drive shaft module circuit arrangements

专利摘要:
The present invention relates to an apparatus and a modular surgical system that allows a user of modular surgical instruments to manipulate an end actuator directly from the instrumentation contained in the handle assembly. A nozzle assembly that is removable from a handle assembly can include a built-in circuit board that allows the RF generator to be attached directly to the nozzle assembly and supply RF energy to the end actuator, while interfacing with a microprocessor from the handle assembly. In some respects, the unique nozzle assembly circuit also allows rotation of the drive shaft while still providing power and functionality suitable for the end actuator.
公开号:BR112019026766A2
申请号:R112019026766-2
申请日:2018-06-07
公开日:2020-06-30
发明作者:Jeffrey D. Messerly；David C. Yates；Mark A. Davison；Jason L. Harris；Frederick E. Shelton Iv
申请人:Ethicon Llc；
IPC主号:

专利说明:

[001] [001] The present description refers generally to an electrosurgical system with modular components for performing surgical procedures. In particular, this description relates to drive shaft module circuit arrangements. BACKGROUND
[002] [002] In a surgical sealing and stapling system, it may be useful to employ a modular design that allows a single handle set to be attached to multiple nozzle sets, and that a nozzle set to be attached to multiple handle sets. Since the nozzle assembly could include the various surgical instruments on the end actuator, a special circuit on the nozzle may be required to allow instrumentation in a handle assembly to control the various functions on the end actuator of the modular nozzle assembly. In addition, it may be necessary to apply energy to the end actuator, which may or may not come from the handle assembly. For example, the handle assembly can be battery powered to control the functions of the handle assembly, but it may not have enough power to control the end actuator. SUMMARY
[003] [003] In one aspect, a control circuit for a surgical instrument is presented. The control circuit can include: a drive shaft control segment; an electrosurgical energy control segment; a connector attached to the electrosurgical energy control segment configured to attach to an electrosurgical generator. The drive shaft control segment can be configured to: communicate with a cable portion of the surgical instrument; and receive user action controls. The electrosurgical energy control segment can be configured to: detect the connection of the electrosurgical generator to the connector; communicate with the electrosurgical generator; electrically isolate the grip control segment from the electrosurgical energy control segment when the connection of the electrosurgical generator to the connector is detected; and supplying electrosurgical energy from the electrosurgical generator to a portion of the end actuator of the surgical instrument through a first set of electrical conductors.
[004] [004] In another aspect, a nozzle set of a surgical system is presented. The nozzle assembly may include: a built-in circuit board; a built-in connector coupled to the built-in circuit board and located proximally to the nozzle assembly, the built-in connector being configured to interface with a handle assembly housing connector when the nozzle assembly is attached to the handle assembly; a drive shaft fixation loop located proximally to the nozzle assembly and configured to be coupled to a grip assembly fixing support to secure the nozzle assembly to the handle assembly; and a control circuit comprising: a drive shaft control segment; an electrosurgical energy control segment; a connector attached to the electrosurgical energy control segment configured to attach to an electrosurgical generator. The drive shaft control segment can be configured to: communicate with a cable portion of the surgical instrument; and receive user action controls. The electrosurgical energy control segment can be configured to: detect the connection of the electrosurgical generator to the connector; communicate with the electrosurgical generator; electrically isolate the grip control segment from the electrosurgical energy control segment when the connection of the electrosurgical generator to the connector is detected; and supplying electrosurgical energy from the electrosurgical generator to a portion of the end actuator of the surgical instrument through a first set of electrical conductors. The nozzle assembly can be removable and attached to the handle assembly. FIGURES
[005] [005] The innovative features 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.
[006] [006] Figure 1 is a perspective view of a surgical system that includes a handle set attached to an interchangeable surgical tool set that is configured to be used in conjunction with conventional surgical clamp / clamp cartridges and radio frequency cartridges ( RF) according to one aspect of this description.
[007] [007] Figure 2 is an exploded perspective view of the surgical system of Figure 1, according to an aspect of this description.
[008] [008] Figure 3 is another exploded perspective view of portions of the handle set and the interchangeable surgical tool set of Figures 1 and 2, according to one aspect of this description.
[009] [009] Figure 4 is an exploded view of a proximal portion of the interchangeable surgical tool set of Figures 1 to 3, according to an aspect of this description.
[0010] [0010] Figure 5 is another exploded view of a distal portion of the interchangeable surgical tool set of Figures 1 to 5, according to an aspect of this description.
[0011] [0011] Figure 6 is a partial cross-sectional view of the end actuator represented in Figures 1 to 5 that supports an RF cartridge in it and with the tissue trapped between the cartridge and the anvil, according to one aspect of this description .
[0012] [0012] Figure 7 is a partial cross-sectional view of the anvil of Figure 6, according to an aspect of this description.
[0013] [0013] Figure 8 is another exploded view of a portion of the interchangeable surgical tool set of Figures 1 to 5, according to an aspect of this description.
[0014] [0014] Figure 9 is another exploded view of the interchangeable surgical tool set and the handle set of Figures 1 and 2, according to an aspect of the present description.
[0015] [0015] Figure 10 is a perspective view of an RF cartridge and an elongated channel of the interchangeable surgical tool set of Figures 1 to 5, according to an aspect of that description.
[0016] [0016] Figure 11 is a partial perspective view of portions of the RF cartridge and elongated channel of Figure 10 with a knife member, in accordance with an aspect of this description.
[0017] [0017] Figure 12 is another perspective view of the RF cartridge installed in the elongated channel of Figure 10 and which illustrates a portion of a flexible drive shaft circuit arrangement, in accordance with an aspect of this description.
[0018] [0018] Figure 13 is an end view in cross section of the RF cartridge and the elongated channel of Figure 12, taken along lines 13-13 in Figure 12, according to an aspect of this description.
[0019] [0019] Figure 14 is a top cross-sectional view of a portion of the interchangeable surgical tool arrangement of Figures 1 and 5 with its end actuator in an articulated position, according to an aspect of this description.
[0020] [0020] Figure 15 is a perspective view of a built-in circuit board layout and configuration plus RF generator, according to an aspect of this description.
[0021] [0021] Figures 16A and 16B are a block diagram of a control circuit for the surgical instrument of Figure 1 that comprises two drawing sheets according to one aspect of this description.
[0022] [0022] Figure 17 is a block diagram of the control circuit of the surgical instrument of Figure 1 that illustrates interfaces between the handle assembly, the feeding assembly and the handle assembly and the interchangeable drive shaft assembly, according with an aspect of the present description.
[0023] [0023] Figure 18 is a schematic diagram of a surgical instrument configured to control various functions, according to an aspect of this description.
[0024] [0024] Figure 19 shows the nozzle assembly that constitutes a modular portion of the surgical tool assembly and may include a drive shaft module circuit configured to control various functions in the drive shaft assembly, while also communicating with the assembly handle and allows an electrosurgical generator to be controlled from the staple handle fed according to some aspects.
[0025] [0025] Figure 20 illustrates a block diagram of a surgical system programmed to communicate control and energy signals with an end actuator, according to one aspect of this description. DESCRIPTION
[0026] [0026] The applicant for the present application holds the following patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities:
[0027] [0027] power of attorney document END8184USNP / 170063, entitled SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, by the inventors Jeffrey D. Messerly et al., Filed on June 28, 2017.
[0028] [0028] power of attorney document END8183USNP / 170064, entitled SYSTEMS AND METHODS OF DISPLAYING SURGICAL INSTRUMENT STATUS, by the inventors Jeffrey D. Messerly et al., Filed on June 28, 2017.
[0029] [0029] power of attorney document END8189USNP / 170066, entitled SYSTEMS AND METHODS FOR CONTROLLING CONTROL
[0030] [0030] power of attorney document END8185USNP / 160045170067, entitled FLEXIBLE CIRCUIT ARRANGEMENT FOR SURGICAL FASTENING INSTRUMENTS, by the inventors Jeffrey D. Messerly et al., Filed on June 28, 2017.
[0031] [0031] power of attorney document END8188USNP / 170068, entitled SURGICAL SYSTEM COUPLEABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND HAVING A PLURALITY OF RADIO-FREQUENCY ENERGY RETURN PATHS, by the inventors Jeffrey D. Messerly et al., Deposited on 28 June 2017.
[0032] [0032] n ° of the power of attorney document END8181USNP / 170069, entitled SYSTEMS AND METHODS FOR CONTROLLING CONTROL CIRCUITS FOR AN INDEPENDENT ENERGY DELIVERY
[0033] [0033] n ° of the power of attorney document END8187USNP / 170070, entitled SURGICAL END EFFECTOR FOR APPLYING
[0034] [0034] power of attorney document END8182USNP / 170071, entitled ELECTROSURGICAL CARTRIDGE FOR USE IN THIN PROFILE SURGICAL CUTTING AND STAPLING INSTRUMENT, by the inventors Tamara Widenhouse et al., Deposited on June 28,
[0035] [0035] power of attorney document END8186USNP / 170072, entitled SURGICAL END EFFECTOR TO ADJUST JAW COMPRESSION, by the inventors Frederick E. Shelton, IV et al., Filed on June 28, 2017.
[0036] [0036] n ° of the power of attorney document END8224USNP / 170073, entitled CARTRIDGE ARRANGEMENTS FOR SURGICAL CUTTING
[0037] [0037] power of attorney document END8229USNP / 170074, entitled SYSTEMS AND METHODS OF DISPLAYING SURGICAL INSTRUMENT STATUS, by the inventors Jeffrey D. Messerly et al., Filed on June 28, 2017.
[0038] [0038] Electrosurgical devices can be used in many surgical operations. Electrosurgical devices can apply electrical energy to the tissue to treat the tissue. An electrosurgical device may comprise an instrument that has a distally mounted end actuator that comprises one or more electrodes. The end actuator can be positioned against the fabric, so that electric current can be introduced into the fabric. Electrosurgical devices can be configured for monopolar or bipolar operation. During monopolar operation, current can be introduced into the tissue by an active electrode (or source) in the end actuator and returned via a return electrode. The return electrode can be a grounding block located separately on a patient's body. During bipolar operation, current can be introduced into the tissue and returned from it, respectively, through the active and return electrodes of the end actuator.
[0039] [0039] The end actuator can include two or more claw members. At least one of the claw members can have at least one electrode. At least one claw can be movable from a spaced position of the opposite claw to receive tissue in a position in which the space between the claw members is less than that of the first position. This movement of the movable claw can compress the tissue retained between it. The heat generated by the current flow through the tissue in combination with the compression obtained by the movement of the claw can form hemostatic seals within the tissue and / or between tissues and, therefore, can be particularly useful for sealing blood vessels, for example . The end actuator can comprise a cutting member. The cutting element can be movable in relation to the tissue and the electrodes to transpose the tissue.
[0040] [0040] Electrosurgical devices may also include mechanisms for securing tissue together, such as a stapling device, and / or mechanisms for cutting tissue, such as a tissue knife. An electrosurgical device may include a drive shaft for placing the end actuator in a position adjacent to the tissue being treated. The drive shaft can be straight or curved, foldable or non-foldable. In an electrosurgical device that includes a straight and foldable drive shaft, the drive shaft can have one or more articulated joints to allow controlled flexing of the drive shaft. Such joints may allow a user of the electrosurgical device to place the end actuator in contact with the tissue at an angle to the drive axis when the tissue being treated is not readily accessible using an electrosurgical device that has an axis non-folding straight drive.
