closed-loop feedback control of a motor speed of a surgical cutting and stapling instrument based on

专利摘要:
The present invention relates to a motorized surgical instrument. The surgical instrument includes a displacement member. A motor is coupled to the displacement member and to a control circuit. A position sensor is coupled to the control circuit and a timer circuit to measure elapsed time. The control circuit is configured to determine a position of the displacement member, determine an error between the directed and actual speed and adjust the directed speed based on the error compared to one or more limits. The control circuit is also configured to adjust the rate of change of the directed speed based on one or more limits. The control circuit is also configured to determine a zone in which the displacement member is located and to define the directed speed based on the zone in which the displacement member is located.
公开号:BR112019026373A2
申请号:R112019026373-0
申请日:2018-05-16
公开日:2020-07-21
发明作者:Raymond E. Parfett；Shane R. Adams；Frederick E. Shelton Iv；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
[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 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 speed of the cutting member during a firing stroke to take into account 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 articulate the end actuator at a constant articulation 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 scan range of the end actuator.
[0003] [0003] When using a motorized surgical cutting and stapling instrument, it is possible for a speed-controlled system error to occur between the command speed and the actual measured speed of the cutting member or the firing member. Therefore, it may be desirable to provide a closed loop feedback system that adjusts the speed of the cutting member or the trigger member based on the magnitude of one or more error terms determined based on the difference between an actual speed and a control speed over a specified time / distance increment. SUMMARY
[0004] [0004] In one aspect, the present disclosure provides a surgical instrument. The surgical instrument comprises a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, in which the position sensor is configured to measure the position of the displacement member; a timer circuit coupled to the control circuit, where the timer / counter circuit is configured to measure a elapsed time; wherein the control circuit is configured to: determine a position of the displacement member; determining an area in which the displacement member is located; define a directed velocity of the displacement member based on the zone in which the displacement member is located.
[0005] [0005] In another aspect, the surgical comprises a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member to transport the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, where the position sensor is configured to measure the position of the displacement member; a timer circuit coupled to the control circuit, where the timer / counter circuit is configured to measure an elapsed time; wherein the control circuit is configured to: define a directed velocity of the displacement member; determining a position of the displacement member; determining a real speed of the displacement member; comparing a directed velocity of the displacement member to an actual velocity of the displacement member; determining an error between the displacement member and the actual speed of the displacement member; adjust the directed speed of the displacement member based on the error.
[0006] [0006] In another aspect, the surgical instrument comprises a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member to move the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, where the position sensor is configured to measure the position of the displacement member; a timer circuit coupled to the control circuit, in which the timer / counter circuit is configured to measure an elapsed time; wherein the control circuit is configured to: define a directed velocity of the displacement member; determining a position of the displacement member; determining a real speed of the displacement member; compare a directed velocity of the displacement member to an actual velocity of the displacement member; determining an error between the displacement member and the actual velocity of the displacement member; adjust the directed speed of the displacement member to a rate of change based on the error. 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 an 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 to 5B is a block diagram of a control circuit for the surgical instrument of 1 that covers 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 handle assembly, the supply assembly and the handle assembly and the drive shaft assembly. interchangeable according to one aspect of this 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, in which the absolute positioning system comprises a motor controlled drive circuit arrangement comprising a sensor arrangement, in accordance with with one aspect of this 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 this disclosure.
[0019] [0019] Figure 12 is a diagram of a position sensor comprising an absolute magnetic rotary 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 disclosure.
[0021] [0021] Figure 14 illustrates a block diagram of a surgical instrument programmed to control the distal translation of a displacement member, in accordance with an 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 is a graph representing a velocity (v) of a displacement member as a function of displacement (5) of the displacement member according to an aspect of the present disclosure.
[0024] [0024] Figure 17 is a graph representing a velocity (v) of a displacement member as a function of displacement (5) of the displacement member according to an aspect of the present disclosure.
[0025] [0025] Figure 18 is a graph of velocity (v) of a displacement member as a function of displacement (5) of the displacement member that represents a condition for changing the speed limit directed according to an aspect of this di - vulgation.
[0026] [0026] Figure 19 is a graph that illustrates the conditions for changing the displaced limb 8506 speed according to one aspect of the present disclosure.
[0027] [0027] Figure 20 is a logic flow diagram of a process representing a control program or logic configuration to control a speed of a displacement member based on the error measured between the directed speed of a member. displacement curve and the actual speed of the displacement member according to one aspect of the present disclosure.
[0028] [0028] Figure 21 is a logic flow diagram of a process representing a control program or logic configuration to control a speed of a displacement member based on the error measured between the directed speed of a member. displacement curve and the actual speed of the displacement member according to one aspect of the present disclosure.
[0029] [0029] Figure 22 is a logic flow diagram of a process that represents a logic configuration control program for controlling a speed of a travel member based on the error measured between the directed speed of a travel member and the actual speed of the displacement member according to one aspect of the present disclosure. DESCRIPTION
[0030] [0030] 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: Document number of the attorney END8191USNP / 170054, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL STA- PLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION, by the inventors Frederick E. Shelton, IV et al /., Deposited on June 20, 2017.
[0031] [0031] The applicant for the present application holds the following design patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities: 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.
[0032] [0032] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the devices and methods disclosed. 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.
[0033] [0033] The terms "proximal" and "distal" are with reference to a doctor who handles the handle of the surgical instrument, in which term
