robotic surgical instrument with closed loop feedback techniques for advancing closing member during

专利摘要:
The present invention relates to a control system for a robotic surgical system. The control system includes a control circuit configured to determine a closing force applied to a closing member, determining a position of a firing member, and adjusting a new closing force based on the closing force applied to the closing member. and the position of the firing member.
公开号:BR112019026793A2
申请号:R112019026793-0
申请日:2018-06-13
公开日:2020-06-30
发明作者:Frederick E. Shelton Iv；Gregory J. Bakos；Jason L. Harris；Chester O. Baxter Iii；David C. Yates
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] The present invention relates to robotic surgical instruments and, in various circumstances, robotic stapling and cutting surgical instruments, and staple cartridges for them, which are designed to staple and cut fabrics. BACKGROUND OF THE INVENTION
[0002] [0002] In a robotic surgical stapling and motorized cutting instrument, it can be useful to measure the position and speed of a cutting member at an initial time or index to control the speed. Measuring position or speed in relation to a predetermined time or initial displacement can be useful for assessing tissue thickness and for adjusting the speed of the remaining stroke based on such a comparison against a limit. SUMMARY OF THE INVENTION
[0003] [0003] In one aspect, a control system for a robotic surgical system is provided. The control system of a robotic surgical system, the control system comprising: a control circuit configured to: determine a closing force applied to a closing member; determine a firing member's position; and define a new closing force based on the closing force applied to the closing member and the position of the firing member.
[0004] [0004] In another aspect, the control system of a robotic surgical system comprises a first engine configured to be coupled to a closing member; a force sensor configured to measure the closing force applied to the closing member;
[0005] [0005] In another aspect, the control system of a robotic surgical system comprises a control circuit configured to: apply a closing force to a closing member during a closing period; increase in the closing force during a waiting period after the closing period; determining a closing force applied to a closing member; determining a position of a firing member during a firing stroke; and defining a new closing force of the closing member based on the closing force and the position of the firing member. FIGURES
[0006] [0006] Figure 1 is a perspective view of a robotic controller, in accordance with an aspect of the present description.
[0007] [0007] Figure 2 is a perspective view of a robotic surgical arm / handler of a robotic surgical system that operationally supports a plurality of surgical tools, according to an aspect of the present description.
[0008] [0008] Figure 3 is a side view of the car / robotic surgical arm manipulator shown in Figure 2, according to an aspect of the present description.
[0009] [0009] Figure 4 is a perspective view of a surgical instrument, in accordance with an aspect of the present description.
[0010] [0010] Figure 5 is an exploded view of an adapter.
[0011] [0011] Figure 6 illustrates a bottom perspective view of the aspect of the surgical instrument of Figure 4, according to an aspect of the present description.
[0012] [0012] Figure 7 is a partial exploded view of a portion of an articulated surgical end actuator, according to an aspect of the present description.
[0013] [0013] Figure 8 is a rear perspective view of the surgical instrument in Figure 105 with the instrument mounting compartment removed, in accordance with an aspect of the present description.
[0014] [0014] Figure 9 is a front perspective view of the surgical instrument of Figure 6 with the instrument mounting compartment removed, in accordance with an aspect of the present description.
[0015] [0015] Figure 10 is a partial exploded perspective view of the surgical instrument of Figure 6, according to an aspect of the present description.
[0016] [0016] Figure 11A is a side view in partial cross section of the surgical instrument of Figure 6, according to an aspect of the present description.
[0017] [0017] Figure 11B is an enlarged cross-sectional view of a portion of the surgical instrument represented in Figure 11A, according to an aspect of the present description.
[0018] [0018] Figure 12 illustrates an aspect of an end actuator comprising a first sensor and a second sensor, according to an aspect of the present description.
[0019] [0019] Figure 13A illustrates an aspect in which the tissue compensator is removably attached to the anvil portion of the end actuator, in accordance with an aspect of the present description.
[0020] [0020] Figure 13B illustrates a detailed view of a portion of the tissue compensator shown in Figure 13A, according to an aspect of the present description.
[0021] [0021] Figure 13C illustrates several examples of aspects that use the layer of conductive elements, as well as conductive elements in the staple cartridge, to detect the distance between the anvil and the upper surface of the staple cartridge, according to an aspect of this description.
[0022] [0022] Figure 14A illustrates an end actuator comprising integrated conductors, in accordance with an aspect of the present description.
[0023] [0023] Figure 14B illustrates an end actuator comprising integrated conductors, in accordance with an aspect of the present description.
[0024] [0024] Figure 15A illustrates a sectional view of the staple cartridge, in accordance with an aspect of the present description.
[0025] [0025] Figure 15B illustrates a sectional view of the staple cartridge shown in Figure 15A illustrating conductors integrated inside the end actuator, according to an aspect of the present description.
[0026] [0026] Figure 16 illustrates an aspect of a segmented flexible right-left circuit of an end actuator, according to an aspect of the present description.
[0027] [0027] Figure 17 illustrates an aspect of a segmented flexible circuit configured to be fixedly attached to a claw member of an end actuator, in accordance with an aspect of the present description.
[0028] [0028] Figure 18 illustrates an aspect of a segmented flexible circuit configured to be mounted on a clamp member of an end actuator, according to an aspect of the present description.
[0029] [0029] Figure 19 illustrates an aspect of an end actuator configured to measure a GT fabric span, according to an aspect of the present description.
[0030] [0030] Figure 20 illustrates an aspect of an end actuator comprising a segmented flexible circuit, in accordance with an aspect of the present description.
[0031] [0031] Figure 21 illustrates the end actuator shown in Figure 20 with the claw member holding the fabric between the claw member and the staple cartridge, according to an aspect of the present description.
[0032] [0032] Figure 22 illustrates a logical diagram of an aspect of a feedback system, according to an aspect of the present description.
[0033] [0033] Figure 23 illustrates a control circuit configured to control aspects of the robotic surgical system, according to an aspect of the present description.
[0034] [0034] Figure 24 illustrates a combinational logic circuit configured to control aspects of the robotic surgical system, according to an aspect of the present description.
[0035] [0035] Figure 25 illustrates a sequential logic circuit configured to control aspects of the robotic surgical system, according to an aspect of the present description.
[0036] [0036] Figure 26 illustrates a logic diagram of a common control module for use with a plurality of motors of the robotic surgical instrument, according to an aspect of the present description.
[0037] [0037] Figure 27 is a diagram of an absolute positioning system for the surgical instrument in Figure 1, with the system
[0038] [0038] Figure 28 is a diagram of a position sensor comprising a rotating magnetic absolute positioning system, according to an aspect of the present description.
[0039] [0039] Figure 29 is a sectional view of an end actuator of the surgical instrument of Figure 1, showing a course of the firing member in relation to the tissue trapped within the end actuator, according to an aspect of the this description.
[0040] [0040] Figure 30 is a schematic diagram of a robotic surgical instrument configured to operate a surgical instrument described herein, in accordance with an aspect of the present description.