[0041] [0041] The electrical energy applied by the electrosurgical devices can be transmitted to the instrument by a generator in communication with the handpiece. The electrical energy may be in the form of radio frequency energy ("RF"). RF energy is a form of electrical energy that can be in the frequency range of 200 kilohertz (kHz) to 1 megahertz (MHz). In application, an electrosurgical instrument can transmit RF energy at low frequency through the tissue, which causes friction, or ionic agitation, that is, resistive heating, which, therefore, increases the tissue temperature. Since a precise boundary is created between the affected tissue and the surrounding tissue, surgeons can operate with a high level of precision and control, without sacrificing adjacent non-target tissue. The low operating temperatures of the RF energy are useful for removing, shrinking or sculpting soft tissues while simultaneously cauterizing blood vessels. RF energy works particularly well in connective tissue, which mainly comprises collagen and shrinks when it comes in contact with heat.
[0042] [0042] RF energy can be in a frequency range described in document EN 60601-2-2: 2009 + A11: 2011, Definition
[0043] [0043] Figures 1 and 2 depict a motor-driven surgical system 10 that can be used to perform a variety of different surgical procedures. In the illustrated arrangement, surgical system 10 comprises an interchangeable surgical tool set 1000 which is operatively coupled to a handle set 500. In another aspect of the surgical system, the interchangeable surgical tool set can be effectively employed with a tool of a robotically controlled or automated surgical system. For example, the surgical tool set 1000 disclosed herein can be used with various robotic systems, instruments, components and methods such as, but not limited to, those disclosed in US Patent No. 9,072,535, entitled "SURGICAL STAPLING
[0044] [0044] In the illustrated aspect, the handle assembly 500 may comprise a handle compartment 502 that includes a pistol handle portion 504 that can be held and handled by the physician. As will be briefly discussed below, the handle set 500 operationally supports a plurality of drive systems, which are configured to generate and apply various control movements to the corresponding portions of the interchangeable surgical tool set 1000. As shown in Figure 2, the set handle 500 may also include a handle structure 506 that operationally supports the plurality of drive systems. For example, the 506 handle structure can operationally support a "first" closing drive system or system, generally referred to as 510, which can be used to apply closing and opening movements to the interchangeable surgical tool set
[0045] [0045] In at least one form, the handle assembly 500 and the handle structure 506 can operationally support another drive system called in the present invention a trigger drive system 530, which is configured to apply firing movements to the portions corresponding to the interchangeable surgical tool set that is attached to it. As described in detail in US Patent Application Publication No. 2015/0272575, the firing drive system 530 may employ an electric motor 505 which is located in the pistol grip portion 504 of the handle assembly 500. In various forms , the 505 motor can be a brushed DC motor with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the 505 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. The motor 505 can be powered by a power supply 522 which, in one form, can comprise a removable power source. The power source can support a plurality of lithium ion batteries ("Li ions") or other suitable ones therein. Several batteries connected in series or parallel can be used as the 522 power source for the surgical system 10. In addition, the 522 power source can be replaceable and / or rechargeable.
[0046] [0046] The electric motor 505 is configured to axially drive a longitudinally movable driving member 540 (Figure 3) in the distal and proximal directions depending on the polarity of the motor. For example, when the 505 electric motor is driven in a direction of rotation, the longitudinally movable driving member will be axially driven in a distal "DD" direction. When the motor 505 is driven in the opposite rotating direction, the longitudinally movable driving member 540 will be driven axially in the proximal direction "PD". The grip set 500 may include a switch 513 that can be configured to reverse the polarity applied to the electric motor 505 by power source 522 or otherwise control the engine 505. The grip set 500 may also include a sensor or sensors ( not shown) that are configured to detect the position of the drive member and / or the direction in which the drive member is being moved. The actuation of the 505 motor can be controlled by a trigger trigger (not shown) that is in a position adjacent to the closing trigger 512 and pivotally supported in the handle set 500. The trigger trigger can be pivoted between an unacted position and an acted position. The trigger can be moved to the unacted position by means of a spring or other propensity arrangement so that when the doctor releases the trigger, it can be rotated or otherwise returned to the untreated position. actuated by means of the spring or the propensity arrangement. In at least one way, the trigger trigger can be positioned "away from the center" of the closing trigger 512. As discussed in US Patent Application Publication No. 2015/0272575, the handle assembly 500 can be equipped with a button trigger trigger safety (not shown) to prevent inadvertent triggering. When the closing trigger 512 is in the unacted position, the safety button is contained in the handle assembly 500, where the doctor cannot readily access it and move it between a safety position, which prevents the trigger from operating trigger, and a trigger position in which the trigger can be fired. As the doctor presses the closing trigger, the safety button and the trigger trigger pivot down to a position where they can then be manipulated by the doctor.
[0047] [0047] In at least one form, the longitudinally movable drive member 540 may have a tooth rack 542 formed thereon for engagement with a corresponding drive gear arrangement (not shown) that interfaces with the motor. See Figure 3. Additional details regarding those features can be found in US Patent Application Publication No. 2015/0272575. In at least one arrangement, however, the longitudinally movable drive element is insulated to protect it from inadvertent RF energy. At least one form also includes a manually actuated "retraction" set, which is configured to allow the physician to manually retract the longitudinally movable drive member, in case the 505 engine stops running. The retract assembly may include a retract lever or handle assembly that is stored inside the handle assembly 500 under a removable door 550. See Figure 2. The lever can be configured to be manually pivoted in ratchet hitch. teeth on the drive member. In this way, the physician can manually retract drive member 540 using the retract handle assembly to engage the drive member in the proximal "PD" direction. US Patent Application No. 8,608,045, entitled POWERED
[0048] [0048] In the illustrated aspect, the interchangeable surgical tool set 1000 includes a surgical end actuator 1500 comprising a first jaw 1600 and a second jaw 1800. In one arrangement, the first jaw comprises an elongated channel 1602 that is configured to support operationally a cartridge of staples / conventional surgical clamps (mechanical) 1400 (Figure 4) or a cartridge of radio frequency (RF) 1700 (Figures 1 and 2) in it. The second claw 1800 comprises an anvil 1810 which is pivotally supported in relation to the elongated channel
[0049] [0049] Returning to Figure 4, the hinge connector 1920 includes upper and lower protrusions 1922, 1924 that project distally from a distal end of the hinge connector 1920 to be movably coupled to an actuator closure sleeve. end or segment of distal closing tube
[0050] [0050] Still with reference to Figure 4, in the illustrated example, the distal closing tube segment 1930 includes positive claw opening features or flaps 1936, 1938 that correspond to the corresponding portions of the anvil 1810 to apply opening movements to the anvil 1810 , as the distal closing tube segment 1930 is retracted in the proximal direction PD to an initial position. Additional details regarding the opening and closing of the 1810 anvil can be found in the US patent application, entitled
[0051] [0051] As shown in Figure 5, in at least one arrangement, the interchangeable surgical tool kit 1000 includes a tool frame assembly 1200 comprising a tool chassis 1210 that operationally supports a nozzle assembly 1240 therein. As further discussed in detail in the US patent application, entitled SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER, power of attorney document number END8209USNP / 170097, filed on the same date hereof, which is hereby incorporated by reference in its entirety for reference in the present invention, the tool chassis 1210 and the nozzle arrangement 1240 facilitate the rotation of the surgical end actuator 1500 about a geometric axis of the drive shaft SA in relation to the tool chassis 1210. Such rotational displacement is represented by the arrow R in Figure 1. As also shown in Figures 4 and 5, the interchangeable surgical tool set 1000 includes a central column assembly 1250 that operationally supports the proximal closing tube 1910 and is coupled to the surgical end actuator 1500. In various circumstances , to facilitate assembly, the central speaker assembly 1250 can be manufactured from a segment the upper center column 1251 and a lower center column segment 1252 which are interconnected together by snap-fit, adhesive, welding, etc. In assembled form, the center column assembly 1250 includes a proximal end 1253 that is swiveled on the tool chassis 1210. In one arrangement, for example, the proximal end 1253 of the center column assembly 1250 is attached to a dorsal bearing (not shown) that is configured to be supported within the tool chassis 1210. This arrangement facilitates the swiveling attachment of the center column assembly 1250 to the tool chassis, so that the center column assembly 1250 can be selectively rotated around an axis of the SA drive shaft in relation to the tool chassis 1210.
[0052] [0052] As shown in Figure 4, the upper center column segment 1251 ends in an upper projection assembly feature 1260 and the lower center column segment 1252 ends in a lower projection assembly feature 1270. The assembly feature of upper projection 1260 is formed with a projection slit 1262 in it which is adapted to support a mountable upper connection link 1264 therein. Similarly, the lower projection assembly feature 1270 is formed with a projection slit 1272 in it which is adapted to mount a lower assembly link 1274 thereon. The upper link 1264 includes a pivot socket 1266 in which it is displaced from the axis of the drive shaft SA. The pivot socket 1266 is adapted to pivot a pivot pin 1634 which is formed in a cap retainer or channel anvil 1630 which is fixed to a proximal end portion 1610 of the elongated channel 1602. The link of lower assembly 1274 includes a lower pivot pin 1276 which is adapted to be received within a pivot hole 1611 formed in the proximal end portion 1610 of the elongated channel 1602. The lower pivot pin 1276, as well as the pivot hole 1611 is displaced in relation to the drive shaft SA geometric axis. The lower pivot pin 1276 is vertically aligned with the pivot socket 1266 to define the AA pivot geometry axis around which the surgical end actuator 1500 can pivot in relation to the SA drive shaft geometry axis. See Figure 1. Although the hinge axis AA is transversal to the hinge axis of the drive shaft SA, in at least one arrangement, the hinge axis AA is laterally displaced from it and does not cross the hinge axis. drive system.
[0053] [0053] Returning to Figure 5, a proximal end 1912 of the proximal closing tube 1910 is rotationally coupled to a closing hook 1914 by a connector 1916 which is seated in an annular groove 1915 in the proximal closing tube segment
[0054] [0054] The trigger drive system 530 in the handle set 500 is configured to be operationally coupled to a trigger system 1300 that is operationally supported in the interchangeable surgical tool set 1000. The trigger system 1300 can include an intermediate portion of trigger drive axis 1310 which is configured to be axially moved in the distal and proximal directions in response to the corresponding trigger movements applied to it by the trigger drive system 530. See Figure 4. As shown in Figure 5, a proximal end 1312 of the trigger drive shaft 1310 intermediate portion has a trigger drive shaft fixation protrusion 1314 formed therein that is configured to be seated on a fixation base 544 (Figure 3) which is located at the distal end of the member movable drive system 540 of the trigger drive system 530 within the handle assembly adura 500. This arrangement facilitates the axial movement of the intermediate portion of the trigger drive shaft 1310 by actuation of the trigger drive system 530. In the example shown, the intermediate portion of the trigger drive shaft 1600 is configured for attachment to a distal cut portion or knife bar