[0034] [0034] 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.
[0035] [0035] Figure 1 to 4 illustrates a surgical instrument powered by motor 10 for cutting and fixing that may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 comprising a handle assembly 14 that is configured to be picked up, handled and acted on by the physician. Compartment 12 is configured for operational fixation to an interchangeable drive shaft assembly 200 that has an end actuator 300 operationally coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in connection with robotically controlled surgical systems. The term
[0036] [0036] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operationally coupled to it, according to an aspect of this disclosure. Housing 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a surgical staple cartridge 304 in it. Enclosure 12 can be configured for use in connection with interchangeable drive shaft assemblies that include end actuators that are adapted to support different sizes and types of clamp cartridges, and that have different lengths, drive shaft sizes and types. Enclosure 12 can be used effectively with a variety of interchangeable drive shaft assemblies including assemblies configured to apply other motions and forms of energy such as radio energy.
[0037] [0037] The handle assembly 14 can comprise a pair of interconnectable segments of cable compartment 16 and 18 interconnected by screws, push-in 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 handle 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 under a cover 45.
[0038] [0038] 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 handle 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 a actuator as a closing trigger 32 pivotally supported by the structure 20. The closing trigger 32 is coupled pivotally to the handle assembly 14 by a pivot pin 33 to allow the closing trigger 32 to be manipulated by a physician. When the physician holds the pistol grip portion 19 of the grip assembly 14, the closing trigger 32 can pivot from an initial or "not acted" position to an "acted" position and, more particularly, to a completely compressed or completely actuated.
[0039] [0039] The grip handle 14 and the frame 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 use an electric motor 82 located in the pistol grip portion 19 of the handle assembly 14. Electric motor 82 can be a direct current (DC) motor with brushes having a maximum rotation 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. Electric motor 82 can be powered by a power supply 90 which can comprise a removable power source
[0040] [0040] 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 on 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.
[0041] [0041] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 in a clockwise direction where the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 at anticlockwise. 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 handle 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 handle assembly 14 can include a sensor configured to detect the position of the longitudinally movable drive member 120 and / or the direction in which the longitudinally movable drive member 120 is being moved
[0042] [0042] The activation of the electric motor 82 can be controlled by a trigger trigger 130 that is pivotally supported on the handle assembly 14. The trigger trigger 130 can be pivoted between an unacted position and an acted position .
[0043] [0043] 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
[0044] [0044] 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.
[0045] [0045] Figure 3 is another view of the exploded set 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. The firing member 220 may be called a "second drive shaft" or a "second drive shaft assembly". 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 the relative movement between them and may comprise a sliding joint 286. The sliding joint 286 may allow the intermediate firing drive shaft 222 of the firing member 220 to pivot the end actuator 300 around the pivot joint 270 without moving, or at least without substantially moving, the cutting bar 280. When the end actuator 300 has been properly oriented, the intermediate firing drive shaft 222 can be advanced distally to a side wall proximal to the slot longitudinal 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
[0046] [0046] 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 the firing member 220, where the locking sleeve 402 can be rotated between an engaged position, where the locking sleeve 402 couples the pivoting actuator 230 to the firing member 220, and a disengaged position. 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 distally 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 operationally engage and disengage the articulation drive system with the trigger actuation system in the various ways described in US patent application publication No. 2014/0263541.
[0047] [0047] 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, where each contact corresponds and is in electrical contact with one of the conductors 602. This arrangement allows the rotation relative relationship between the proximal connector flange 604 and the 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 may found in US patent application publication No. 2014/0263541.
[0048] [0048] The interchangeable drive shaft assembly 200 may include a proximal portion mounted securely to the handle 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 rotary drive shaft portion distal.
[0049] [0049] 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 "L" 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.
[0050] [0050] The rod with profile in | 178 may include upper pins 180 that engage anvil 306 during firing. The rod with profile in | 178 may include intermediate pins 184 and a bottom foot 186 to engage portions of the cartridge body 194, the cartridge tray 196 and the elongated groove 302. When a surgical staple cartridge 304 is positioned inside the alon groove - 302, a slot 193 defined in the cartridge body 194 can be aligned with a longitudinal slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 302. In use, the rod with profile in | 178 can slide through the long slits
[0051] [0051] 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 the present 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 used by the trigger 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 714 engine can be powered by the supply set
[0052] [0052] The drive shaft assembly 704 can 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 assembly wires and a second interface portion 727 that can include one or more connectors for coupling coupling with the corresponding power set wires to enable electrical communication between the controller of the drive. drive shaft assembly 722 and power management controller 716 while drive shaft assembly 704 and power supply 706 are coupled to cable assembly 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the interchangeable drive shaft assembly 704 to the power management controller 716. In response, the power management controller can modulate the battery power output of the power supply 706, as described in more detail below, according to the power requirements of the fixed drive shaft assembly 704. The connectors may comprise switches that can be activated after mechanically coupling the cable assembly 702 to the drive shaft assembly 704 and / or the power assembly 706 to allow electrical communication between the controller drive shaft assembly controller 722 and power management controller 716.
[0053] [0053] 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.
[0054] [0054] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name of ARM Cortex available from 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, or other non-volatile memory , up to 40 MHz, a prefetch 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 StellarisWareO program, 2 KB electronically erasable and programmable 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 (ADC) converters with 12 analog input channels, details of which are available for the product data sheet.