[0041] [0041] Figure 31 is a diagram of a displacement graph representing a plot of the displacement of the closing member as a function of time, a graph of the closing force of the closing member representing a plot of the closing force ( FTC) as a function of time and a plot of the firing force of the firing member representing a plot of the firing force (FTF) as a function of time, according to one aspect of the present description.
[0042] [0042] Figure 32 is a logic flow diagram representing a process of a control program or a logical configuration to determine the speed of a closing member, according to an aspect of the present description. DESCRIPTION
[0043] [0043] The applicant for the present application holds the following patent applications filed simultaneously with the same and which are each incorporated herein by reference in their respective totalities:
[0044] [0044] Figure 1 represents an aspect of a master robotic controller 11 that can be used in connection with a robotic arm servo 100 of the type shown in Figure 2. The master controller 11 and robotic arm servo 100, as well as their respective components and control systems, they are collectively referred to in the present invention as a robotic surgical system 10. Examples of such systems and devices are disclosed in US Patent No. 7,524,320, which is incorporated herein by reference. Master controller 11, in general, includes master controllers (generically represented as 13 in Figure 1) that are held by the surgeon and manipulated in space while the surgeon views the procedure through a stereoscopic screen 12. Master controllers 11, of generally, they comprise manual insertion devices that, preferably, move with multiple degrees of freedom and often have an actionable handle to act the tools (for example, to close the grip saws, apply an electrical potential to an electrode , or similar). Other provisions can provide the surgeon with a feedback meter 15 that can be viewed through screen 12 and provide the surgeon with a visual indication of the amount of force being applied to the cutting instrument or dynamic gripping member. Additional examples are disclosed in US Patent No. 9,237,891, which is incorporated herein by reference.
[0045] [0045] As can be seen in Figure 2, in one form, the robotic arm carriage 100 is configured to act on a plurality of surgical tools, generically designated as 200. Various robotic surgery systems and methods that employ the Master controller and robotic arm carriage provisions are disclosed in US Patent No. 6,132,368, entitled "Multi-Component Telepresence System and Method", the complete description of which is incorporated by reference. In various forms, the surgical arm carriage 100 includes a base 102 from which, in the illustrated aspect, three surgical tools 200 are supported. In various forms, surgical tools 200 are each supported by a series of manually articulated connections, generically called configuration joints 104, and a robotic manipulator 106.
[0046] [0046] Now with reference to Figure 3, in at least one form, robotic manipulators 106 may include a connection 108 that restricts the movement of the surgical instrument 200. In various aspects, connection 108 includes rigid connections coupled to each other by rotating joints in a parallelogram arrangement so that the surgical instrument 200 rotates around a point in space 110, as described in more detail in US Patent No. 5,817,084 granted, the full description of which is here incorporated as a reference. The parallelogram arrangement restricts rotation to pivot around a geometry axis 112a, sometimes called a step geometry axis. The connections that support the connection of the parallelogram are pivotally mounted to configure joints 104 (Figure 2), so that the surgical instrument 200 additionally rotates around a geometry axis 112b, sometimes called the yaw geometric axis. The geometric pitch and yaw axes 112a, 112b intersect at the remote center 114, which is aligned along a drive axis 208 of the surgical instrument 200. The surgical instrument 200 may have additional degrees of freedom driven as supported by the ma - nipulator 106, including a sliding movement of the surgical instrument 200 along the geometric axis of the longitudinal instrument "LT-LT". As the surgical instrument 200 slides along the geometric axis of the LT-LT instrument in relation to the manipulator 106 (arrow 112c), the remote center 114 remains fixed in relation to the base 116 of the manipulator 106. Therefore, the entire manipulator is, generally moved to reposition remote center 114. Link 108 of handler 106 is driven by a series of motors 120. These motors actively move link 108 in response to commands from a processor in a control system . As will be discussed in more detail below, motors 120 are also used to handle surgical instrument 200.
[0047] [0047] Figure 4 is a perspective view of a surgical instrument 200 that is adapted for use with a robotic surgical system 10 that has an instrument drive assembly that is operationally coupled to a master controller 11 that is operable through inputs from an operator (ie, a surgeon). As can be seen in this Figure, the surgical instrument 200 includes a surgical end actuator 1012 that comprises an end cutter. In at least one form, the surgical instrument 200 generally includes an elongated drive shaft assembly 1008 that has a proximal closing tube 1040 and a distal closing tube 1042 that are coupled by a hinge joint 1011. The surgical instrument 200 is operationally coupled to the manipulator by an instrument mounting portion, generically designated as
[0048] [0048] Figure 5 is an exploded view of an adapter and the arrangement of the instrument holder for fixing various surgical instruments, according to one aspect of the present description. A removable lock arrangement 239 can be employed to releasably attach adapter 240 to the instrument holder 270. For use in the present invention, the term "instrument drive assembly" when used in the context of the robotic surgical system 10 , covers at least several aspects of adapter 240 and instrument holder 270 and has been generically designated as 101 in Figure 5. For example, as can be seen in Figure 5, instrument holder 270 may include a first pin arrangement locking device 274 which is sized to be received in corresponding cotter pin slots 241 disposed in adapter 240. In addition, instrument holder 270 may also have second locking pins 276 which are sized to be retained in corresponding locking devices. on adapter 240. In at least one way, a lock assembly 245 is movably supported on adapter 240 and is forced between a first locked position where the pins locking pins 276 are retained within their respective locking claws and an unlocked position where the second locking pins 276 can be attached to or removed from the locking devices. One or more springs (not shown) are used to force the lock assembly into the locked position. A flange on the instrument side 244 of the adapter 240 can be slidably provided with tabs extending laterally from the mounting compartment of the instrument 301. The adapter portion 240 may include an array of electrical connection pins 242 which can be coupled to a memory structure by a circuit board inside the mounting portion of the instrument 300. Although interface 230 is described here with reference to mechanical, electrical and magnetic coupling elements, it must be understood that a a wide variety of telemetry modalities can be used, including inductive infrared coupling or similar.
[0049] [0049] As shown in Figures 4 to 6, adapter portion 240 generally includes an instrument side 244 and a support side 246. In various forms, a plurality of rotating bodies 250 are mounted in one floating plate 248 which has a limited range of movement in relation to the surrounding adapter structure normal to the main surfaces of adapter 240. Axial movement of floating plate 248 helps to disengage the rotating bodies 250 from the instrument mounting portion 300 when levers 303 along the sides of the compartment of the instrument mounting portion 301 are actuated.