[0055] [0055] In the illustrated example, the surgical end actuator 1500 is selectively pivotable about the geometric hinge axis AA by a hinge system 1360. In one form, hinge system 1360 includes proximal hinge driver 1370 that is coupled to pivoting mode to a pivot link 1380. As can be seen more particularly in Figure 4, a displacement fixing protrusion 1373 is formed at a distal end 1372 of the proximal pivot driver 1370. A pivot hole 1374 is formed in the protrusion of displacement fixation 1373 and is configured to pivotally receive a proximal connecting pin 1382 formed at the proximal end 1381 of the pivot link 1380. A distal end 1383 of the pivot link 1380 includes a pivot hole 1384 which is configured to receive from pivoting mode therein a channel pin 1618 formed at the proximal end portion 1610 of the elongated channel 1602. Thus, the movement axial part of the proximal articulation actuator 1370 will thus apply articulation movements to the elongated channel 1602 to thereby cause the surgical end actuator 1500 to articulate around the geometric articulation axis AA in relation to the central column assembly 1250. In many circumstances, the 1370 proximal articulation trigger can be held in position by the 1390 articulation lock when the 1370 proximal articulation trigger is not being moved in the proximal or distal directions. Additional details related to an exemplary form of the 1390 joint lock can be found in the US patent application, SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME, power of attorney document number END8217USNP / 170102, filed on the same date as this document , the description of which is hereby incorporated by reference in the present invention.
[0056] [0056] In addition to the above, the interchangeable surgical tool set 1000 may include a set of displacer 1100 that can be configured to selectively and releasably couple the proximal articulation driver 1310 to the firing system 1300. As shown in Figure 5 , for example, shifter assembly 1100 includes a locking collar or locking sleeve 1110 positioned around the intermediate portion of the firing drive shaft 1310 of the firing system 1300, where the locking sleeve 1110 can be rotated between a engaged position, in which the locking sleeve 1110 operationally couples the proximal articulation actuator 1370 to the firing member 1300, and a disengaged position, in which the proximal articulating actuator 1370 is not operationally coupled to the firing member 1300 When locking sleeve 1110 is in its engaged position, distal movement of firing member assembly 1300 may move dis specifically the proximal articulation actuator 1370 and, correspondingly, the proximal movement of the firing member assembly 1300 can proximally move the proximal articulation actuator 1370. When the locking sleeve 1110 is in its disengaged position, the movement of the firing member 1300 is not transmitted to the proximal pivot trigger 1370 and, as a result, the firing member 1300 assembly can move independently of the proximal pivot trigger 1370. In various circumstances, the proximal pivot trigger 1370 can be maintained in position by hinge lock 1390 when the proximal hinge driver 1370 is not being moved in the proximal or distal direction by the trigger member assembly 1300.
[0057] [0057] In the illustrated arrangement, the intermediate portion of the firing drive shaft 1310 of the firing member assembly 1300 is formed with two opposing flat sides with a driving notch 1316 formed there. See Figure 5. As can also be seen in Figure 5, locking sleeve 1110 comprises a cylindrical, or at least substantially cylindrical, body that includes a longitudinal opening that is configured to receive the trigger drive shaft intermediate portion. 1310 through it. The locking sleeve 1110 can comprise locking protrusions diametrically opposite and facing inwards which, when the locking sleeve 1110 is in a position, are received in an engaging manner within the corresponding portions of the drive notch 1316 in the intermediate portion of the drive shaft trigger 1310 and, when in another position, are not received inside the drive slot 1316 to allow, thus, the relative axial movement between the locking sleeve 1110 and the intermediate trigger drive shaft 1310. As can be seen in Figure 5, the locking sleeve 1110 additionally includes a locking member 1112 that is sized to be movably received within a notch 1375 at a proximal end of the proximal pivot driver 1370. Such an arrangement allows the locking sleeve 1110 to rotate slightly in and out of the engagement with the intermediate portion of the trigger drive shaft 1310, while remaining in position to engage or engage with notch 1375 on the proximal pivot drive 1370. More particularly, when locking sleeve 1110 is in its engaged position, the locking projections are positioned within the drive notch 1316 defined in the intermediate portion of the firing drive shaft 1310, so that a distal pushing force and / or a proximal pulling force can be transmitted from the firing member assembly 1300 to the locking sleeve 1110. Such a pushing movement or Axial traction is then transmitted from the locking sleeve 1110 to the proximal pivoting actuator 1370, thus pivoting the surgical end actuator 1500. In effect, the firing member assembly 1300, the locking sleeve 1110 and the actuator proximal articulation 1370 will move together when locking sleeve 1110 is in its engaged (articulation) position.
[0058] [0058] In the illustrated example, the relative movement of the locking sleeve 1110 between its engaged and disengaged positions can be controlled by the shifter assembly 1100 that interfaces with the proximal closing tube 1910. Still with reference to Figure 5, the set of Shifter 1100 additionally includes a shifter key 1120 that is configured to be slidably received within a key groove formed at the outer perimeter of the locking sleeve 1110. Such an arrangement allows shifter key 1120 to move axially with respect to the sleeve locking
[0059] [0059] In an arrangement, for example, when the proximal closing tube 1910 is in a non-actuated configuration (anvil 1810 is in an open position spaced in the opposite direction to the cartridge mounted in the elongated channel 1602) the actuation of the intermediate portion of firing drive axis 1310 will result in axial movement of the proximal pivot actuator 1370 to facilitate pivoting the end actuator 1500. Once the user has pivoted the surgical end actuator 1500 to a desired orientation, the user can then act on proximal closing tube portion 1910. The actuation of the proximal closing tube portion 1910 will result in the distal displacement of the distal closing tube segment 1930 to finally apply a closing motion to the anvil 1810. This distal displacement of the closing tube portion proximal 1910 will result in the cam opening still interacting cam mode with a cam portion of the 1120 shifter switch to thereby cause the shifter key 1120 to rotate the locking sleeve 1110 in an actuating direction. Such rotation of the locking sleeve 1110 will result in the disengagement of the locking protrusions of the drive notch 1316 in the intermediate portion of the trigger drive axis 1310. When in such a configuration, the trigger drive system 530 can be actuated to actuate the intermediate portion of the 1310 trigger drive shaft without activating the 1370 proximal articulation trigger. Additional details related to the operation of the 1130 key drum and locking sleeve 1110, as well as alternative articulation trigger and trigger arrangements that can be employed with the various interchangeable surgical tool sets described herein, can be found in US Patent Application Serial No. 13 / 803,086, now US Patent Application Publication No. 2014/0263541 and US Patent Application No. Serial No. 15 / 019,196 , the integral disclosures of which are hereby incorporated by reference in the present invention.
[0060] [0060] As also illustrated in Figures 5 and 15, the interchangeable surgical tool set 1000 may comprise a slip ring set 1150 that can be configured to conduct electrical energy to and / or from the surgical end actuator 1500 and / or communicate signals to and / or from the surgical end actuator 1500 back to an 1152 integrated circuit board while facilitating the rotational displacement of the drive shaft and end actuator 1500 around the geometric axis of the SA drive axis in relation to to the tool chassis 1210 by rotating the nozzle assembly 1240. As shown in Figure 15, in at least one arrangement, integrated circuit board 1152 includes an integrated connector 1154 that is configured to interface with a slot connector 562 ( Figure 9) that communicates with a microprocessor 560 that is supported on the handle set 500 or robotic system controller, for example. The 1150 slip ring assembly is configured to interface with a 1153 proximal connector that interfaces with the 1152 integrated circuit board. More details on the 1150 slip ring assembly and associated connectors can be found in US Patent Application no. Serial No. 13 / 803,086, currently publication of US Patent Application No. 2014/0263541 and US Patent Application No. Serial No. 15 / 019,196, each of which has been incorporated by reference in its respective entirety as well as in US Patent Application Serial No. 13 / 800,067 entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, currently US Patent Application Serial No. 2014/0263552, which is hereby incorporated by reference in its entirety.
[0061] [0061] An exemplary version of the interchangeable surgical tool set 1000 disclosed in the present invention can be used in connection with a standard (mechanical) surgical clamp cartridge 1400 or a 1700 cartridge that is configured to facilitate cutting the tissue with the limb. knife and seal the cut fabric using radio frequency (RF) energy. Again with reference to Figure 4, a cartridge of the conventional or standard mechanical type 1400 is shown. Such cartridge arrangements are known and may comprise a cartridge body 1402 that is sized and shaped to be removably received and supported in the elongated channel 1602 For example, cartridge body 1402 can be configured to be removably retained by pressure engagement with elongate channel 1602. Cartridge body 1402 includes an elongated slot 1404 to accommodate axial displacement of knife member 1330 through the same. Cartridge body 1402 operationally supports a plurality of clip drivers (not shown) which are aligned in rows on each side of a centrally arranged elongated slot 1404. The drivers are associated with corresponding clip / fastener pockets 1412 that open through the upper platform surface 1410 of the cartridge body 1402. Each of the clamp actuators holds one or more clamps or surgical clamps (not shown) on it. A slide assembly 1420 is supported within a proximal end of cartridge body 1402 and is located proximal to the drivers and fasteners in an initial position when cartridge 1400 is new and not fired. Slider assembly 1420 includes a plurality of inclined or wedge-shaped cams 1422 with each cam 1422 corresponding to a particular line of fasteners or drivers located on one side of slot 1404. Slider assembly 1420 is configured to be placed in contact and driven by knife member 1330, as the knife member is driven distally through the fabric that is trapped between the anvil and the 1410 cartridge platform surface. As the drivers are driven upward toward the surface of the cartridge platform 1410, the fastener (or fasteners) supported on them is driven out of their pockets for staples 1412 and through the fabric that is stuck between the anvil and the cartridge.
[0062] [0062] Still with reference to Figure 4, the anvil 1810, in at least one form, includes an anvil mounting portion 1820 that has a pair of anvil sleeves 1822 that project laterally from it to be received hinged on corresponding trunnion bases 1614 formed on the vertical walls 1622 of the proximal end portion 1610 of the elongated channel 1602. Anvil trunnions 1822 are pivotally retained in their corresponding trunnion bases 1614 by the channel cover or anvil retainer 1630. The anvil mounting portion 1820 is movably or pivotally supported on the elongated channel 1602 for selective pivoting displacement with respect to it around a fixed anvil pivot geometry axis that is transverse to the geometric axis of the drive axis SA. As shown in Figures 6 and 7, in at least one shape, the anvil 1810 includes an anvil body portion 1812 that is manufactured from an electrically conductive metallic material, for example, and has a lower staple forming surface 1813 which has a series of fastener-forming pockets 1814 formed therein on each side of a centrally arranged anvil slot 1815 which is configured to slide the knife member 1330 therein. The anvil slit 1815 opens into an upper opening 1816 that extends longitudinally through the anvil body 1812 to accommodate the anvil engaging features 1336 on the knife member 1330 during firing. When a conventional mechanical surgical clamp / clamp cartridge 1400 is installed in the elongated channel 1602, the clamps / clamps are actuated through the T fabric and in formation contact with the corresponding clamp formation pockets 1814. The anvil body 1812 can have an opening in the upper portion of it to facilitate installation, for example. An anvil cover 1818 can be inserted into it and welded to the anvil body 1812 to close the opening and improve the overall stiffness of the anvil body 1812. As shown in Figure 7, to facilitate the use of the end actuator 1500 in connection with RF 1700 cartridges, the segments facing the fabric 1817 of the bottom fastener forming surface 1813 may have electrically insulating material 1819 in them.