[0055] [0055] 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.
[0056] [0056] 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 output energy based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and the power supply 706 are coupled to the cable assembly 702. The power management 716 can be programmed to control the power modulator 738 from the power output of the power supply 706 and the current sensor circuit 736 can be used to monitor the power output of the power supply 706 to provide feedback to the power supply. power management controller 716 over the battery power output so that the 716 power management controller can adjust the power output -
[0057] [0057] 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. Drive shaft assembly controller 722 and / or 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 with the supply set 706. In these circumstances, communication between output device 742 and the drive shaft assembly controller 722 can be done via the interface, while the drive shaft assembly 704 is coupled to the cable assembly 702.
[0058] [0058] The 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.
[0059] [0059] 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.
[0060] [0060] 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.
[0061] [0061] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft assembly 200 (Figures 1 and 3) coupled to the surgical instrument 10 (Figures 1 to 4) and / or one 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.
[0062] [0062] 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.
[0063] [0063] 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.
[0064] [0064] 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.
[0065] [0065] 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 instances, the segmented circuit may comprise 3.3 V voltage converters and / or 5 V voltage converters. A voltage amplification converter is configured to provide a voltage rise to a predetermined amount , for example, up to 13 V. 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 conditions.
[0066] [0066] 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 status 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 on the left pivot side for the right side, one on the right pivot side for the right side, and a central pivot key for 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. The keys on the left side comprise the key on the left pivot side on the left, the key on the right pivot side for the left side, 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 left flex connector. The keys on the right side which comprise 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 they are coupled to the main controller 717 by a bending connector on the right. A trip key, a tightening release key, and a key attached to the drive shaft are coupled to the main controller 717.
[0067] [0067] 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 (eg, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). Other switches may include wireless switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[0068] [0068] Figure 6 is another block diagram of the control circuit 700 of the surgical instrument of Figure 1 that illustrates the interfaces between the cable assembly 702 and the supply assembly 706 and between the handle assembly 702 and the interchangeable drive shaft assembly 704, in accordance with one aspect of the present disclosure. The handle assembly 702 may comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector 730. The power assembly 706 may include a power assembly connector 732, a 734 power management circuit that can
[0069] [0069] 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, a monitor with an LCD screen, including
[0070] [0070] Figure 7 illustrates a control circuit 800 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. Control circuit 800 can be configured to implement various processes described herein. The control circuit 800 may comprise a controller comprising one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one memory circuit 804. The memory circuit 804 stores instructions executable on a machine that, when executed by the 802 processor, cause the 802 processor to execute machine instructions for
[0071] [0071] 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 combinatorial logic circuit 810 can be configured to implement various processes described herein. 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.
[0072] [0072] 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,
[0073] [0073] 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.
[0074] [0074] Figure 10 is a diagram of an absolute positioning system 1100 of the surgical instrument 10 (Figures 1 to 4), in which the absolute positioning system 1100 comprises a motor controlled drive circuit arrangement that com- comprises 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 1111. Back to Figures 2 to 4, in one aspect, displacement member 1111 represents a displacement member. longitudinally movable drive 120 (Figure 2) comprising a rack of drive teeth 122 for coupling coupling with a corresponding drive gear 86 of the gear reducer assembly
[0075] [0075] An electric motor 1120 may include a rotary drive shaft 1116 that interfaces operationally with a set of gears 1114 that is mounted on a coupling hitch with a set, or rack, of drive teeth on the drive member. displacement 1111. A sensor element 1126 can be operationally 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 from 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.
[0076] [0076] A single revolution of the sensor element 1126 associated with the position sensor 1112 is equivalent to a longitudinal displacement d1 of the displacement member 1111, where d1 represents the longitudinal distance by which the displacement member 1111 moves from the 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 1112 completing one or more revolutions for the complete travel of the travel member 1111. The position sensor 1112 can complete multiple revolutions for the complete travel of the travel member 1111.
[0077] [0077] 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 keys 1122a to 1122n is fed back to a controller 1104 that applies logic to determine a single position signal that corresponds to the longitudinal displacement d1 + d2 + ... dn of displacement member 1111. Output 1124 position sensor 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, which emit a unique combination of position of signals or values.
[0078] [0078] The absolute positioning system 1100 provides an absolute positioning of the displacement member 1111 with the instrument energizing without having to retract or advance the driving member 1111 to the restart 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.
[0079] [0079] Controller 1104 can be programmed to perform various
[0080] [0080] Controller 1104 can be programmed to provide precise control of the speed and position of travel members 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 observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.
[0081] [0081] 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).
[0082] [0082] 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 DC motors with brushes. The 1110 actuator comprises a single charge pump regulator, provides complete door drive (> 10 V) for batteries with voltage up to 7 V and allows the A3941 to operate with a reduced door drive, up to 5.5 V. An input command capacitor can be used to supply the surplus voltage to that supplied by the battery required for N channel MOSFETs. An internal charge pump for the upper side drive allows direct current operation (100% cycle work). The entire bridge can be triggered in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. The power FETs are protected from the shoot-through effect by means of resistors with programmable dead time. The integrated diagnostics provide indication of undervoltage, over-temperature and power bridge failures, and can be configured to protect power MOSFETs in most short-circuit conditions. Other motor controllers can be readily replaced for use in the 1100 absolute positioning system.