[0050] [0050] Figure 6 is a partial bottom perspective view of the appearance of the surgical instrument in Figure 4. As shown in Figures 6 to 10, the surgical end actuator 1012 is attached to the instrument mounting portion 300 by a elongated drive shaft assembly 1008 according to various aspects. As shown in the illustrated aspect, the drive shaft assembly 1008 includes an articulated joint generically indicated as 1011 that allows the surgical end actuator 1012 to be selectively articulated around a geometric axis of articulation AA-AA that is substantially transversal to a longitudinal geometric axis LT-LT. See Figure 7. In other respects, the articulated joint is omitted. In several respects, the drive shaft assembly 1008 may include a closing tube assembly 1009 comprising a proximal closing tube 1040 and a distal closing tube 1042 that are pivotally connected by pivot connections 1044 and operationally supported in a central column assembly generally represented as 1049. In the illustrated aspect, the central column assembly 1049 comprises a portion of the distal central column 1050 that is attached to the elongated channel 1022 and is coupled in a manner pivoting to the proximal central column portion 1052. The closing tube assembly 1009 is configured to slide axially on the central column assembly 1049 in response to actuation movements applied to it. The distal closure tube 1042 includes an opening 1045 into which the flap 1027 on the anvil 1024 is inserted to facilitate opening of the anvil 1024, as the distal closure tube 1042 is moved axially in the proximal "DP" direction. The closing tubes 1040, 1042 can be made of electrically conductive material (such as metal) so that they can serve as part of the antenna, as described above. The components of the main drive shaft assembly (for example, the 1048, 1050 drive shafts) can be made of a non-conductive material (such as plastic). Anvil 1024 can be pivoted open and closed at a pivot point 1025 located at the proximal end of elongated channel 1022.
[0051] [0051] In use, it may be desirable to rotate the surgical end actuator 1012 around the longitudinal geometric axis of the LT-LT instrument. In at least one aspect, the instrument mounting portion 300 includes a rotary drive assembly 1069 that is configured to receive a corresponding rotary output movement from the instrument drive assembly 101 of the robotic surgical system 10 and to convert this pivoting output movement in a pivoting motion to rotate the elongated drive shaft assembly 1008 (and the surgical end actuator 1012)
[0052] [0052] In at least one aspect, the closing of the anvil 1024 in relation to the staple cartridge 1034 is accomplished by axially moving the closing tube assembly 1009 in the distal direction "DD" in the central column assembly 1049. As indicated above, in several respects, the proximal end 1060 of the proximal closing tube 1040 is supported by the closing slider 1100 which comprises a portion of a closing transmission, generally represented as 1099. Under at least one way, the closing slide 1100 is configured to hold the closing tube 1009 on the instrument mounting plate 320 so that the proximal closing tube 1040 can rotate relative to the closing slide 1100 and also move axially with the closing slide 1100. In particular, the closing slide 1100 has a vertical flap 1101 that extends into a radial groove 1063 at the proximal end portion of the closing tube p purple 1040. In addition, as can be seen in Figure 10, closing slide 1100 has a flap portion 1102 that extends through a slot 305 in the instrument mounting plate 302. Flap portion 1102 is configured to retain the closing slider
[0053] [0053] In various forms, the closing gear set 1110 includes a closing gear wheel 1112 that is coupled to one second among the corresponding disks or driven elements 304 on the adapter side 307 of the mounting plate of the instrument 302. See Figure 6. Thus, the application of a second rotating output movement from the actuation set of the instrument 101 of the robotic surgical system 10 to the corresponding second driven element 304 will cause the rotation of the closing sprocket to rotate. 1112 when the instrument mounting portion 300 is coupled to the instrument drive assembly 101. Closing gear assembly 1110 additionally includes a closing reduction gear assembly 1114 which is supported in engagement engaged with the wheel closing gear 1112. As can be seen in Figures 9 and 10, the closing reduction gear assembly 1114 includes a driven gear 1116 rotatingly engaged in engagement with the closing sprocket 1112. The closing reduction gear assembly 1114 additionally includes a first closing drive gear 1118 that is in engagement with a second closing drive gear 1120 which is swiveled on the instrument mounting plate 302 in gear engaged with the closing rack gear 1106. Thus, the application of a second rotating output movement from the instrument drive set 101 of the robotic surgical system 10 in the second corresponding driven element 11304 will cause the closing sprocket 1112 and the closing transmission 1110 to rotate and then drive the closing slide 1100 and the closing tube assembly 1009 axially.
[0054] [0054] Figure 11A is a partial cross-sectional side view of the surgical instrument 200 of Figure 6 and Figure 11B is an enlarged cross-sectional view of a portion of the surgical instrument represented in Figure 11A, according to an aspect of this description. With reference to Figures 11A and 11B, the distal end 1202 of the cutting bar 1200 is attached to the cutting instrument 1032. The proximal end 1204 of the cutting bar 1200 is swiveled to a cutting rack gear 1206 so that the cutting bar 1200 is free to rotate in relation to the cutting rack gear 1206. The cutting rack gear 1206 is slidably supported inside a rack compartment 1210 which is fixed to the instrument mounting plate 302 so that the cutting rack gear 1206 is retained in gear engaged with a cutting gear assembly 1220. More specifically and with reference to Figure 10, in at least one aspect, the cutting gear assembly cut-off 1220 includes a cut-out wheel 1222 which is coupled to a third of the corresponding disks or driven elements 304 on the adapter side 307 of the instrument mounting plate 302. See Figure 6. In this way, the application of another rotating outward movement of the robotic system 10 through the instrument drive assembly 101 to the corresponding third driven element 304 will cause the cutting gear wheel 1222 to rotate. The cutting gear assembly 1220 additionally includes a cutting gear reduction set 1224 which includes a first cutting drive gear 1226 and a second cutting drive gear 1228. The cutting gear reduction set 1224 is pivotally mounted on the mounting plate of the instrument 302 so that the first cutting drive gear 1226 is in gear engaged with the cutting gear 1222. Similarly, the second cutting drive gear 1228 is in gear engaged with a third drive gear cutter 1230 which is swiveled on the instrument mounting plate 302 in engagement engaged with the rack gear cutting ra
[0055] [0055] In several respects, the surgical instrument 200 employs an articulation system that includes an articulated joint 12011 that allows the surgical end actuator 1012 to be articulated around a geometric axis of articulation AA-AA that is substantially transversal to the longitudinal geometric axis LT-LT. In at least one aspect, the surgical instrument 200 includes the first and second pivot bars 1250a, 1250b which are slidably supported within the corresponding passages provided through the proximal central column portion 1052. In at least one form, the first and second pivot bars 1250a, 1250b are actuated by a pivot transmission that is operationally supported on the instrument mounting plate 302. Each of the pivot bars 1250a, 1250b has a proximal end that has a guide rod protruding from it extending laterally through a corresponding slot in the proximal end portion of the proximal central column portion and into a corresponding arcuate slot in a 1260 hinge nut comprising a transmission portion articulation. The pivot bar 1250a has a guide rod 1254 extending laterally through a corresponding slot in the proximal end portion of the distal central column portion 1050 and into a corresponding arcuate slot in the pivot nut 1260. In addition , the pivot bar 1250a has a distal end which is pivotally coupled to the distal central column portion 1050 by means of, for example, a pin, and a pivot bar 1250b has a distal end which is pivotally coupled to the distal central column portion 1050 by means of a pin. In particular, the pivot bar 1250a is laterally displaced in a first lateral direction from the longitudinal axis LT-LT and the pivot bar 1250b is laterally displaced in a second lateral direction from the longitudinal axis LT-LT . In this way, the axial movement of the articulation bars 1250a, 1250b in opposite directions will result in the articulation of the distal central column portion 1050 as well as the surgical end actuator 1012 fixed to it around the articulation axis. AA-AA, as will be discussed in more detail below.
