | Pao À | - | - Â | ”| set P 1 - »| s8s ";,: the 8th i | q | rr. x In itself ê 1 | | 9á 8 Ia =: | j: E rs: | | | Be 5 ss | ss il is H; e | sé“ s 2º mM | 3 FA 8a |! êê À: À 8º Ha:! ss! DE: À | é | 5º = 2 1! = S8s 7 R! = e! 285: | 7 | se! - & |: the ER It's the! | | | | | [: <LL, -:
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INSTRUCTION PROCESSING UNIT | 806
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ARITHMETIC UNIT MEMORY 808 DATA 804 OO 810 LOGIC "
COMBINATION - 812 = O 820
LOGIC INPUT OUTPUT and OE 826 822 828
MEMORY 824 | WATCH i 829 FIG 9 co N F - O lo os Sis ss SN No 22 q E s | | 83 - OE Ig + o = E) O 3 s = 7 | 4 õ = oO Õ uu uu = 3 Es + mm oO o uu o ZzO N wo. o the Zz DD. <PB o É x e 8 T— m <j s BEASTS 3 O == == 8 28 Í! SN TE uu Ace Fe O Oo ”EK o X o o | Ss! = a + o OS 2 A s 8 L = - is ES) a oo Da =. ÕO. $ õ on “ôóôbs Nu g2g = = 2nd WZ or uu 3% | & Es | if the gu <NX Óo so = Z Er 2 oO o Oo = Z ui = 8 SD and E 8
W O = “. o “Bm Hu 28 / oo a2
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6802 ”
START SHOOTING COURSE 6804
DETERMINE REAL CF CLOSING PIPE FORCE, AT TIME T, 6806
DETERMINING THE EXPECTED CLOSING TUBE FORCE CF, T, 6810 6808 ADJUSTING Non - CF WITHIN
SPEED A LIMIT OF THE MEMBER OF EC DISPLACEMENT IN 5 COMPLIANCE; Yes 6812 COURSE OF; NOT COMPLETE SHOOTING Yes 6814

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同族专利:

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公开号 | 公开日

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EP3417810A1|2018-12-26|

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EP3417810B1|2021-01-20|

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US10646220B2|2020-05-12|

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US20180360450A1|2018-12-20|

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JP2020524044A|2020-08-13|

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WO2018234901A1|2018-12-27|

---

CN110769758A|2020-02-07|

---

EP3824820A1|2021-05-26|

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US11224497B2|2019-06-28|2022-01-18|Cilag Gmbh International|Surgical systems with multiple RFID tags|

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US11241235B2|2019-06-28|2022-02-08|Cilag Gmbh International|Method of using multiple RFID chips with a surgical assembly|

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US11051807B2|2019-06-28|2021-07-06|Cilag Gmbh International|Packaging assembly including a particulate trap|

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CN111820965B|2020-07-23|2021-06-04|南通市第一人民医院|Liver poking equipment for laparoscopic gastrointestinal surgery and using method thereof|

法律状态:
2021-11-03| B350| Update of information on the portal [chapter 15.35 patent gazette]|

优先权:

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申请号 | 申请日 | 专利标题

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US15/628,162|US10646220B2|2017-06-20|2017-06-20|Systems and methods for controlling displacement member velocity for a surgical instrument|

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US15/628,162|2017-06-20|

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PCT/IB2018/053579|WO2018234901A1|2017-06-20|2018-05-21|Systems for controlling displacement member velocity for a surgical instrument|

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