[0083] [0083] 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 to 12 for a description of an aspect of an array arrangement. sensor 1102 for absolute positioning system 1100. Figure 11 is an exploded perspective view of sensor arrangement 1102 for absolute positioning system 1100 showing a circuit 1205 and the relative alignment of elements of sensor arrangement 1102 of 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 that rotates each complete stroke of the displacement member 1111 and a gear set 1206 to provide a 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 with a corresponding drive gear 86 of the reducer assembly of gear 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
[0084] [0084] 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 magnetoimpedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistor , optical fiber, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0085] [0085] 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.
[0086] [0086] The position sensor 1200 is supported by a position sensor holder 1218, defining an opening 1220 suitable for containing 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 central point 1222 is provided that engages the first gear 1208 and the magnetic support 1204. The second gear 1210 and the third gear 1212 coupled to the shaft 1214 are also shown.
[0087] [0087] 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 an ASSOSSEQFT single-circuit magnetic rotary position sensor available from Austria Microsystems, AG. 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 an area 1230 of the position sensor 1200 which is located above the magnet 1202 (Figures 15 and 16). A high-resolution ADC 1232 and an intelligent 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 addition operations , subtraction, bit offset and lookup table. The angular position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as an SPI 1234 interface to controller 1104. Position sensor 1200 provides 12 or 14 bits of resolution. The position sensor 1200 can be an AS5055 integrated circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4 x 4 x 0.85 mm.
[0088] [0088] 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 an exclusive position signal, is calculated by the CORDIC 1236 processor and is stored integrated in the ASS055 1200 position sensor in a register or a memory. The value of the angle 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.
[0089] [0089] The ASS055 1200 position sensor requires only a few external components to operate when connected to the controller
[0090] [0090] Due to the measurement principle of the ASS5055 1200 position sensor, only a single angle measurement is performed in a very short time (approximately 600 us) after each energization sequence. As soon as the angle measurement is completed, the ASS055 1200 position sensor suspends to a 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 energization time, which is not desired in low power applications. Angle variation can be reduced by averaging multiple angle samples in the controller
[0091] [0091] Figure 13 is a 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 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 a beaker 2516 and an elongated channel 2503 with a staple cartridge 2518 positioned in the elongated channel 2503 A firing bar 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 drive shaft of the instrument. A rod with profile in | 2514 comprising a cutting edge 2509 is illustrated in a distal portion of the firing bar
[0092] [0092] 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
[0093] [0093] 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
[0094] [0094] As discussed above and with reference now to Figures 10 to 13, the electric motor 1122 positioned inside the handle set of the surgical instrument 10 (Figures 1 to 4 can be used to advance and / or retract the system of the drive shaft assembly, including the stem with profile at | 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or incise the captured tissue inside the actuator end cap 2502. The | 2514 profile rod 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 the | 2514 profile rod. Controller 1104 can be configured to predict the speed of the profile rod at | 2514 based on various parameters of the energy supplied to the electric motor 1122, such as voltage and / or current, for example, and / or other operating parameters of the electric motor 1122 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 preset speed
[0095] [0095] 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, where the current of the motor 2504 is 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.
[0096] [0096] 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, with reference to Figures 1 to 13.
[0097] [0097] 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 1100, by the sensor arrangement 1102, and by the position sensor 1200 as shown in Figures 10 to 12 and represented as the position sensor 2534 in Figure 14. Due to the | 2514 be coupled to a longitudinally movable drive member 120, the position of the rod with profile in | 2514 can be determined by measuring the position of the longitudinally movable drive member 120 using the 2534 position sensor.
[0098] [0098] The 2510 control circuit can generate a 2522 motor setpoint signal. The 2522 motor setpoint signal can be provided for a 2508 motor controller. The 2508 motor controller can comprise one or more circuits configured to provide a motor drive signal 2524 to motor 2504 in order to drive motor 2504 as described here. In some examples, 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 can be propose-
[0099] [0099] 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 |
[0100] [0100] The control circuit 2510 can be in communication with one or more sensors 2538. The sensors 2538 can be positioned on the end actuator 2502 and adapted to work with the surgical instrument 2500 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.
[0101] [0101] 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 anvil 2516 and the staple cartridge 2518. The 2538 sensors can be configured to detect the impedance of a section of tissue located between the anvil 2516 and the staple cartridge 2518 which is an indication of the thickness and / or completeness of the fabric located between them.
[0102] [0102] 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 an interaction point 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 2518 staple cartridge. 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 tightening operation by a processor as described in Figures 5A to 5B. The 2510 control circuit receives sample measurements in real time to provide time-based information analysis and real-time assessment of the closing forces applied to the 2516 anvil.
[0103] [0103] 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
[0104] [0104] Using the physical properties of the instruments disclosed here together with Figures 1 to 14 and with reference to Figure 14, the 2510 control circuit can be configured to simulate the real system response of the instrument in the controller software. A displacement member can be used to move a rod with a profile in | 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument may include a feedback controller, which can be any or any feedback controller, including, but not limited to, a PID,
[0105] [0105] The actual drive system of 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 system. physicist.
[0106] [0106] 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 attached. The exemplifying aspects can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or executed in several ways. In addition, except where otherwise indicated, the terms and expressions used in the present invention were chosen for the purpose of describing the exemplifying aspects for the convenience of the reader and not for the purpose of limiting it. In addition, it should be understood that one or more of the aspects, expressions of aspects, and / or examples described below can be combined with any one or more of the other aspects, expressions of aspects and / or examples described below.