[0056] [0056] The articulation of the surgical end actuator 1012 is controlled by the rotation of the articulation nut 1260 around the longitudinal geometric axis of the LT-LT instrument. The hinge nut 1260 is pivoted on the proximal end portion of the distal central column portion 1050 and is pivoted on it by a hinge gear assembly
[0057] [0057] The aspect of the instrument described above employs an interface arrangement that is particularly suitable for assembling the robotically controllable medical instrument under at least one form of robotic arm arrangement that generates at least four different rotary control movements . Those skilled in the art will recognize that such rotating output movements can be selectively controlled through the programmable control systems used by the robotic system / controller. For example, the instrument arrangement described above may be suitable for use with robotic systems produced by Intuitive Surgical, Inc. of Sunnyvale, California, USA, many of which can be described in detail in various patents incorporated herein. as a reference. The innovative and exclusive aspects of various aspects of the present invention serve to use the rotary exit movements provided by the robotic system in order to generate specific control movements that are of sufficient magnitude to enable the end actuators to cut and staple the fabric. In this way, the provisions and principles
[0058] [0058] Figure 12 illustrates an aspect of an end actuator 3000 comprising a first sensor 3008a and a second sensor 3008b. The first and second sensors 3008a, 3008b are provided on the cartridge platform to determine the location of the tissue using segmented electrodes. Consequently, the first and second sensors 3008a, 3008b enable the detection of the load on the closing tube, the position of the closing tube, the firing member on the rack and the firing member coupled to the beam with i 3005 profile, the portion of the cartridge containing tissue, the load and the position on the pivot rods. The end actuator 3000 comprises a first claw member, or anvil, 3002 pivotally coupled to a second claw member 3004. The second claw member 3004 is configured to receive a cartridge inside. staples 3006. The staple cartridge 3006 comprises a plurality of staples. The plurality of staples is implantable from the staple cartridge 3006 during a surgical operation. The end actuator 3000 comprises a first sensor 3008a. The first sensor 3008a is configured to measure one or more parameters of the end actuator 3000. For example, in one aspect, the first sensor 3008a is configured to measure the gap 3010 between the anvil 3002 and the second claw member 3004. The first sensor 3008a can comprise, for example, a Hall effect sensor configured to detect a magnetic field generated by a magnet 3012 incorporated into the second claw member 3004 and / or the staple cartridge 3006. As another example, in one aspect, the first sensor 3008a is configured to measure one or more forces exerted on the anvil 3002 by the second claw member 3004 and / or the tissues trapped between the anvil 3002 and the second claw member 3004. The sensors 3008a, 3008b can be used to measure the thickness, the force, the displacement, the compression, the tissue impedance and the location of the tissue inside the 3000 end actuator.
[0059] [0059] The end actuator 3000 comprises a second sensor 3008b. The second sensor 3008b is configured to measure one or more parameters of the end actuator 3000. For example, in several respects, the second sensor 3008b may comprise a strain gauge configured to measure the magnitude of the mechanical stress on the anvil 3002 during an fixing condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. In several respects, the first sensor 3008a and / or the second sensor 3008b may comprise, for example, a magnetic sensor such as a Hall effect sensor, an effort meter, a pressure sensor, a pressure sensor force, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor and / or any other sensors suitable for measuring one or more parameters of the 3000 end actuator. first sensor 3008a and second sensor 3008b can be arranged in a series configuration and / or a parallel configuration. In a series configuration, the second sensor 3008b can be configured to directly affect the output of the first sensor
[0060] [0060] In one aspect, the first sensor 3008a can be configured to measure the gap 3010 between the anvil 3002 and the second claw member 3004. The gap 3010 is representative of the thickness and / or compressibility of a section of fabric clamped between the anvil 3002 and the staple cartridge 3006. The first sensor 3008a can comprise, for example, a Hall effect sensor configured to detect a magnetic field generated by a magnet 3012 coupled to the second claw member 3004 and / or the staple cartridge 3006. Measurement at a single location accurately describes the thickness of the compressed tissue for a full calibrated tissue bite, but can provide inaccurate results when a partial tissue bite is placed between the anvil 3002 and the second claw member
[0061] [0061] In some respects, the second sensor 3008b can be configured to detect one or more parameters indicative of a type of tissue bite, for example, a complete bite, a proximal partial bite and / or a distal partial bite. In some respects, the thickness measurement of the first sensor 3008a can be provided to an output device of the robotic surgical system 10 coupled to the 3000 end actuator. In one aspect, for example, the 3000 end actuator is coupled to the robotic surgical system 10 which comprises a mesh. The measurement of the first sensor 3008a is provided to a processor.
[0062] [0062] In another aspect, the end actuator 3000 can comprise a plurality of second sensors configured to measure an amplitude of the mechanical stress exerted on the anvil 3002 during a gripping procedure. In another aspect, the plurality of sensors allows a robust process to detect tissue thickness to be implemented. By detecting various parameters along the length of the anvil 3202, the plurality of sensors allows a surgical instrument, such as the surgical instrument 10, to calculate the thickness of the tissue in the claws, regardless of the bite, for example, a partial or complete bite. In some respects, the plurality of sensors comprises a plurality of effort meters. The plurality of strain gauges are configured to measure the mechanical stress at various points on the anvil 3002. The amplitude and / or the angular coefficient of the mechanical stress at each of the various points on the anvil 3002 can be used to determine the thickness of the tissue arranged between the anvil 3002 and the staple cartridge
[0063] [0063] Figure 13A illustrates an aspect of a 5500 end actuator comprising a plurality of conductive elements
[0064] [0064] Figure 13C illustrates several examples of aspects that use the layer of conductive elements 5512 and, as well as conductive elements 5524, 5526 and 5528, in the staple cartridge 5506, to detect the distance between the anvil 5502 and the surface top of the staple cartridge 5506. The distance between the anvil 5502 and the staple cartridge 5506 indicates the quantity and / or density of the fabric 5518 compressed between them. This distance can, additionally or alternatively, indicate which areas of the 5500 end actuator contain fabric. The thickness, density and / or location of the 5518 tissue can be communicated to the operator of the surgical instrument 10.
[0065] [0065] In the examples of illustrated aspects, the conductive element layer 5512 is located on the surface facing the anvil 5514 of the tissue compensator 5510 and comprises one or more coils of metallic wire 5522 in communication with a control circuit comprising a 5520 microprocessor. The 5500 microprocessor may be located on the end actuator 5500 or any component thereof, or it may be located in the instrument mounting compartment 301 or it may comprise any microprocessor or microcontroller previously described. In the examples of illustrated aspects, the staple cartridge 5506 also includes conductive elements, which can be any one of: one or more coils of metal wire 5524, one or more conductive plates 5526, a wire mesh 5528, or any other convenient configuration, or any combination thereof. The conductive elements of the staple cartridge 5506 can be in communication with the same microprocessor 5520 or with some other microprocessor in the robotic surgical instrument. Conductive elements 5512 can be used to measure thickness, strength, displacement, compression, tissue impedance and tissue location within the 5500 end actuator.