[0063] [0063] In the illustrated arrangement, the interchangeable surgical tool set 1000 is configured with a trigger member locking system, generally designated as 1640. See Figure 8. As shown in Figure 8, the elongated channel 1602 includes a surface lower or lower portion 1620 which has two vertical side walls 1622 projecting from it. A centrally arranged longitudinal channel slot 1624 is formed through the lower portion 1620 to facilitate axial displacement of the knife member 1330 therethrough. The channel slot 1624 opens in a longitudinal passage 1626 that accommodates the channel or foot engagement feature 1338 in the knife member 1330. The passage 1626 serves to define two protruding inwardly extending portions 1628 that serve to engage the portions corresponding to the 1338 channel or foot hitch feature. The triggering member locking system 1640 includes proximal openings 1642 located on each side of channel slot 1624 that are configured to receive corresponding portions of the 1338 channel or foot hitch feature when knife member 1330 is in an initial position. A knife locking spring 1650 is supported at the proximal end 1610 of the elongated channel 1602 and serves to force the knife member 1330 down. As shown in Figure 8, knife lock spring 1650 includes two distally terminating spring arms 1652 which are configured to engage corresponding center channel engaging features 1337 with knife body 1332. Spring arms 1652 are configured to tilt the 1337 center channel hitch features down. In this way, when in the initial (not fired) position, knife member 1330 is angled down so that channel or foot engagement features 1338 are received into the corresponding proximal openings 1642 in the elongated channel.
[0064] [0064] Still referring to Figure 8, the trigger member locking system 1640 also includes an unlocking assembly 1660 formed or supported at a distal end of the trigger member body 1332. The unlocking assembly 1660 includes a protrusion that distally extends 1662 which is configured to engage an unlocking feature 1426 formed in the slide assembly 1420 when the slide assembly 1420 is in its initial position in an untapped surgical staple cartridge 1400. Thus, when a surgical staple cartridge not fired 1400 is properly installed in the elongated channel 1602, the projection 1662 on the unlocking set 1660 comes into contact with the unlocking feature 1426 on the slide assembly 1420 which serves to tilt the knife member 1330 upwards, so that the features central channel hitch 1137 and / or foot 1338 clean the vertical projections 1654 at the bottom of channel 1620 to facilitate ironing axial groove of knife member 1330 through elongate channel 1602. If a partially fired cartridge 1400 is inadvertently installed in the elongated channel, slide assembly 1420 will not be in the home position and knife member 1330 will remain in the locked position.
[0065] [0065] The attachment of the interchangeable surgical tool set 1000 to the handle set 500 will now be described with reference to Figures 3 and 9. To start the coupling process, the doctor can position the tool frame 1210 of the interchangeable surgical tool set 1000 above or adjacent to the distal end of the grip structure 506 so that the tapered clamping portions 1212 formed on the tool chassis 1210 are aligned with the slot slots 507 in the grip structure 506. The physician can then move the assembly of an interchangeable surgical tool 1000 along an installation axis IA which is perpendicular to the drive axis SA to seat the tapered clamping portions 1212 in "operational engagement" with the corresponding receiving slots 507 at the distal end of the grip
[0066] [0066] During a typical surgical procedure, the doctor can introduce the surgical end actuator 1500 into the surgical site through a trocar or other opening in the patient to access the target tissue. In doing so, the physician typically axially aligns the surgical end actuator 1500 along the geometric axis of the drive shaft SA (non-articulated state). Once the surgical end actuator 1500 passes through the trocar port, for example, the physician may need to articulate the end actuator 1500 to advantageously position it adjacent to the target tissue. That is, before closing the anvil 1810 on the target tissue, so that the closing drive system 510 remains unactivated. When in this position, actuation of the trigger drive system 530 will result in the application of joint movements to the proximal articulation driver 1370. Once the end actuator 1500 has reached the desired articulated position, the trigger drive system 530 is deactivated and the hinge lock 1390 can hold the surgical end actuator 1500 in the hinged position. The physician can then actuate the closing drive system 510 to close the anvil 1810 on the target tissue. Such actuation of the closing drive system 510 may also result in the displacement assembly 1100 which detaches the proximal articulation driver 1370 from the intermediate portion of the trigger drive axis 1310. Thus, once the target tissue was captured in the actuator of surgical end 1500, the physician can again activate the trigger drive system 530 to axially advance the trigger member 1330 through the surgical clamp / clamp cartridge 1400 or RF cartridge 1700 to cut the clamped tissue and fire the clamps / clamps into the cutting fabric T. Other closing and trigger actuating arrangements, actuator arrangements (portable, manual and automated or robotic) can also be employed to control the axial movement of the closing system components, joint system components and / or trigger system components of the surgical tool set 1000 without departing from the scope this description.
[0067] [0067] As indicated above, the surgical tool set 1000 is configured to be used in conjunction with conventional mechanical surgical clamp / clamp cartridges 1400, as well as with RF 1700 cartridges. In at least one way, the 1700 cartridge can facilitate the mechanical cutting of the fabric that is stuck between the anvil 1810 and the RF cartridge 1700 with the knife member 1330, while the electric coagulation current is applied to the fabric in the current path. Alternative arrangements for mechanically cutting and coagulating tissue using electrical current are disclosed, for example, in US Patent applications No. 5,403,312; No. 7,780,663 and patent application No. US 15 / 142,609, entitled ELECTROSURGICAL INSTRUMENT WITH ELECTRICALLY CONDUCTIVE GAP SETTING AND TISSUE
[0068] [0068] As shown in Figures 10 to 12, in at least one arrangement, the RF surgical cartridge 1700 includes a cartridge body 1710 that is sized and shaped to be received and removably supported in the elongated channel 1602. For example, the cartridge body 1710 can be configured to be removably retained by pressure engagement with the elongated channel 1602. In various arrangements, the cartridge body 1710 can be manufactured from a polymeric material, such as a thermoplastic engineering materials such as Vectra ™ liquid crystal polymer (LCP) and elongated channel 1602 can be manufactured from metal. In at least one aspect, the cartridge body 1710 includes an elongated centrally arranged slot 1712 that extends longitudinally through the cartridge body to accommodate the longitudinal displacement of the knife 1330 therethrough. As shown in Figures 10 and 11, a pair of locking engagement tails 1714 extends proximally from the cartridge body 1710. Each locking engagement tail 1714 has a locking block 1716 formed on the underside of it that is sized to be received within a corresponding proximal opening portion 1642 at the channel bottom 1620. Thus, when the cartridge 1700 is properly installed in the elongated channel 1602, the locking engagement tails 1714 cover openings 1642 and projections 1654 to retain the knife 1330 in an unlocked position ready for firing.
[0069] [0069] Now with reference to Figures 10 to 13, in the illustrated example, the cartridge body 1710 is formed with a centrally arranged high electrode block 1720. As can be seen more particularly in Figure 6, the elongated slot 1712 extends through from the center of the electrode block 1720 and serves to divide the block 1720 into a left block segment 1720L and a right block segment 1720R.
[0070] [0070] In at least one arrangement, the RF energy is supplied to the surgical tool set 1000 by a conventional RF generator 400 via a supply lead 402. In at least one arrangement, the supply conductor 402 includes a set male plug 406 that is configured to be plugged into corresponding female connectors 410 that are attached to a segmented RF circuit 1160 on an 1152 integrated circuit board. See Figure 15. This arrangement facilitates the rotational displacement of the shaft end actuator drive 1500 around the axis of the drive shaft SA in relation to the tool chassis 1210 by rotating the nozzle assembly 1240 without winding the supply conductor 402 of the generator 400. An integrated on / off switch 420 is supported in the assembly locking 1280 and on the tool chassis 1210 to turn the RF generator on and off. When tool set 1000 is operationally coupled to handle set 500 or robotic system, the integrated segmented RF circuit 1160 communicates with microprocessor 560 through connectors 1154 and 562. As shown in Figure 1, handle set 500 can also include a display screen 430 for viewing information about sealing progress, stapling, knife location, cartridge status, fabric, temperature, etc. As can also be seen in Figure 15, the slip ring assembly 1150 interfaces with a distal connector 1162 that includes a flexible drive shaft strip or circuit assembly 1164 that can include a plurality of narrow electrical conductors 1166 for activities related to stapling and wider 1168 electrical conductors used for RF purposes. As shown in Figures 14 and 15, the flexible drive shaft circuit strip 1164 is centrally supported between the laminated plates or bars 1322 that form knife bar 1320. This arrangement facilitates sufficient flexing of knife bar 1320 and the strip of flexible drive shaft circuit 1164 during articulation of end actuator 1500 while remaining sufficiently rigid to allow knife member 1330 to be distally advanced through the trapped tissue.
[0071] [0071] Again with reference to Figure 10, in at least one illustrated arrangement, the elongated channel 1602 includes a channel circuit 1670 supported in a recess 1621 that extends from the proximal end 1610 of the elongated channel 1602 to a distal location 1623 in the lower portion of the elongated channel 1620. The channel circuit 1670 includes a proximal contact portion 1672 that contacts a distal contact portion 1169 of the flexible drive shaft circuit strip 1164 for electrical contact therewith. A distal end 1674 of the channel circuit 1670 is received within a corresponding wall recess 1625 formed in one of the channel walls 1622 and is folded over and attached to an upper edge 1627 of the channel wall 1622. A series of corresponding exposed contacts 1676 are provided at the distal end 1674 of channel circuit 1670, as shown in Figure. 10. As can also be seen in Figure 10, one end 1752 of a flexible cartridge circuit 1750 is attached to the distal integrated chip 1740 and is affixed to the distal end portion of the cartridge body 1710. Another end 1754 is folded over the edge from the 1711 cartridge platform surface and includes exposed contacts 1756 configured to make electrical contact with the exposed contacts 1676 of the 1670 channel circuit. Thus, when the RF cartridge 1700 is installed in the elongated channel 1602, the electrodes, as well as the distal integrated microcircuit 1740 are fed and communicate with the integrated circuit board 1152 through the contact between the flexible cartridge circuit 1750, the flexible channel circuit 1670, the flexible drive shaft circuit 1164 and slip ring assembly 1150.
[0072] [0072] Figures 16A and 16B are a block diagram of a control circuit 700 of surgical instrument 10 of Figure 1 which comprises two drawing sheets according to one aspect of this description. Referring mainly to Figures 16A and 16B, a handle assembly 702 can include an engine 714, which can be controlled by an engine driver 715 and can be employed by the trigger system of the surgical instrument 10. In several ways, the engine 714 it can be a direct current (DC) motor with brushes with a maximum rotation speed of approximately 25,000 RPM. In other arrangements, the 714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 715 may comprise an H bridge starter comprising field effect transistors (FETs) 719, for example. The motor 714 can be powered by the power set 706 removably mounted on the handle set 500 to supply control power to the surgical instrument 10. The power set 706 may comprise a battery that may include several battery cells connected in series, which can be used as the energy source to energize the surgical instrument 10. In certain circumstances, the battery cells in the 706 power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries that can be separably coupled to the 706 power pack.