[0107] [0107] 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 member positioned at a distal end, you can cut the fabric between the staple cartridge 2518 and the anvil 2516.
[0108] [0108] In several examples, the 2500 surgical instrument may comprise a 2510 control circuit programmed to control the distal translation of the displacement member, such as the | 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,
[0109] [0109] In one aspect, the 2510 control circuit can initially operate the 2504 motor in an open circuit configuration for a first open circuit portion of a travel member travel. 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
[0110] [0110] Figure 15 illustrates a diagram 2580 that plots two exemplifying courses of the displacement member executed 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.
[0111] [0111] 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 travel of the displacement member, for example , the initial period of time between to and t1, the rod with a profile at 1 2514 can move from the initial position of stroke 2586 to 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.
[0112] [0112] 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.
[0113] [0113] Figures 16 to 22 illustrate various graphical representations and processes for determining the error between a directed speed of a displacement member and the actual speed of a displacement member and adjusting the directed speed of the displacement member based on the error. In the aspects illustrated in Figures 16 to 22, the displacement member is the rod with a | 2514. In other respects, however, the displacement member may be the actuation member 120 (Figure 2), the trigger element 220, 2509 (Figures 3 and 13), the trigger bar 172 (Figure 4), the rod with profile in | 178, 2514 (Figures 4, 13 and 14) or any combination thereof.
[0114] [0114] Now returning to Figure 16, a graph 8500 is shown that represents a velocity (v) of a displacement member as a function of displacement (5) of the displacement member according to an aspect of the present disclosure. In the illustrated aspect, the displacement (5) of the rod with profile in | 2514 is shown along the horizontal geometric axis 8502 and the speed (v) of the 1 1 profile profile 2514 is shown along the vertical geometric axis 8504. It should be understood that the speed of the 2504 motor can be shown along of the 8504 vertical geometric axis instead of the speed of the shank | 2514. The function shown on the dashed line represents a directed speed 8506 of the rod with profile in | 2514 and the function shown in the form of a continuous line represents an actual speed 8508 of the rod with profile in | 2514. Targeted speed 8506 is based on a set point speed of motor 2522 applied to motor control circuit 2508 by control circuit 2510. In response, motor control 2508 applies a drive signal corresponding motor 2524 which has a predetermined duty cycle for motor 2504 in order to set the speed of motor 2504 to achieve a directed speed 8506 of the rod with profile in | 2514 as shown in Figure 14. Target speed 8506 can also be referred to as drive speed.
[0115] [0115] Figure 17 is a graph 8510 representing a velocity (v) of a displacement member as a function of displacement (5) of the displacement member according to one aspect of the present disclosure. In the illustrated aspect, the displacement (5) (mm) of the stem with | 2514 is shown along the horizontal geometrical axis 8512 and the speed (v) (mm / s) of the rod with | 2514 is shown along the vertical geometry axis 8514. The horizontal geometry axis 8512 is dimensioned to represent the displacement of the stem with profile in | 2514 along a length X of the staple cartridge 2518, such as staple cartridges from 10 to 60 mm, for example. In one aspect, for a 2518 60 mm cartridge, the displacement of the stem with an | 2514 is 60 mm and the speed of the rod with profile | 2514 ranges from 0 to 30 mm / s. The function shown in the form of a dashed line represents a targeted speed 8506 of the rod with profile in | 2514 and the function shown in the form of a continuous line represents a real speed 8508 of the rod with profile in | 2514. As shown by chart 8510, the displacement of the stem with | 2514 along the stroke of the staple cartridge 2518 is divided into three zones 8516, 8518, 8520. In the first zone 8516 (0 to d2 mm), at the beginning of the stroke (0 mm), the control circuit 2510 defines the motor start 2524 for a first duty cycle (DS1). In the second zone 8518 (õ2 mm to õ3 mm), the control circuit 2510 defines the motor start signal 2524 for a second duty cycle (DS2).
[0116] [0116] With reference to the first zone 8516, at the beginning of the course, the control circuit 2510 provides a defined point of motor 2522 for the control of motor 2508, which applies a drive signal of motor 2524 that has a first duty cycle (DS1) for engine 2504 in order to define the directed speed 8506 of the stem with profile in | 2514 for V2. According to the rod with profile in | 2514 advances distally, the position sensor 2534 and the timer / counter circuit 2531 tracks the position and time, respectively, of the rod with profile in | 2514 to determine the actual position and the actual speed 8508 of the profile rod | 2514. According to the position of the rod with profile | 2514 approaches ô71, actual speed 8508 starts a positive transition towards directed speed
[0117] [0117] Turning now to the second zone 8518, in>, the control circuit 2510 provides a new defined point of the motor 2522 for the motor control 2508, which applies a new motor start signal 2524 which has a second duty cycle (DS2) to the 2504 motor to decrease the 8506 directed speed of the profile rod | 2514 for V1. At ô> 2, the actual speed 8508 of the rod with profile in | 2514 initiates a negative transition to the lowest directed speed 8506. According to the rod with profile in | 2514 advances distally, actual speed 8508 delays directed speed 8506 by S2 and delays directed speed 8506 by a cumulative error C2 over a period of time and the rate of change from actual speed 8508 is R2. According to the rod with profile in | 2514 advances distally in direction ô3, the actual speed 8508 is below N21, N22 ... N2n of the directed speed 8506 and eventually stabilizes at the directed speed 8506.
[0118] [0118] Turning now to the third zone 8520, in ôs3, control circuit 2510 provides a new defined point of motor 2522 for motor control 2508, which applies a new motor start signal 2524 which has a third duty cycle (DS3) to the 2504 engine to increase the directed speed 8506 of the profile rod | 2514 for the V3. At ô3, the actual speed 8508 of the rod with profile | 2514 initiates a positive transition to the higher directed speed 8506. According to the rod with profile in | 2514 advances distally, actual speed 8508 delays directed speed 8506 through S3; and delays the directed speed 8506 by a cumulative error C3; over a period of time and the actual speed change rate 8508 is R31. According to the rod with profile in | 2514 advances distally, actual speed 8508 approaches target speed 8506 at a rate of R3>, which decreases the delay error for S3, and increases the cumulative error for C32 over a period of time. According to the rod with profile in | 2514 advances towards the end of a stroke, the actual speed 8508 exceeds N31, N32, N33, ..., N3n of the directed speed 8506 and eventually stabilizes at the directed speed 8506.
[0119] [0119] In another aspect, the 2500 surgical instrument control system uses PID control errors to control a motor speed based on the magnitude of the PID error terms S, C, Re N along the stem travel with profile in | 2514. According to the rod with profile in | 2514 runs through staple cartridge 2528, a change and a target speed 8506 can be based on errors measured between actual speed 8508 and target speed
[0120] [0120] Figure 18 is an 8530 graph of velocity (v) of a displacement member as a function of displacement (5) of the displacement member that represents a condition for changing the directed speed limit 8506-1 accordingly with an aspect of this disclosure.
[0121] [0121] In one aspect, the speed error between the actual speed 8508 and the directed speed 8506 of the displacement member (for example, rod with profile at | 2514) and Vpm can be represented by equation 1: Vw = 4 "S + B-N'c + D. E Eq 1 At