[0066] [0066] When the anvil 5502 is in a closed position and is therefore compressing 5518 fabrics against the staple cartridge 5506, the conductive element layer 5512 of the tissue compensator 5510 can be capacitively coupled to the conductors in the cartu - staple ground 5506. The strength of the capacitive field between the conductive element layer 5512 and the conductive elements of the staple cartridge 5506 can be used to determine the amount of tissue 5518 being compressed. Alternatively, the 5506 staple cartridge can comprise eddy current sensors in communication with a 5520 microprocessor, and the eddy current sensors are operable to detect the distance between the 5502 anvil and the upper surface of the 5506 staple cartridge using the use of eddy currents.
[0067] [0067] It is understood that other configurations of conductive elements are possible and that the aspects of Figure 13C are only by way of example and not of limitation. For example, in some aspects, the layer of conductive elements 5512 may be located on the surface facing the staple cartridge 5516 of the tissue compensator 5510. In addition, in some aspects, the conductive elements 5524, 5526 and / or 5528 can be located on or inside the anvil 5502. Thus, in some aspects, the layer of conductive elements 5512 can be capacitively coupled to conductive elements in the anvil 5502 and thus detect the properties of the 5518 tissue captured inside the end actuator.
[0068] [0068] It can also be recognized that a layer of conductive elements 5512 can be arranged both on the surface facing the anvil 5514 and on the surface facing the cartridge 5516. A system for detecting quantity, density and / or location the fabric 5518 compressed by the anvil 5502 against the staple cartridge 5506 may comprise conductors or sensors on the anvil 5502, the staple cartridge 5506, or both. Aspects that include conductors or sensors in both the 5502 anvil and the 5506 staple cartridge can optionally obtain optimized results by enabling a differential analysis of the signals that can be obtained by this configuration.
[0069] [0069] Now with reference to Figure 14A, a sectional view is shown in approach of the end actuator 5600 with the anvil 5602 in a closed position. Figure 14B illustrates a 5600 end actuator comprising built-in 5620 electrical conductors, in accordance with an aspect of the present description. In a closed position, the anvil 5602 can compress the fabric 5618 between the tissue compensator 5610 and the staple cartridge 5606. In some cases, only part of the end actuator 5600 may be capturing the fabric 5618. In areas of the end actuator 5600 that are surrounding the fabric 5618, in areas of greater compression 5624, the matrix of conductors 5620 will also be compressed, while in areas not compressed 5626, the matrix of conductors 5620 will be more separated. Therefore, conductivity, resistance, capacitance and / or some other electrical property between the 5620 conductor matrix can indicate which areas of the 5600 end actuator contain fabric. The 5620 conductor matrix can be used to measure tissue thickness, force, displacement, compression, tissue impedance and tissue location within the 5600 end actuator.
[0070] [0070] With reference to Figures 14A and 14B, the 5600 end actuator comprises a 5610 fabric compensator that additionally comprises 5620 embedded conductors. The 5600 end actuator comprises a first claw member, or anvil, 5602 pivotally coupled to a second claw member
[0071] [0071] A 5620 conductor matrix is embedded within the material comprising the 5610 tissue compensator. The 5620 conductor matrix can be arranged in an opposite configuration, and the opposite elements can be separated by insulating material . Each of the 5620 conductor matrix is coupled to one or more conductive metal wires 5622. Conductive metal wires 5622 enable the 5620 conductor matrix to communicate with a 961 microprocessor or control circuit (Figure 22), 800 (Figure 23), 810 (Figure 24), 820 (Figure 25), 4420 (Figure 26), 2510 (Figure 30). The 5620 conductor array can span the width of the 5610 fabric compensator, so that they are in the path of a cutting member or cutting bar 280. As the cutting bar 280 advances, it will cut, destroy or, otherwise, it will disable the 5620 conductors, and thus indicate their position inside the 5600 end actuator. The 5610 conductor array may comprise conductive elements, electrical circuits, microprocessors or any combination thereof.
[0072] [0072] Figures 15A and 15B illustrate an aspect of a 5650 end actuator that further comprises 5662 conductors embedded within it. The end actuator 5650 comprises a first claw member, or anvil, 5652 piercingly coupled to a second claw member 5654. The second claw member 5654 is configured to receive a 5656 staple cartridge inside. Figure 15A illustrates a sectional view of the 5656 clamp cartridge. The sectional view illustrates 5670 conductors embedded within the end actuator. Each of the 5672 conductors is coupled to a 5672 conductive wire. The 5672 conductive metal wires enable the 5672 conductor array to communicate with a microprocessor. 5672 conductors can comprise conductive elements, electrical circuits, microprocessors or any combination thereof. Figure 15B shows a side view of the 5650 end actuator with the 5652 anvil in a closed position. In a closed position, the anvil 5652 can compress the 5658 fabrics against the 5656 staple cartridge. The 5672 conductors incorporated into the 5660 fabric compensator can be operable to apply 5674 electrical current pulses to the 5658 fabric,
[0073] [0073] Figure 16 illustrates an aspect of a 4600 left-right segmented flexible circuit. The 4600 left-right segmented flexible circuit comprises a plurality of L1-L5 segments on the left side of the left-right segmented flexible circuit 4600. and a plurality of segments R1-R5 on the right side of the segmented flexible left-right circuit 4600. Each of the segments L1-L5 and R1-R5 comprises temperature sensors and / or force sensors to detect tissue parameters locally in the inside each L1-L5 and R1-R5 segment. The 4600 left-right segmented flexible circuit is configured to detect parameters locally within each of segments L1-L5 and R1-R5. The 4600 flexible circuit can be used to measure tissue thickness, strength, displacement,
[0074] [0074] Figure 17 illustrates an aspect of a segmented flexible circuit 6430 configured to be fixedly attached to a claw member 6434 of an end actuator. The segmented flexible circuit 6430 comprises a distal segment 6432a and side segments 6432b, 6432c that include individually addressable sensors to enable the detection of the presence of local tissue. Segments 6432a, 6432b, 6432c are individually addressable to detect tissue and to measure tissue parameters based on individual sensors located within each of the 6432a, 6432b, 6432c segments. The segments 6432a, 6432b, 6432c of the segmented flexible circuit 6430 are mounted on the claw member 6434 and are electrically coupled to a power source, such as an electrical circuit through conductive electrical members 6436. A Hall effect sensor 6438, or any suitable magnetic sensor is located at a distal end of the 6434 jaw member. The Hall 6438 effect sensor operates in conjunction with a magnet to provide a measurement of an aperture defined by the 6434 jaw member that would otherwise can be called a tissue gap, as shown in particular in Figure 19. The 6430 segmented flexible circuit can be used to measure tissue thickness, strength, displacement, compression, tissue impedance and location of the tissue inside an end actuator.