[0073] [0073] The drive shaft assembly 704 can include a drive shaft controller 722 that can communicate with a safety controller and a power management controller 716 through an interface, while the drive shaft assembly 704 and the supply set 706 are coupled to the handle 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 corresponding electrical driveshaft assembly connectors and a second interface portion 727 which may include one or more connectors for coupling coupling with the corresponding electrical connectors of the power supply to enable electrical communication between the drive shaft assembly controller 722 and the power management controller 716 while the drive shaft assembly 704 and the supply set 706 s They are coupled to the handle assembly 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the fixed interchangeable drive shaft assembly 704 to the power management controller
[0074] [0074] The interface can facilitate the transmission of one or more communication signals between the power management controller 716 and the drive shaft assembly controller 722 by routing these communication signals through a main controller 717 located in the assembly handle grip 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 through the handle assembly 702, while the drive shaft assembly 704 and the drive assembly 706 are coupled to the handle assembly 702.
[0075] [0075] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one respect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, memory 2 KB electrically erasable programmable read-only (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more analog to digital converters ( 12-bit ADC) with 12 analog input channels, details of which are available for the product data sheet.
[0076] [0076] 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 from 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.
[0077] [0077] 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 can 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 handle assembly 702. The power management controller 716 can be programmed to control the power modulator 738 from the power output of the power set 706 and the current sensor circuit 736 can be employed to monitor the power output of the power set 706 to provide feedback to the power management controller 716 on the battery power output so that the 716 power management controller can adjust the power output and power supply 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.
[0078] [0078] The surgical instrument 10 (Figures 1 to 5) 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, a monitor with an LCD screen, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices ( eg haptic actuators). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument 10 via output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. Output device 742 can, in instead, be integrated with the supply set 706. In these circumstances, the communication between the output device 742 and the drive shaft assembly controller 722 can be made through the interface, while the drive shaft assembly 704 is coupled to the handle assembly 702.
[0079] [0079] 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 motor segment , and a feed segment. Each of the circuit segments can be coupled to the safety controller and / or to the 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 a printed circuit board (PCBA) assembly inside the energized surgical instrument
[0080] [0080] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. Input from the accelerometer can be used to transition to and from a suspend mode, identify the orientation of the energized surgical instrument, 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.
[0081] [0081] 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 display may comprise any suitable display, such as an organic light-emitting diode (OLED) display, a liquid crystal display (LCD), and / or any other suitable display. In some examples, the screen segment is coupled to the safety controller.
[0082] [0082] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft assembly 500 coupled to surgical instrument 10 (Figures 1 to 5) and / or one or more controls for an end actuator 1500 coupled to the interchangeable drive shaft assembly 500. 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), a toggle switch, a drive shaft release Hall effect switch, and a drive shaft PCBA EEPROM memory. . The drive shaft PCBA EEPROM memory comprises one or more parameters, routines, and / or programs specific to the interchangeable drive shaft assembly 500 and / or the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 500 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 500 and / or end actuators 1500 that can interface with the energized surgical instrument 10.
[0083] [0083] The position encoder segment (segment 6)
[0084] [0084] The motor circuit segment (segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 5). 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.
[0085] [0085] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of motor 714 to main controller 717. Main controller 717 provides a high pulse width modulation (PWM) signal ), 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.
[0086] [0086] The power 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, such as , for example, up to 13 V. The voltage amplification 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.
[0087] [0087] 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 5), of the segmented circuit, and / or indicate a surgical instrument status 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 side left pivot for the right side, one for the right pivot 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 500 (Figures 1 and 3) and / or the end actuator 300 (Figures 1 and 4). A reverse key on the left and a reverse key on the right side are coupled to the main controller 717. The keys on the left side which comprise the key on the left pivot side for the left side, the key on the right pivot side for the left side , the central hinge key for the left side and the reverse key for the left side are coupled to the primary controller 717 by a flexing connector on the left. The keys on the right side comprising the key on the left pivot side for the right side, the key on the right pivot side for the right side, the central pivot key for the right side, and the reverse key on the right side are coupled main controller 717 via a right-hand flex connector. A trip key, a clamping release key, and a key attached to the drive shaft are coupled to the main controller 717.
[0088] [0088] Any suitable mechanical, electromechanical, or solid state switches can be used to implement the plurality of switches, 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 5) 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 (MR) devices, giant magnetoresistive devices ("GMR" - giant magneto-resistive), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). Other switches may include switches without an electrical conductor, ultrasonic switches, accelerometers, inertia sensors, among others.
[0089] [0089] Figure 17 is another block diagram of the control circuit 700 of the surgical instrument of Figure 1 that illustrates the interfaces between the handle assembly 702 and the feed assembly 706 and between the handle assembly 702 and the shaft assembly interchangeable drive 704, in accordance with an aspect of the present description. The handle assembly 702 can comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector
[0090] [0090] The surgical instrument 10 (Figures 1 to 5) can comprise an output device 742 for sensory feedback to a user. Such devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example, actuators haptic). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument 10 via output device 742. Interface 727 can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. Output device 742 can be integrated with the supply set 706. Communication between the output device 742 and the drive shaft assembly controller 722 can be made through interface 725 while the interchangeable drive shaft assembly 704 is coupled to the handle assembly 702. Having described a control circuit 700 (Figures 16A, 16B and 6) to control the operation of the surgical instrument 10 (Figures 1 to 5), the description now turns to various configurations of the surgical instrument 10 (Figures 1 to 5) and to the control circuit 700.
[0091] [0091] Figure 18 is a schematic diagram of a surgical instrument 600 configured to control various functions according to an aspect of the present description. In one aspect, the surgical instrument 600 is programmed to control the distal translation of a displacement member, such as the I-profile beam 614. The surgical instrument 600 comprises an end actuator 602 that can comprise an anvil 616, a beam with I-614 profile and a removable staple cartridge 618 that can be interchanged with an RF 609 cartridge (shown in dashed line). The end actuator 602, the anvil 616, the I-beam profile 618 and the RF cartridge 609 can be configured as described here, for example, in relation to Figures 1 to 15. For brevity and clarity of the description, several aspects of the present description can be described with reference to Figure 18. It will be understood that the components shown schematically in Figure 18 such as control circuit 610, sensors 638, position sensor 634, end actuator 602, beam with I-profile 614, cartridge staples 618, RF cartridge 609, anvil 616, are described in connection with the
[0092] [0092] Consequently, the components represented schematically in Figure 18 can be readily replaced by the equivalent physical and functional components described in connection with Figures 1 to 17. For example, in one aspect, the control circuit 610 can be implemented as the circuit control 700 shown and described together with Figures 16 and 17. In one aspect, sensors 638 can be implemented as a limit switch, an electromechanical device, solid state switches, Hall effect devices, magneto-resistive devices (MR ) giant magneto-resistive devices (GMR), magnetometers, among others. In other implementations, 638 sensors can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). In other implementations, 638 sensors can include driverless electric switches, ultrasonic switches, accelerometers, inertia sensors, among others. In one aspect, the 634 position sensor can be implemented as an absolute positioning system, comprising an absolute, rotary and magnetic positioning system implemented as a single-chip, magnetic, rotary position sensor, AS5055EQFT, available from Austria Microsystems, AG. The position sensor 634 can interface with the control circuit 700 to provide an absolute positioning system. The position can include multiple Hall effect elements located above a magnet and coupled to a CORDIC processor (for Digital Computer for Coordinate Rotation), also known as the digit by digit method and Volder algorithm, which is provided to implement an algorithm simple and efficient to calculate hyperbolic and trigonometric functions that require only addition, subtraction, bit shift and lookup table operations. In one aspect, end actuator 602 can be implemented as a surgical end actuator 1500 shown and described in connection with Figures 1, 2 and 4. In one aspect, the I-profile beam 614 can be implemented as the member knife body 1330 comprising a knife body 1332 which operationally supports a tissue cutting blade 1334 therein and may additionally include flaps or anvil engaging features 1336 and channel engaging features or a foot 1338 as shown and described in connection with Figures 2 to 4, 8, 11 and 14. In one aspect, the staple cartridge 618 can be implemented as the standard (mechanical) surgical clamp cartridge 1400 shown and described in connection with Figure 4. In one aspect , the RF 609 cartridge can be implemented as the radio frequency (RF) 1700 cartridge shown and described in connection with Figures 1, 2, 6 and 10 to 13. In one aspect, the anvil 616 can be implemented with the anvil 1810 shown and described in connection with Figures 1, 2, 4 and 6. These and other sensor arrangements are described in Commonly Owned US Patent Application No. 15 / 628,175, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF
[0093] [0093] The position, movement, displacement and / or translation of a linear displacement member, such as the beam with I 614 profile, can be measured by an absolute positioning system, sensor arrangement and position sensor represented as the 634 position sensor. Because the I-beam beam 614 is coupled to a longitudinally movable drive member 540, the position of the I-beam beam 614 can be determined by measuring the position of the longitudinally movable drive member 540 with use of the 634 position sensor. Consequently, in the description below, the position, displacement and / or translation of the closing member 614 can be obtained by the position sensor 634, as described in the present invention. A control circuit 610, like the control circuit 700 described in Figures 16A and 16B, can be programmed to control the translation of the displacement member, such as the I-profile beam 614, as described in the present invention. The control circuit 610, in some examples, may comprise one or more microcontrollers, microprocessors, or other suitable processors to carry out instructions that cause the processor or processors to control the displacement member, for example, the I-profile beam 614, in the manner described. In one aspect, a timer / counter circuit 631 provides an output signal, such as elapsed time or a digital count, to control circuit 610 to correlate the beam position with I 614 profile, as determined by the 634 position sensor. , with the timer / counter 631 output so that the control circuit 610 can determine the position of the I-profile beam 614 at a specific time (t) in relation to an initial position. The timer / counter circuit 631 can be configured to measure elapsed time, count external events, or measure external events.
[0094] [0094] Control circuit 610 can generate a 622 motor setpoint signal. The 622 motor setpoint signal can be supplied to a 608 motor controller. The 608 motor controller can comprise one or more circuits configured to provide a motor 624 drive signal to motor 604 to drive motor 604, as described in the present invention. In some examples, motor 604 may be a brushed direct current (DC) electric motor, such as motor 505 shown in Figure 1. For example, the speed of motor 604 may be proportional to the drive signal of motor 624. In In some examples, motor 604 may be a brushless electric (DC) motor and the motor 624 drive signal may comprise a pulse width modulated (PWM) signal supplied to one or more motor stator windings 604. In addition , in some instances, motor controller 608 may be omitted, and control circuit 610 may generate the motor 624 drive signal directly.
[0095] [0095] The 604 motor can receive power from a power source
[0096] [0096] The control circuit 610 can be in communication with one or more sensors 638. The sensors 638 can be positioned on the end actuator 602 and adapted to work with the surgical instrument 600 to measure the various derived parameters such as the gap distance in relation to time, the compression of the tissue in relation to time and the deformation of the anvil in relation to time. The 638 sensors may comprise, for example, a magnetic sensor, a magnetic field sensor, a strain gauge, a pressure sensor, a force sensor, an inductive sensor such as a eddy current sensor, a sensor resistive, a capacitive sensor, an optical sensor, and / or any other sensors suitable for measuring one or more parameters of the end actuator 602. The 638 sensors may include one or more sensors.
[0097] [0097] The one or more 638 sensors may comprise a strain gauge such as, for example, a micro strain gauge, configured to measure the magnitude of strain on the anvil 616 during a stuck condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 638 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 616 and the staple cartridge 618. The sensors 638 can be configured to detect the impedance of a section of tissue located between the anvil 616 and the staple cartridge 618 which is indicative of the thickness and / or completeness of the fabric located between them.
[0098] [0098] The 638 sensors can be configured to measure the forces exerted on the anvil 616 by the closing drive system. For example, one or more sensors 638 may be at a point of interaction between the closing tube 1910 (Figures 1 to 4) and the anvil 616 to detect the closing forces applied by the closing tube 1910 to the anvil 616. The forces exerted on the anvil 616 can be representative of the tissue compression experienced by the section of tissue captured between the anvil 616 and the staple cartridge
[0099] [0099] A current sensor 636 can be used to measure the current drained by the 604 motor. The force required to advance the beam with I-shaped profile 614 corresponds to the current drained by the motor
[00100] [00100] The RF 400 power source is coupled to the end actuator 602 and is applied to the RF 609 cartridge when the RF 609 cartridge is loaded on the end actuator 602 in place of the staple cartridge 618. The control circuit 610 controls the supply of RF energy to the RF 609 cartridge.
[00101] [00101] In some aspects, a circuit system is included in the nozzle assembly that allows a user of the modular surgical instruments described here to manipulate the end actuator directly from the instrumentation contained in the handle assembly. The nozzle assembly may include a built-in circuit board that allows an electrosurgical generator to attach directly to the nozzle assembly and provide radio frequency (RF) energy to the end actuator, while also interfacing with the processor or the control circuit of the handle set. In some respects, the unique nozzle assembly circuit also allows rotation of the drive shaft while still providing power and functionality suitable for the end actuator.
[00102] [00102] In one aspect, the connection of the surgical instrument to a generator allows certain functions of the drive shaft. For example, fixing RF conductors to the generator allows the surgical instrument circuit board to isolate part of the elongated drive shaft integral circuit wiring for RF application to an RF cartridge that can be used interchangeably with cartridges. stapling. The built-in circuit board is a segmented circuit configured to isolate the generator inputs (eg, RF energy, etc.) from the grip's electronic circuits when appropriate. A flexible circuit contains electrical conductors with different geometries to accommodate the transfer of RF energy.
[00103] [00103] Referring to Figure 19, in some respects, the nozzle assembly 1240 that constitutes a modular portion of the surgical tool set 1000 may include a drive shaft module circuit configured to control various functions in the drive shaft assembly, while also communicating with the handle set 500 and allows the RF generator 400 to be controlled from the powered staple handle. In Figure 19, the circuit of Figure 15 is shown in the context of an exemplary nozzle assembly 1240. The circuit, according to some aspects of the present description, includes integrated circuit board 1152 with several connectors. Female connectors 410 are electrically coupled to circuit board 1152, which allows connection to the male plug set 406 that mates with generator 400, not shown.
[00104] [00104] In addition, the integrated on / off power switch 420 is electrically coupled to the circuit board 1152 and positioned so as to be pressed when the nozzle assembly 1240 is attached to the handle assembly 500, according to some aspects. For example, when the nozzle assembly locks in place (see, for example, Figure 9), the on / off power switch 420 can be positioned so that it faces proximally towards the handle assembly and can be pressed as that the nozzle assembly slides into the handle assembly slot through closing link 514 (see Figure 9). In other cases, the on / off power switch 420 is exposed so that it can be pressed manually by an operator of the surgical tool set 1000.
[00105] [00105] The circuit board 1152 includes the integrated connector 1154 configured to interface with the slot connector 562 (see Figure 9) that communicates with the microprocessor 560 contained in the handle set 500. Thus, the handle set 500 is capable of communicating with circuit board 1152 which controls various functions in nozzle assembly 1240. The circuit design in nozzle assembly 1240 allows an operator to perform a variety of functions of various controls in the 500 handle set, such as through the various controls and display consoles available on the 500 handle set.
[00106] [00106] The 1152 circuit board also includes the 1153 proximal connector which is configured to interface with the 1150 slip ring assembly. Power can be supplied to the end actuator even while the drive shaft rotates due to the power being supplied throughout the slip ring assembly 1150 and the distal connector 1162 being in constant contact with the slip ring assembly as the flexible drive shaft circuit strip 1164 rotates within the proximal closing tube 1910. The circuit strip of The 1164 drive can include several electrical conductors, such as the narrow 1166 electrical conductors for stapling-related activities and the wider 1168 electrical conductors for RF purposes (see Figure 15).
[00107] [00107] Based on the various components described in the nozzle set 1240, circuit 1152 can be configured to control the RF generator 400 from the powered handle set 500, allowing communication with the various functions and interfaces of the handle set 500, and to allow the operation of the RF functions and stapling of the end actuator of the handle set 500. Other functions may include controlling a type of algorithm to perform various surgical procedures and energy applications on the end actuator, allowing for the functionality of visible warning on the handle assembly 500 of any part of the nozzle assembly 1240, and variable energy modulation of the RF generator 400. In some respects, circuit board 1152 can be programmed to facilitate these functions, while in other cases the 1154 integrated connector can allow the handle assembly circuit to be programmed to facilitate these functions and the pl circuit 1152 is configured to communicate with the end actuator accordingly.
[00108] [00108] In some respects, the built-in circuit includes the segmented RF circuit 1160, which can allow RF energy from generator 400 to be supplied to the flexible drive circuit range through the slip ring assembly (see, for example , Figure 15). The RF generator can be coupled to the integrated circuit board 1152 via the segmented RF circuit 1160. The on / off power switch 420 can be similarly connected to the segmented RF circuit 1160.
[00109] [00109] Figure 20 illustrates a block diagram of a 3200 surgical system programmed to communicate control and energy signals with a 3250 end actuator according to one aspect of this description. In an exemplary aspect, the 3200 surgical system may include a 3210 control circuit (for example, microprocessor 560, segmented RF circuit 1160, or distal integrated microcircuit 1740) that has an electrosurgical energy control segment (or a control segment 3220 drive shaft control segment (Segment 5), motor circuit segment (Segment 7), or power segment (Segment 8)). The 3210 control circuit can be programmed to supply electrosurgical energy (for example, RF energy) to the electrodes on the 3250 end actuator (for example, the 1500 end actuator). The 3200 surgical system may include one or more 3260 electrical conductors (for example, 1168 electrical conductors) used to supply electrosurgical energy, from a 3240 electrosurgical energy generator (for example, the RF 400 generator), to the actuator. 3250 end. The one or more 3260 electrical conductors can also be electrically connected between the 3250 end actuator and the 3210 control circuit (for example, the 3220 electrosurgical power control segment and the 3230 drive shaft control segment) .
[00110] [00110] The 3220 electrosurgical energy control segment can be programmed to supply electrosurgical energy to the electrodes through one or more 3260 electrical conductors. In an exemplary aspect, the 3230 drive shaft control segment can be programmed to provide and / or receive a control signal to / from end actuator 3250 (and / or surgical tool set 1000, drive shaft set 704) through one or more electrical conductors 3260. That is, the one or more 3260 electrical conductors can be used not only to supply electrosurgical energy to the 3250 end actuator, but also to communicate control signals with the 3250 end actuator. In an exemplary aspect, at least some portions of the electrosurgical energy control segment 3220 and the drive shaft control segment 3230 can be electrically isolated from each other.
[00111] [00111] In an exemplary aspect, the 3220 electrosurgical energy control segment can electrically isolate one or more 3260 electrical conductors from the 3230 drive shaft control segment, for example, when it supplies the electrosurgical energy to the electrodes in the actuator end 3250 through one or more electrical conductors 3260. In an exemplary aspect, the electrosurgical energy control segment 3220 can control a switch 3270 located between the one or more electrical conductors 3260 and the drive shaft control segment 3230 by means of providing a signal via a 3280 control line to electrically isolate one or more 3260 electrical conductors from the 3230 drive shaft control segment. The 3270 switch can be configured to switch between an open state and a closed state. The drive shaft control segment 3230 and the one or more electrical conductors 3260 can be electrically isolated when the switch 3270 is in the open state, and can be in electrical communication when the switch 3270 is in the closed state. In another exemplary aspect, the 3220 electrosurgical energy control segment can electrically isolate one or more 3260 electrical conductors from the 3230 drive shaft control segment in any other suitable manner. Other configurations of the 3270 switch may allow the electrical isolation of one or more 3260 electrical conductors from the 3230 drive shaft control segment by closing the 3270 switch.