[0122] [0122] Where A, B, and D are coefficients and S is the short-term error, C is the cumulative error and R is the rate of change error. With reference to Figure 18, if the sum of errors is less than the error limit Z as represented by equation 2: 52, + C2, + R2, <Z Eq. 2
[0123] [0123] Control circuit 2510 determines that the error is within the Z limit and does not act on the targeted speed 8506. Consequently, the targeted speed 8506-1 is maintained until the next predetermined position of the stem with profile on | 2514. If the sum of errors is greater than the error limit Z as represented by equation 3:
[0124] [0124] Control circuit 2510 determines that the error is outside the Z limit and adjusts the directed speed 8506 to a lower directed speed 8506-2.
[0125] [0125] Figure 19 is a 8540 graph that illustrates the conditions for changing the target speed 8506 of a displacement member according to one aspect of the present disclosure. In the illustrated aspect, the displacement of the stem with a | 2514 is shown along the horizontal geometry axis 8541 and the cumulative error (S + C + R) is shown along the vertical geometry axis 8544. An error curve 8546 represents the change in cumulative error as a function of the displacement of the profile stem in | 2514. Various error limits -Y, -Z, 0, + Z, + Y are marked along the vertical geometric axis
[0126] [0126] Still with reference to the graph 8540 in Figure 19, the control circuit 2510 of the speed control system of the surgical instrument 2500 does not take any measures during an initial displacement of the stem with profile in | 2514 between do and at. Consequently, during the initial displacement (0: - do), cumulative error 8548 returns to zero as the actual speed approaches the directed speed and continues around zero until ô2. After Ô>, the cumulative error 8550 deviates from zero until it exceeds the -Z limit by ô3. When exceeding the -Z limit, the 2510 control circuit adjusts the speed of the rod with | 2514 for a new speed directed to a Displacement Rate 1. Cumulative error 8552 eventually returns to zero and remains around zero until ô24. Between at and ô5, cumulative error 8554 deviates from zero and exceeds the error limit + Y and, at ô5, control circuit 2510 adjusts the speed of the rod with profile in | 2514 for a new speed directed to a Displacement Rate 2, which is greater than the Displacement Rate 1. By adjusting the directed speed of the Displacement Rate 2, cumulative error 8556 returns to zero. Different error terms (S, C, R) can be expanded differently based on their importance with an algorithm and different error terms (S, C, R) can be used in different zones, for example, zones 8516, 8518, 8520 in Figure 17 (for example, going up the ramp, intermediate, end).
[0127] [0127] Figure 20 is a logic flow diagram of an 8600 process that represents a control program or logic configuration to control a speed of a travel member based on the position of a travel member and the actual speed. of the displacement member in accordance with one aspect of the present disclosure. Also referring to the 2500 instrument speed control system shown in the Figure. 14, control circuit 2510 determines 8602 the position of a displacement member, such as the rod with profile | 2514, using position sensor 2534 and timer / counter circuits 2531. Control circuit 2510 compares the position of the displacement member to one of a plurality of zones 8516, 8518, 8520 as discussed in connection with Figure 17 Zones 8516, 8518, 8520 can be stored in a memory. Control circuit 2510 determines 8604 in which zone 8516, 8518, 8520 the displacement member is located based on the position of the displacement member previously determined 8602. The control circuit 2510 then defines 8606 the defined point motor 2522 and engine control 2508 sets the motor start signal 2524 to adjust the speed of motor 254 to achieve the desired directed speed of the travel member based on the zone. In one aspect, motor control 2508 defines the motor 2524 drive signal for a duty cycle based on which zone 8516, 8518, 8520 the displacement member is located. Control circuit 2510 determines 8608 whether the displacement member is at the end of the stroke. If the displacement member is not at the end of the stroke, process 8600 continues along branch N and determines 8602 a new position for the displacement member. The 8600 process continues until displacement member 8600 reaches the end of the stroke and proceeds along the YES branch and ends 8610.
[0128] [0128] Figure 21 is a logic flow diagram of an 8600 process that represents a control program or logic configuration to control a speed of a displacement member based on the error measured between the directed speed of a member displacement and the actual speed of the displacement member
[0129] [0129] The error can be calculated based on Eq. 1 above. Control circuit 2510 determines 8712 whether the error is within the error limit. If the error is within the error limit (Eq. 2), the 8700 process continues along the YES branch and maintains the directed speed 8714 at the current value. Control circuit 2510 then determines 8718 if the displacement member is at the end of the stroke. If the displacement member is at the end of the stroke, process 8700 continues along the branch YES and ends 8720. If the displacement member is not at the end of the course, process 8700 continues along the branch NO and determines 8702 a new position of the displacement member. The 8700 process continues until the travel member reaches the end of the stroke.
[0130] [0130] If the error exceeds the error limit (Eq. 3), the 8700 process continues along the NO branch and adjusts the speed
[0131] [0131] Figure 22 is a logic flow diagram of an 8700 process that represents a logic configuration control program for controlling a speed of a travel member based on the error measured between the directed speed of a member. displacement curve and the actual speed of the displacement member according to one aspect of the present disclosure. With reference also to the speed control system of the surgical instrument 2500 shown in Figure 14, the control circuit 2510 determines 8802 the position of a displacement member, such as the stem with profile in | 2514, using the position sensor 2534 and the timer / counter circuits 2531. The control circuit 2510 then determines 8804 the actual speed of the travel member based on the position information received from the position sensor 2534 and the circuits of timer / counter 2531. Upon determining 8804 of the actual speed of the travel member, control circuit 2510 compares 8806 the directed speed of the travel member with the actual speed of the travel member. Based on comparison 8806, control circuit 2510 determines 8808 the error between the directed speed of the travel member and the actual speed of the travel member and compares 8810 the error with multiple error limits. For example, in the illustrated example, the error is compared to two error limits as described in connection with Figure 19.
[0132] [0132] Control circuit 2510 determines 8812 whether the error is within the first error limit (+ Z) as described in Figure 19. If the error is within the first error limit (+ Z), the process continues along the SIM branch and the 2510 control circuit maintains 8814 the directed speed without any travel changes. Control circuit 2510 determines 8816 whether the displacement member is at the end of the stroke. If the displacement member is at the end of the stroke, process 8800 continues along the YES branch and ends 8824. If the displacement member is not at the end of the course, process 8800 continues along the branch - tion NO and control circuit 2510 determines 8802 the new position of the displacement member and the process continues until the displacement member 8800 reaches the end of the stroke.