[0075] [0075] Figure 18 illustrates an aspect of a 6440 segmented flexible circuit configured to be mounted on a 6444 jaw member of an end actuator. The segmented flexible circuit 6580 comprises a distal segment 6442a and side segments 6442b, 6442c that include individually addressable sensors for tissue control. The 6442a, 6442b, 6442c segments are individually addressable for treating tissue and for reading individual sensors located within each of the 6442a, 6442b, 6442c segments. Segments 6442a, 6442b, 6442c of segmented flexible circuit 6440 are mounted on claw member 6444 and are electrically coupled to a power source, via conductive electrical members 6446. A Hall effect sensor 6448, or other suitable magnetic sensor, is provided at a distal end of the 6444 jaw member. The Hall 6448 effect sensor operates in conjunction with a magnet to provide a measurement of an opening defined by the 6444 jaw member of the end actuator or fabric span, as shown in particular in Figure 19. In addition, a plurality of side asymmetric temperature sensors 6450a, 6450b are mounted on or formally integrated into the segmented flexible circuit 6440 to provide feedback on the temperature of the fabric to the control circuit. The 6440 segmented flexible circuit can be used to measure tissue thickness, strength, displacement, compression, tissue impedance and tissue location within an end actuator.
[0076] [0076] Figure 19 illustrates an aspect of a 6460 end actuator configured to measure a gap of tissue Gr. The 6460 end actuator comprises a 6462 jaw member and a 6444 jaw member. The flexible loop 6440 , as described in Figure 18, is mounted on claw member 6444. The flexible loop 6440 comprises a Hall effect sensor 6448 that operates with a 6464 magnet mounted on claw member 6462 to measure the span of tissue Gr. This technique it can be used to measure the defined gap between jaw member 6444 and jaw member 6462. Jaw member 6462 can be a staple cartridge.
[0077] [0077] Figure 20 illustrates an aspect of a 6470 end actuator comprising a 6468 segmented flexible circuit, as shown in Figure 16. The 6470 end actuator comprises a 6472 jaw member and a clamps 6474. The segmented flexible circuit 6468 is mounted on claw member 6472. Each of the sensors arranged within segments 1 to 5 is configured to detect the presence of tissue positioned between claw member 6472 and the clamp cartridge 6474 and represents tissue zones 1 through 5. In the configuration shown in Figure 20, the 6470 end actuator is shown in an open position ready to receive or secure the tissue between the 6472 jaw member and the 6474 staple cartridge. The flexible circuit segmented 6468 can be used to measure tissue thickness, force, displacement, compression, tissue impedance and tissue location within the 6470 end actuator.
[0078] [0078] Figure 21 illustrates end actuator 6470, shown in Figure 20, with claw member 6472 securing tissue 6476 between claw member 6472, for example, the anvil and the staple cartridge. As shown in Figure 21, tissue 6476 is positioned between segments 1 to 3 and represents tissue zones 1 to 3. Consequently, tissue 6476 is detected by sensors in segments 1 to 3 and the absence of tissue (empty) is detected in section 6478 by segments 4 and 5. Information regarding the presence and absence of 6476 tissue positioned within certain segments 1a 3 and 4 and 5, respectively, is communicated to a control circuit, as described here, through , for example, of interface circuits. The control circuit is configured to detect the tissue located in segments 1 to 3. It will be recognized that segments 1 to 5 can contain any suitable magnetic sensors of temperature, force / pressure and / or Hall effect to measure the parameters of fabric located in certain segments 1 to 5 and electrodes to supply energy to the fabric located in certain segments 1 to 5. The flexible segmented circuit 6468 can be used to measure the thickness of the fabric, the force, the displacement, the compression, the impedance of the tissue and the location of the tissue inside the 6470 end actuator.
[0079] [0079] Figure 22 illustrates a logical diagram of a 970 re-information system of the robotic surgical system 10 of Figure 1, according to one or more aspects of the present description. The 970 system comprises a circuit. The circuit includes a 961 controller that comprises a 962 processor and a 968 memory. One or more of the 972, 974, 976 sensors, for example, provide real-time feedback to the 962 processor. A 982 motor, driven by a motor drive 992, operationally couples a longitudinally movable displacement member to drive the beam's cutting element with an i-profile. A 980 tracking system is configured to determine the position of the longitudinally movable displacement member. Position information is provided to processor 962, which can be programmed or configured to determine the position of the longitudinally movable drive member, as well as the position of a firing member, firing bar and a beam cutting element. with i profile. Additional motors can be provided at the instrument driver interface to control the firing of the beam with an i-profile, the displacement of the closing tube, the rotation of the drive shaft and the articulation.
[0080] [0080] In one form, an effort meter can be used to measure the force applied to the tissue by the end actuator. A strain gauge can be attached to the end actuator to measure the force applied to the tissue being treated by the end actuator. Referring now to Figure 22, a system 970 for measuring forces applied to the tissue attached by the end actuator comprising a 972 strain gauge sensor, such as a microstrain gauge, is configured to measure one or more patches. end actuator parameters, for example. In one aspect, the 972 strain gauge sensor can measure the amplitude or magnitude of the mechanical stress exerted on a claw member of an end actuator during a gripping operation, which can be indicative of tissue compression. The measured effort is converted into a digital signal and fed to the 962 processor of a 961 microcontroller. A 974 load sensor can measure the force to operate the cutting element, for example, to cut the tissue captured between the anvil and the cartridge of staples. A 976 magnetic field sensor can be used to measure the thickness of the captured tissue. The measurement of the 976 magnetic field sensor can also be converted into a digital signal and supplied to the 962 processor.
[0081] [0081] Measurements of tissue compression, tissue thickness and / or force required to close the end actuator on the tissue, as measured by sensors 972, 974, 976 respectively, can be used by microcontroller 961 to characterize the selected trigger member position and / or the corresponding trigger member speed value. In one case, a memory 968 can store a technique, an equation and / or a query table that can be used by the microcontroller 961 in the evaluation.
[0082] [0082] In the aspect illustrated in Figure 22, a sensor 972, such as, for example, a strain gauge or a micro strain gauge, is configured to measure one or more parameters of the end actuator 912, such as, for example, the amplitude of the mechanical stress exerted on the anvil 914 during a gripping operation, which can be indicative of the closing forces applied to the anvil 914. The measured effort is converted into a digital signal and supplied to the 962 processor. Alternatively, or in addition to the 972 sensor, a 974 sensor, like,
[0083] [0083] Figure 23 illustrates a control circuit configured to control aspects of the robotic surgical system 10, according to an aspect of the present description. Figure 23 illustrates a control circuit 800 configured to control the robotic surgical system 10, in accordance with an aspect of the present description. Control circuit 800 can be configured to implement the various processes described here. Control circuit 800 may comprise a controller comprising one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one memory circuit 804. Memory circuit 804 stores instructions executable on a machine that, when executed by the 802 processor, they cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor can be any one of several single-core processors or processes
[0084] [0084] Figure 24 illustrates a combinational logic circuit 810 configured to control aspects of the robotic surgical system 10, according to an aspect of the present description. The combined logic circuit 810 can be configured to implement the various processes described here. Circuit 810 may comprise a finite state machine comprising a combinational logic circuit 812 configured to receive data associated with the robotic surgical system 10 at an input 814, process the data by combinational logic 812 and provide an output 816.