[00112] [00112] In an exemplary aspect, the 3220 electrosurgical energy control segment can electrically isolate one or more 3260 electrical conductors from the 3230 drive shaft control segment when the 3210 control circuit detects that the 3240 electrosurgical energy generator is connected to the 3265 connector (for example, female connectors 410), for example, by continuously checking the 3265 connector or detecting the application of electrosurgical energy. For example, when the male plug set 406 is plugged into the female connectors 410, the electrosurgical energy control segment 3220 can isolate the electrical conductors 3260 from the drive shaft control segment 3230. In another exemplary aspect, the control segment electrosurgical power 3220 can electrically isolate one or more 3260 electrical conductors from the 3230 drive shaft control segment when electrosurgical energy is supplied to the 3250 end actuator or under any other suitable condition.
[00113] [00113] In an exemplary aspect, the surgical system may include one or more 3290 electrical conductors (for example, 1166 electrical conductors) used to operate the 3250 end actuator (and / or the surgical tool set 1000, the shaft assembly actuator 704). In an exemplary aspect, one or more 3290 electrical conductors cannot be used to release electrosurgical energy to the 3250 end actuator. The 3230 drive shaft control segment can be programmed to provide and / or receive a control signal to / from the 3250 end actuator via one or more 3290 electrical conductors. In an exemplary aspect, the 3230 drive shaft control segment can use the one or more 3290 electrical conductors to provide and / or receive the control signal to / from the 3250 end actuator while the 3270 switch is in an open state (for example, while the 3220 electrosurgical power control segment is supplying electrosurgical power to the 3250 end actuator via one or more 3260 electrical conductors) . In an exemplary aspect, the drive shaft control segment 3230 can also use the one or more 3290 electrical conductors to supply and / or receive the control signal to / from the 3250 end actuator while the 3270 switch is in a closed state.
[00114] [00114] The 3270 switch can be a transistor switch, a mechanical switch or any other suitable switch. In an exemplary aspect, the control signals communicated between the control circuit 3210 and the end actuator 3250 (and / or the surgical tool set 1000, the drive shaft set 704) through electrical conductors 3260, 3290 include, but are not limited to, signals to drive the 3250 end actuator (and / or the surgical tool set 1000, the drive shaft set 704) in the cutting and / or coagulation operating modes, measure the electrical characteristics of the system surgical 3200 and / or the tissue clamped on the 3250 end actuator, provide feedback to a user of the surgical system, communicate sensor signals and identify certain characteristics of the 3250 end actuator (eg used / unused condition).
[00115] [00115] Consequently, aspects of the present description can advantageously reduce the number of electrical conductors required to communicate control signals between the control circuit
[00116] [00116] The aspects of the surgical instrument can be practiced without the specific details revealed in the present invention. Some aspects were shown as block diagrams instead of details. Parts of this description can be presented in terms of instructions that operate on data stored in a computer's memory. 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 several types of "circuits" electrical ". 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 forming 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 devices described herein), 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 thereof.
[00117] [00117] 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 thereof. In one aspect, several portions of the subject described here can be implemented using application-specific integrated circuits (ASICs), field programmable port arrangements (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates, or other integrated formats. Some aspects disclosed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs operating on one or more computer systems). computer), as one or more programs operating on one or more processors (for example, as one or more programs operating on one or more microprocessors), as firmware, or virtually as any combination thereof, and to design the circuitry and / or writing the code for the software and firmware would be within the scope of practice of a person skilled in the art in the light of this description.
[00118] [00118] 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 to 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 a transmission type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a communications link with an electrical conductor, a communication link without an electrical conductor (for example, example, transmitter, receiver, transmission logic, reception logic, etc.)).
[00119] [00119] 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 in order to illustrate the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with various modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[00120] [00120] Various aspects of the subject described in this document are defined in the following examples:
[00121] [00121] Example 1. Control circuit for a surgical instrument, the control circuit comprising: a drive shaft control segment; an electrosurgical energy control segment; and a connector coupled to the electrosurgical energy control segment configured to be coupled to an electrosurgical generator; the drive shaft control segment is configured to: communicate with a handle portion of the surgical instrument; and receive user action controls; the electrosurgical energy control segment is configured to: detect the connection of the electrosurgical generator to the connector; communicate with the electrosurgical generator; electrically isolate the grip control segment from the electrosurgical energy control segment when the connection of the electrosurgical generator to the connector is detected; and supplying electrosurgical energy from the electrosurgical generator to a portion of the end actuator of the surgical instrument through a first set of electrical conductors.
[00122] [00122] Example 2. Control circuit, according to Example 1, which additionally comprises a first electrical conductor to electrically connect the control circuit to an end actuator; the drive shaft control segment being configured to provide the end actuator with a control signal to operate the end actuator through the first electrical conductor; the electrosurgical energy control segment being configured to supply electrosurgical energy to at least one electrode through the first electrical conductor.
[00123] [00123] Example 3. Control circuit, according to Example 2, the electrosurgical energy control segment being configured to make the electrical isolation between the first electrical conductor and the drive shaft control segment when supplying the electrosurgical energy for at least one electrode located on the end actuator.
[00124] [00124] Example 4. Control circuit, according to Example 3, which additionally comprises an electrically coupled switch between the electrosurgical energy control segment and the drive shaft control segment, the energy control segment being Electrosurgery is configured to electrically isolate the first electrical conductor from the drive shaft control segment by means of the switch control.
[00125] [00125] Example 5. Control circuit, according to Example 4, the electrosurgical energy control segment being configured to electrically isolate the first electrical conductor from the drive shaft control segment by opening the switch.
[00126] [00126] Example 6. Control circuit, according to Example 2, which additionally comprises a second electrical conductor, the drive shaft control segment being configured to supply the control signal to the end actuator via the second electrical conductor and the drive shaft control segment is configured to provide the control signal to the end actuator through the second electrical conductor when the electrosurgical energy control segment is supplying electrosurgical energy to the electrode through the first electrical conductor .
[00127] [00127] Example 7. Control circuit, according to Example 2, with the drive shaft control segment being configured to receive executable instructions for operating the end actuator.
[00128] [00128] Example 8. Control circuit, according to Example 2, with the drive shaft control segment being configured to coordinate a stapling function and an energy application function.
[00129] [00129] Example 9. Control circuit, according to the Example
[00130] [00130] Example 10. Control circuit, according to Example 1, where the drive shaft control segment is configured to transmit instructions to an end actuator.
[00131] [00131] Example 11. Control circuit, according to any one or more of Examples 1 to 10, which additionally comprises a slip ring assembly electrically coupled to the drive shaft control segment and electrically coupled to the control segment of electrosurgical energy.
[00132] [00132] Example 12. Nozzle assembly of a surgical system, the nozzle assembly comprising: a built-in circuit board; a built-in connector coupled to the built-in circuit board and located proximally to the nozzle assembly, the built-in connector being configured to interface with a handle assembly housing connector when the nozzle assembly is attached to the handle assembly; a drive shaft fixation loop located proximally to the nozzle assembly and configured to be coupled to a grip assembly fixing support to secure the nozzle assembly to the handle assembly; and a control circuit comprising: a drive shaft control segment; an electrosurgical energy control segment; and a connector coupled to the electrosurgical energy control segment configured to be coupled to an electrosurgical generator; the drive shaft control segment is configured to: communicate with a handle portion of the surgical instrument; and receive user action controls; the electrosurgical energy control segment is configured to: detect the connection of the electrosurgical generator to the connector; communicate with the electrosurgical generator; electrically isolate the grip control segment from the electrosurgical energy control segment when the connection of the electrosurgical generator to the connector is detected; and supplying electrosurgical energy from the electrosurgical generator to a portion of the end actuator of the surgical instrument through a first set of electrical conductors; the mouthpiece assembly being removable from the handle assembly and attachable to the handle assembly.
[00133] [00133] Example 13. A nozzle assembly, according to Example 12, which further comprises: an electrosurgical generator connector electrically coupled to the embedded circuit board and configured to be coupled to a plug assembly of an electrosurgical generator, of so that the built-in circuit board receives electrosurgical power from the electrosurgical generator.
[00134] [00134] Example 14. Nozzle assembly, according to one or more of Examples 12 to 13, the embedded circuit board being configured to transmit electrosurgical energy to the end actuator through one or more electrical conductors.
[00135] [00135] Example 15. Nozzle assembly, according to one or more of Examples 12 through 14, additionally configured to receive instructions from a handle assembly to an end actuator through an interface between a housing connector of the assembly handle and the built-in nozzle assembly connector.
[00136] [00136] Example 16. Nozzle assembly, according to Example 15, additionally configured to receive instructions from a microprocessor of the handle assembly through the interface between the housing connector and the built-in connector.
[00137] [00137] Example 17. Nozzle assembly, according to any one or more of Examples 12 to 16, wherein the nozzle assembly additionally comprises an electric switch electrically coupled to the embedded circuit board and is configured to enable and disable the electrosurgical energy transmission.
[00138] [00138] Example 18. Nozzle assembly, according to any one or more of Examples 12 to 17, which further comprises a slip ring assembly located distally from the built-in circuit board and configured to interface with the circuit board built-in circuit.
[00139] [00139] Example 19. Nozzle assembly, according to Example 18, which further comprises: a proximal connector coupled to a distal end of the embedded circuit board and a proximal end of the slip ring assembly; a distal connector configured to interface with a distal end of the slip ring assembly and coupled to one or more electrical conductors.
[00140] [00140] Example 20. Nozzle assembly, according to one or more of Examples 12 to 19, which additionally comprises a flexible circuit strip of drive shaft configured to accommodate one or more electrical conductors.
[00141] [00141] Example 21. Nozzle assembly, according to one or more of Examples 12 to 20, wherein the one or more electrical conductors comprise: a first electrical conductor configured to supply power to the end actuator for stapler functionality; a second electrical conductor configured to apply electrosurgical energy to the end actuator for electrosurgical functionality.