[0133] [0133] If the error is outside the first error limit (+ Z), the 8800 process continues along the NO branch and the 2510 control circuit determines 8818 if the error exceeds the second error limit (+ Y). If the error does not exceed the second error limit, the control circuit 2510 determines that the error is between the error limits -Z and -Y or between the error limits + Z and + Y and proceeds along the branch NO and the 2510 control circuit adjusts 8820 the speed directed at a first rate of change. The control circuit 2510 determines 8816 a limit switch and proceeds to determine 8802 the new position of the displacement member. The 8800 process continues until the displacement member reaches the end of the stroke. If the error exceeds the second error limit, control circuit 2510 determines that the error exceeds the second error limit (+ Y) and proceeds along the YES branch and control circuit 2510 adjusts 8822 speed
[0134] [0134] The functions or processes 8600, 8700, 8800 described here can be performed by any one of the processing circuits described here, such as control circuit 700 described in connection with Figures 5 to 6, the circuits 800, 810, 820 described in Figures 7 to 9, microcontroller 1104 described in connection with Figures 10 and 12 and / or control circuit 2510 described in Figure
[0135] [0135] The aspects of the motorized surgical instrument can be practiced without the specific details disclosed 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.
[0136] [0136] In general, the aspects described here, which can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware, or any combination thereof, can be seen as being composed of various types of "electrical circuits". Consequently, "electrical circuit" includes, but is not limited to, electrical circuits that have at least one separate electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit for a specific application, electrical circuits that form a general purpose computing device configured by a computer program (for example, a general purpose computer or processor configured by a computer program that at least partially performs the processes and / or device described here), electrical circuits that form a memory device (for example, forms of random access memory), and / or electrical circuits that form a communications device (for example, a modem, routers or optical-electrical equipment) . These aspects can be implemented in analog or digital form, or combinations of them.
[0137] [0137] 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 integrated circuits of specific application.
[0138] [0138] The mechanisms of the disclosed 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.).
[0139] [0139] 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.
[0140] [0140] Various aspects of the subject described in this document are defined in the following numbered examples:
[0141] [0141] Example 1. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, in which the position sensor is configured to measure the position of the displacement member; and a timer circuit coupled to the control circuit, where the timer / counter circuit is configured to measure an elapsed time; wherein the control circuit is configured to: determine a position of the displacement member; determining an area in which the displacement member is located; and defining a directed velocity of the displacement member based on the zone in which the displacement member is located.
[0142] [0142] Example 2. The surgical instrument of Example 1 in which the control circuit is configured to: receive the position of the displacement member from the position sensor; receiving an elapsed time from the timer circuit; and defining an engine duty cycle based on the zone in which the displacement member is located.
[0143] [0143] Example 3. The surgical instrument of Example 2 in which the control circuit is configured to determine an actual speed of the displacement member.
[0144] [0144] Example 4. The surgical instrument of Example 3 in which the control circuit is configured to determine an error between the directed speed of the displacement member and the actual speed of the displacement member.
[0145] [0145] Example 5. The surgical instrument of Example 4 in which the control circuit is configured to define a new directed velocity of the displacement member based on the error.
[0146] [0146] Example 6. The surgical instrument of Example 4 in which the error is based on at least one of a short-term error (S), cumulative error (C), rate of change error (R) and number error of overshoots (N).
[0147] [0147] Example 7. The surgical instrument from Example 1 to Example 6 comprising an end actuator in which the displacement member is configured to move within the end actuator.
[0148] [0148] Example 8. A surgical instrument, comprising: a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, where the position sensor is configured to measure the position of the displacement member; and a timer circuit coupled to the control circuit, in which the timer / counter circuit is configured to measure an elapsed time; wherein the control circuit is configured to: define a directed velocity of the displacement member; determining a position of the displacement member;
[0149] [0149] Example 9. The surgical instrument of Example 8 in which the control circuit is configured to compare the error to an error limit.
[0150] [0150] Example 10. The surgical instrument of Example 9 in which the control circuit is configured to maintain the directed speed of the travel member when the error is within the error limit.
[0151] [0151] Example 11. The surgical instrument from Example 9 to Example 10 where the control circuit is configured to adjust the directed speed of the displacement member in order to change the directed speed when the error exceeds the error limit.
[0152] [0152] Example 12. The surgical instrument from Example 8 to Example 11 in which the actual speed of the displacement member is given by the following expression: Vyy = A: S + B-YC + D = where A, B, and D are coefficients and S is a short-term error, C is a cumulative error and R is a rate of change error.
[0153] [0153] Example 13. The surgical instrument from Example 8 to Example 12 comprising an end actuator in which the displacement member is configured to move within the end actuator.
[0154] [0154] Example 14. A surgical instrument, comprising: a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member to move the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, where the position sensor is configured to measure the position of the displacement member; and a timer circuit coupled to the control circuit, in which the timer / counter circuit is configured to measure an elapsed time; wherein the control circuit is configured to: define a directed velocity of the displacement member; determining a position of the displacement member; determining a real speed of the displacement member; compare a directed velocity of the displacement member to an actual velocity of the displacement member; determining an error between the displacement member and the actual velocity of the displacement member; and adjusting the displacement limb's directed speed to a rate of change based on the error.
[0155] [0155] Example 15. The surgical instrument of Example 14 where the control circuit is configured to compare the error to multiple error limits.
[0156] [0156] Example 16. The surgical instrument of Example 15 in which the control circuit is configured to adjust the directional speed of the displacement member at multiple rates of change based on the error.
[0157] [0157] Example 17. The surgical instrument from Example 15 to Example 16 in which the control circuit is configured to: compare the error to a first error limit; and keep the speed directed when the error is within the first error limit.
[0158] [0158] Example 18. The surgical instrument of Example 17 in which the control circuit is configured to: compare the error to a second error limit; adjust the speed directed to a first rate of change when the error exceeds the first error limit and is within the second error limit.
[0159] [0159] Example 19. The surgical instrument from Example 17 to
[0160] [0160] Example 20. The surgical instrument from Example 14 to Example 19 where the error is based on at least one of a short-term error (S), cumulative error (C), rate of change error (R) and overshoots number error (N).