[0085] [0085] Figure 25 illustrates a sequential logic circuit 820 configured to control aspects of the robotic surgical system 10, according to an aspect of the present description. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement the process described here. Circuit 820 may comprise a finite state machine. Sequential logic circuit 820 may comprise a combinational logic circuit 822, at least one memory circuit 824, a clock 829 and, for example. The at least one memory circuit 820 can store a state of the finite state machine current. In certain cases, the sequential logic circuit 820 can be synchronous or asynchronous. The combinational logic circuit 822 is configured to receive the data associated with the robotic surgical system 10, an input 826, process the data through the combinational logic circuit 822 and provide an output 828. In other respects, the circuit may comprise a combination the 802 processor and the finite state machine to implement various processes of the present invention. In other respects, the finite state machine may comprise a combination of the combinational logic circuit 810 and the sequential logic circuit 820.
[0086] [0086] Aspects can be implemented in the form of a manufacturing article. The manufacturing article may include a computer-readable storage medium arranged to store logic, instructions and / or data for the execution of various operations of one or more aspects. For example, the article of manufacture may comprise a magnetic disk, an optical disk, flash memory or firmware containing instructions for the computer program suitable for execution by a general purpose processor or processor specific to the application.
[0087] [0087] With reference mainly to Figure 26, a robotic surgical system 10 can include a plurality of motors that can be activated to perform various functions. In certain instances, a first engine can be activated to perform a first function; a second engine can be activated to perform a second function; a third engine can be activated to perform a third function, a fourth engine can be activated to perform a fourth function, and so on. In certain cases, the plurality of motors of the robotic surgical instrument 4400 can be individually activated to cause firing, closing and / or articulation movements on the 1012 end actuator. The firing, closing and / or joint movements can be transmitted to end actuator 1012 through drive shaft assembly 200, for example.
[0088] [0088] In certain cases, the robotic surgical system 10 may include a 4402 firing motor. The 4402 firing motor can be operatively coupled to a 4404 firing drive assembly, which can be configured to transmit firing movements , generated by motor 4402 to end actuator 1012, and, in particular, to move the beam element with an i-profile. In certain cases, the firing movements generated by the 4402 firing motor can cause the staples to be positioned from the staple cartridge on the fabric captured by the end actuator and / or by the cutting edge of the beam element with profile in i to be advanced in order to cut the captured tissue, for example. The beam element with an i-profile can be retracted by reversing the direction of the 4402 motor.
[0089] [0089] In certain cases, the robotic surgical system 10 may include a 4403 closing motor. The 4403 closing motor can be operationally coupled to a 4405 closing drive assembly that can be configured to transmit closing movements generated by the motor 4403 to the end actuator 1012 and, in particular, to move the closing tube 1040, 1042 so as to close the anvil 1024 and compress the fabric between the anvil 1024 and the staple cartridge 1034. Closing movements can make cause the end actuator 1012 to transition from an open configuration to an approximate configuration in order to capture the tissue, for example. End actuator 102 can be moved to an open position by reversing the direction of the 4403 engine.
[0090] [0090] In certain cases, the robotic surgical instrument 10 may include one or more articulation motors 4406a, 4406b, for example. The 4406a, 4406b motors can be operationally coupled to the respective articulation drive assemblies 4408a, 4408b, which can be configured to transmit joint movements generated by the 4406a, 4406b motors to the 1012 end actuator. articulation can cause the end actuator to be articulated in relation to the drive shaft assembly, for example.
[0091] [0091] As described above, the robotic surgical instrument 10 can include a plurality of motors that can be configured to perform various independent functions. In certain cases, the motor plurality of the robotic surgical instrument 10 can be activated individually or separately to perform one or more functions, while the other motors remain inactive. For example, the articulation motors 4406a, 4406b can be activated to cause the end actuator to be articulated, while the trip motor 4402 remains inactive. Alternatively, the trigger motor 4402 can be activated to trigger the plurality of clamps and / or advance the cutting edge, while the articulation motor 4406 remains inactive. In addition, the 4403 closing motor can be activated simultaneously with the 4402 firing motor to cause the closing tube 1040, 1042 or the i-beam beam element to advance distally, as described in more detail below in this document.
[0092] [0092] In certain cases, the robotic surgical system 10 can include a common control module 4410 that can be used with a plurality of motors of the robotic surgical instrument 10. In certain cases, the common control module 4410 can accommodate one among plurality of engines at a time. For example, the common control module 4410 can be separately separable from the plurality of motors of the robotic surgical instrument 10 individually. In certain cases, a plurality of motors of the robotic surgical instrument 10 may share one or more common control modules, such as module 4410. In certain cases, the plurality of motors of the robotic surgical instrument 10 can be individually and selectively engaged by the common control module 4410. In certain cases, module 4410 can be selectively switched between interfacing with one of a plurality of motors on the robotic surgical instrument 10 and interfacing with another among the plurality of motors on the robotic surgical instrument 10.
[0093] [0093] In at least one example, the 4410 module can be selectively switched between the operational coupling with the 4406a, 4406b link motors and the operational coupling with the 4402 trip motor or the 4403 closing motor. at least one example, as shown in Figure 26, a key 4414 can be moved or moved between a plurality of positions and / or states. In a first position 4416, switch 4414 can electrically couple module 4410 to trip motor 4402; in a second position 4417, key 4414 can electrically couple module 4410 to the closing motor 4403; in a third position 4418a, key 4414 can electrically couple module 4410 to the first articulation motor 4406a; and in a fourth position 4418b, key 4414 can electrically couple module 4410 to the second articulation motor 4406b, for example. In certain cases, separate modules 4410 can be electrically coupled to the trigger motor 4402, the closing motor 4403 and the articulation motors 4406a, 4406b at the same time, as shown, for example, in Figure 30. In certain installations tions, the 4414 switch can be a mechanical switch, an electromechanical switch, a solid state switch or any suitable switching mechanism.
[0094] [0094] Each of the 4402, 4403, 4406a, 4406b motors can comprise a torque sensor to measure the output torque on the motor drive shaft. The force on an end actuator can be detected in any conventional manner, such as by means of force sensors on the outer sides of the jaws or by a torque sensor on the motor that acts on the jaws.
[0095] [0095] In several cases, as shown in Figure 26, the common control module 4410 may comprise a motor starter 4426 that may comprise one or more H bridge field-effect transistors (FETs) The motor driver 4426 can modulate the energy transmitted from a 4428 power supply to a motor coupled to the 4410 module, based on the input from a 4420 microcontroller ("controller"), for example. In certain instances, the 4420 controller can be used to determine the current drawn by the motor, for example, while the motor is coupled to the 4410 module, as described above.