权利要求:
Claims (21)
[1]
1. Control circuit for a surgical instrument, characterized by the fact that the control circuit comprises: a drive shaft control segment; an electrosurgical energy control segment; and a connector coupled to the electrosurgical energy control segment configured to be coupled to an electrosurgical generator; the drive shaft control segment is configured to: communicate with a handle portion of the surgical instrument; and receive user action controls; the electrosurgical energy control segment is configured to: detect the connection of the electrosurgical generator with the connector; communicate with the electrosurgical generator; electrically isolate the grip control segment from the electrosurgical energy control segment when the connection of the electrosurgical generator to the connector is detected; and supplying electrosurgical energy from the electrosurgical generator to a portion of the surgical instrument's end actuator through a first set of electrical conductors.
[2]
2. Control circuit, according to claim 1, characterized by the fact that it also comprises a first electrical conductor to electrically connect the control circuit to an end actuator; the drive shaft control segment being configured to provide the end actuator with a control signal to operate the end actuator through the first electrical conductor; and the electrosurgical energy control segment is configured to supply electrosurgical energy to at least one electrode through the first electrical conductor.
[3]
3. Control circuit, according to claim 2, characterized by the fact that the electrosurgical energy control segment is configured to make the electrical isolation between the first electrical conductor and the drive shaft control segment when supplying the electrosurgical energy for at least one electrode located on the end actuator.
[4]
4. Control circuit, according to claim 3, characterized by the fact that it also comprises an electrically coupled switch between the electrosurgical energy control segment and the drive shaft control segment, the electrosurgical energy control segment it is configured to electrically isolate the first electrical conductor from the drive shaft control segment by means of the switch control.
[5]
5. Control circuit, according to claim 4, characterized by the fact that the electrosurgical energy control segment is configured to electrically isolate the first electrical conductor from the drive shaft control segment by opening the switch.
[6]
6. Control circuit, according to claim 2, characterized by the fact that it also comprises a second electrical conductor, the drive shaft control segment being configured to supply the control signal to the end actuator through the second conductor electrical and the drive shaft control segment is configured to provide the control signal to the end actuator through the second electrical conductor when the electrosurgical energy control segment is supplying electrosurgical energy to the electrode through the first electrical conductor.
[7]
7. Control circuit, according to claim 2, characterized by the fact that the drive shaft control segment is configured to receive executable instructions for operating the end actuator.
[8]
8. Control circuit, according to claim 2, characterized by the fact that the drive shaft control segment is configured to coordinate a stapling function and an energy application function.
[9]
9. Control circuit according to claim 1, characterized by the fact that the drive shaft control segment is configured to provide an alert signal.
[10]
10. Control circuit according to claim 1, characterized in that the drive shaft control segment is configured to transmit instructions to an end actuator.
[11]
11. Control circuit, according to claim 1, characterized by the fact that it also comprises a set of sliding ring coupled to the drive shaft control segment and the electrosurgical energy control segment.
[12]
12. Nozzle set of a surgical system, characterized by the fact that the nozzle set characterized by the fact that it comprises: a built-in circuit board; a built-in connector coupled to the built-in circuit board and located proximally to the nozzle assembly, the built-in connector being configured to interface with a handle assembly housing connector when the nozzle assembly is attached to the handle assembly; a drive shaft fixation loop located proximally to the nozzle assembly and configured to be coupled to a grip assembly fixing support to secure the nozzle assembly to the handle assembly; and a control circuit comprising: a drive shaft control segment; an electrosurgical energy control segment; and a connector coupled to the electrosurgical energy control segment configured to be coupled to an electrosurgical generator; the drive shaft control segment is configured to: communicate with a handle portion of the surgical instrument; and receive user action controls; the electrosurgical energy control segment is configured to: detect the connection of the electrosurgical generator with the connector; communicate with the electrosurgical generator; electrically isolate the grip control segment from the electrosurgical energy control segment when the connection of the electrosurgical generator to the connector is detected; and supplying electrosurgical energy from the electrosurgical generator to a portion of the end actuator of the surgical instrument through a first set of electrical conductors; the mouthpiece assembly being removable from the handle assembly and attachable to the handle assembly.
[13]
13. Nozzle assembly according to claim 12,
characterized by the fact that it also comprises: an electrosurgical generator connector electrically coupled to the embedded circuit board and configured to be coupled to a plug set of an electrosurgical generator, so that the embedded circuit board receives electrosurgical energy from the electrosurgical generator.
[14]
14. Nozzle assembly according to claim 12, characterized in that the built-in circuit board is configured to transmit electrosurgical energy to the end actuator through one or more electrical conductors.
[15]
15. Nozzle assembly, according to claim 12, characterized in that it is further configured to receive instructions from a handle assembly for an end actuator through an interface between a handle assembly housing connector and the flush connector the nozzle assembly.
[16]
16. Nozzle assembly, according to claim 15, characterized by the fact that it is further configured to receive instructions from a microprocessor of the handle assembly through the interface between the housing connector and the built-in connector.
[17]
17. Nozzle assembly according to claim 12, characterized in that the nozzle assembly further comprises a power switch electrically coupled to the built-in circuit board and configured to activate and deactivate the transmission of electrosurgical energy.
[18]
18. Nozzle assembly according to claim 12, characterized by the fact that it also comprises a slide ring assembly located distally to the built-in circuit board and configured to interface with the built-in circuit board.
[19]
19. Nozzle assembly according to claim 18,
characterized by the fact that it also comprises: a proximal connector coupled to a distal end of the embedded circuit board and a proximal end of the slip ring assembly; and a distal connector configured to interface with a distal end of the slip ring assembly and coupled to one or more electrical conductors.
[20]
20. Nozzle assembly according to claim 12, characterized by the fact that it also comprises a flexible circuit strip of drive shaft configured to accommodate one or more electrical conductors.
[21]
21. Nozzle assembly according to claim 12, characterized in that the one or more electrical conductors comprise: a first electrical conductor configured to apply energy to the end actuator for stapler functionality; and a second electrical conductor configured to apply electrosurgical energy to the end actuator for electrosurgical functionality.

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同族专利:

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公开号 | 公开日

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EP3420998A1|2019-01-02|

---

US20190000525A1|2019-01-03|

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WO2019002999A1|2019-01-03|

---

CN110831533A|2020-02-21|

---

US11129666B2|2021-09-28|

---

JP2020525183A|2020-08-27|

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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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US15/636,110|US11129666B2|2017-06-28|2017-06-28|Shaft module circuitry arrangements|

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US15/636,110|2017-06-28|

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PCT/IB2018/054113|WO2019002999A1|2017-06-28|2018-06-07|Shaft module circuitry arrangements|

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