权利要求:
Claims (20)
[1]
1. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move within the surgical instrument along a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, where the position sensor is configured to measure the position of the displacement member; and a timer circuit coupled to the control circuit, in which the timer / counter circuit is configured to measure an elapsed time; wherein the circuit is configured to: determine a position of the displacement member; determining an area in which the displacement member is located; and defining a directed velocity of the displacement member based on the zone in which the displacement member is located.
[2]
2. Surgical instrument, according to claim 1, characterized by the fact that the control circuit is configured to: receive the position of the displacement member from the position sensor; receiving an elapsed time from the timer circuit; and defining an engine duty cycle based on the zone in which the displacement member is located.
[3]
3. Surgical instrument, according to claim 2,
characterized by the fact that the control circuit is configured to determine a real speed of the displacement member.
[4]
4. Surgical instrument, according to claim 3, characterized in that the control circuit is configured to determine an error between the directed speed of the displacement member and the real speed of the displacement member.
[5]
5. Surgical instrument, according to claim 4, characterized by the fact that the control circuit is configured to define a new directed velocity of the displacement member based on the error.
[6]
6. Surgical instrument, according to claim 4, characterized by the fact that the error is based on at least one of a short-term error (S), cumulative error (C), rate of change error (R) and error in the number of overshoots (N).
[7]
7. Surgical instrument, according to claim 1, characterized by the fact that it comprises an end actuator in which the displacement member is configured to move within the end actuator.
[8]
8. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move inside the surgical instrument; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, where the position sensor is configured to measure the position of the displacement member; and a timer circuit coupled to the control circuit, in which the timer / counter circuit is configured to measure an elapsed time; wherein the circuit is configured to: define a directed velocity of the displacement member; determining a position of the displacement member; determining a real speed of the displacement member; comparing a directed velocity of the displacement member to an actual velocity of the displacement member; determining an error between the displacement member and the actual velocity of the displacement member; and adjust the directed speed of the displacement member based on the error.
[9]
9. Surgical instrument, according to claim 8, characterized by the fact that the control circuit is configured to compare the error to an error limit.
[10]
10. Surgical instrument, according to claim 9, characterized by the fact that the control circuit is configured to maintain the directed speed of the displacement member when the error is within the error limit.
[11]
11. Surgical instrument, according to claim 9, characterized by the fact that the control circuit is configured to adjust the directed speed of the displacement member to change the directed speed when the error exceeds the error limit.
[12]
12. Surgical instrument, according to claim 8, characterized by the fact that the real speed of the displacement limb is given by the following expression:
AR Vou = A'S + B :) 'C + D'- At where A, B, and D are coefficients and S is a short-term error, C is a cumulative error and R is a rate of change error.
[13]
13. Surgical instrument, according to claim 8, characterized by the fact that it comprises an end actuator in which the displacement member is configured to move within the end actuator.
[14]
14. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, where the position sensor is configured to measure the position of the displacement member; and a timer circuit coupled to the control circuit, in which the timer / counter circuit is configured to measure an elapsed time; wherein the circuit is configured to: define a directed velocity of the displacement member; determining a position of the displacement member; determining a real speed of the displacement member; comparing a directed velocity of the displacement member to an actual velocity of the displacement member; determining an error between the displacement member and the actual velocity of the displacement member; and adjusting the displacement limb's directed speed to a rate of change based on the error.
[15]
15. Surgical instrument, according to claim
14, characterized by the fact that the control circuit is configured to compare the error to multiple error limits.
[16]
16. Surgical instrument, according to claim 15, characterized in that the control circuit is configured to adjust the directed speed of the displacement member at multiple rates of change based on the error.
[17]
17. Surgical instrument, according to claim 15, characterized by the fact that the control circuit is configured to: compare the error to a first error limit; and keep the speed directed when the error is within the first error limit.
[18]
18. Surgical instrument, according to claim 17, characterized by the fact that the control circuit is configured to: compare the error to a second error limit; adjust the speed directed to a first rate of change when the error exceeds the first error limit and is within the second error limit.
[19]
19. Surgical instrument, according to claim 17, characterized by the fact that the control circuit is configured to: compare the error to a second error limit; adjust the speed directed to a second rate of change when the error exceeds both the first error limit and the second error limit.
[20]
20. Surgical instrument, according to claim 14, characterized by the fact that the error is based on at least one within a short-term error (S), cumulative error (C), change rate error ( R) and overshoots number error (N).

类似技术:

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公开号 | 公开日 | 专利标题

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BR112019026373A2|2020-07-21|closed-loop feedback control of a motor speed of a surgical cutting and stapling instrument based on a magnitude of speed error measurements

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BR112019026918A2|2020-06-30|closed-loop feedback control of the motor speed of a surgical cutting and stapling instrument based on the time measured over a specified travel distance

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BR112019027206A2|2020-06-30|systems and methods for controlling the motor speed of a surgical stapling and cutting instrument according to the articulation angle of the end actuator

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BR112020006065A2|2020-10-06|systems and methods for initiating a power off mode for a surgical instrument

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同族专利:

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公开号 | 公开日

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JP2020524558A|2020-08-20|

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US20180360471A1|2018-12-20|

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CN110785130A|2020-02-11|

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WO2018234883A1|2018-12-27|

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EP3417801A3|2019-01-16|

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EP3417801A2|2018-12-26|

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US11071554B2|2021-07-27|

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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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US15/628,053|US11071554B2|2017-06-20|2017-06-20|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements|

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US15/628,053|2017-06-20|

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PCT/IB2018/053427|WO2018234883A1|2017-06-20|2018-05-16|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements|

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