[0096] [0096] In certain examples, the 4420 controller may include a 4422 microprocessor ("processor") and one or more computer-readable media or 4424 memory units ("memory"). In certain cases, memory 4424 can store various program instructions that, when executed, can cause the 4422 processor to perform a plurality of functions and / or calculations described herein. In certain cases, one or more of the 4424 memory units can be coupled to the 4422 processor, for example.
[0097] [0097] In certain instances, the 4428 power supply can be used to supply power to the 4420 controller, for example. In some cases, the 4428 power source may comprise a battery (or "battery pack" or "power source"), such as a Li ion battery, for example. In certain cases, the battery pack can be configured to be releasably mounted to the handle 14 in order to supply power to the 4400 surgical instrument. Several battery cells connected in series can be used as the power supply - tion 4428. In certain cases, the 4428 power source can be replaceable and / or rechargeable, for example.
[0098] [0098] In several instances, the 4422 processor can control the 4426 motor starter to control the position, direction of rotation and / or speed of a motor that is coupled to the 4410 module. In certain instances, the 4422 processor can signal to the 4426 motor starter to stop and / or disable a motor that is coupled to the 4410 module. It should be understood that the term processor, as used here, includes any microprocessor, microcontroller or other suitable basic computing device that incorporates functions of a central computer processing unit (CPU) in an integrated circuit or, at most, some integrated circuits. The processor is a programmable multipurpose device that accepts digital data as input, processes it according to instructions stored in its memory, and provides results as output. This is an example of sequential digital logic, as it has internal memory. Processors operate on numbers and symbols represented in the binary numeral system.
[0099] [0099] In one example, the 4422 processor can be any single-core or multi-core processor, such as those known by the Texas Instruments ARM Cortex trade name. In certain cases, the 4420 microcontroller may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core that comprises a 256 KB single-cycle flash integrated memory, or another non-volatile memory, up to 40 MHz, a prefetch buffer to optimize performance above 40 MHz, a 32 KB single cycle SRAM, an internal ROM loaded with StellarisWareG software, a 2 KB EEPROM, one or more pulse width modulation modules , one or more QEI analogs, one or more 12-bit AD converters with 12 analog input channels, among other features that are readily available in the product data sheet. Other microcontrollers can be readily replaced for use with the module
[0100] [0100] In certain instances, memory 4424 may include program instructions for controlling each of the motors of the surgical instrument 4400 that are attachable to module 4410. For example, memory 4424 may include program instructions for controlling the motor trigger 4402, closing motor 4403 and articulating motors 4406a, 4406b. Such program instructions can cause the 4422 processor to control the trigger, close and articulation functions according to the inputs from the robotic surgical system control algorithms or programs 10.
[0101] [0101] In certain cases, one or more mechanisms and / or sensors, for example, 4430 sensors, can be used to alert the 4422 processor about program instructions that need to be used in a specific configuration. For example, 4430 sensors can alert the 4422 processor to use the program instructions associated with triggering, closing, and pivoting the 1012 end actuator. In certain cases, 4430 sensors may comprise position sensors that can be used to detect the position of switch 4414, for example. Consequently, the 4422 processor can use the program instructions associated with the firing of the I12 beam of the end actuator 1012 by detecting, through the 4430 sensors, for example, that the key 4414 is in the first position 4416; the 4422 processor can use the program instructions associated with closing the anvil by detecting it via sensors 4430, for example, that switch 4414 is in second position 4417; and the 4422 processor can use the program instructions associated with the 1012 end actuator hinge by detecting, through sensors 4430, for example, that switch 4418a, 4418b is in the third or fourth position
[0102] [0102] Figure 27 is a diagram of an absolute positioning system 11100 of the robotic surgical instrument 10, with absolute positioning system 11100 comprising a motor controlled drive circuit arrangement comprising a sensor arrangement 11102, according to an aspect of the present description. The position sensor 11102 for an absolute positioning system 11100 provides a unique position signal that corresponds to the location of a displacement member 11111. In one aspect, displacement member 11111 represents the longitudinally movable drive member to the cutting instrument or knife (for example, cutting instrument 1032 of Figure 11A, beam with i-profile 3005 in Figure 12 and / or beam with i-profile 2514 in Figures 29 and 30) comprising the first driven cutting gear 1226 in interlocking gear with cutting gear 1222, second interlocking drive gear 1228 interlocking with a third interlocking drive gear 1230 which is pivotally supported on the instrument mounting plate 302 in interlocking gear cutting rack
[0103] [0103] Consequently, the absolute positioning system 11100 can, in effect, track the displacement of the beam with i-shaped profile 3005, 2514 of the cutting instrument (Figures 12, 29 and 30) by tracking the displacement of a longitudinal drive member - terminally mobile. In several other aspects, the displacement member 11111 can be coupled with any suitable sensor to measure displacement. In this way, the longitudinally movable drive member, the firing member, the firing bar or the beam with an i-profile, or combinations thereof, can be coupled to any suitable displacement sensor. Displacement sensors can include contact or non-contact displacement sensors. The displacement sensors can comprise linear variable differential transformers ("LVDT" - linear variable differential transducers), differential variable reluctance transducers ("DVRT" - differential variable reluctance transducers), a slide potentiometer, a system magnetic detection system comprising a movable magnet and a series of linearly movable Hall effect sensors, a magnetic detection system comprising a fixed magnet and a series of linearly movable Hall effect sensors, an optical detection system comprising a mobile light source and a series of linearly mobile arranged photodiodes or photodetectors, or an optical detection system comprising a fixed light source and a series of arranged photodiodes or photodetectors linearly mobile, or any combination of them.
[0104] [0104] An 11120 electric motor can include a rotary drive shaft 11116, which interfaces operationally with a gear set 11114, which is mounted in gear engaged with a set, or rack, of drive teeth on the drive member 11111. A sensor element 11126 can be operationally coupled to a gear assembly 11114 so that a single revolution of the sensor element 11126 corresponds to some linear longitudinal translation of the displacement member 11111. An array of gears and sensors 11118 can be connected to the linear actuator by means of a rack and pinion arrangement, or by a rotary actuator, by means of a gear wheel or other connection. An 11129 power supply supplies power to the 11100 absolute positioning system and an 11128 output indicator can show the output of the 11100 absolute positioning system. The interface for adapting to the 11120 motor is shown in Figures 4 to 6, 8 to 10, 11A and 11B.
[0105] [0105] A single revolution of the sensor element 11126 associated with the position sensor 11112 is equivalent to a longitudinal displacement d1 of the displacement member 11111, where d1 is the longitudinal distance by which the displacement member 11111 moves from the point " a "to point" b "after a single revolution of the sensor element 11126 coupled to the displacement member 11111. The arrangement of the sensor 11102 can be connected by means of a gear reduction resulting in the position sensor 11112 completing one or more revolutions for the full course of the displacement member
[0106] [0106] A series of keys 11122a to 11122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the position sensor 11112. The status of the keys 11122a to 11122n is fed back to a controller 11104 that applies logic to determine a single position signal that corresponds to the longitudinal displacement d1 + d2 + ... dn of the driving member 11111 Output 11124 of position sensor 11112 is supplied to controller 11104. Position sensor 11112 of sensor array 11102 can comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, a series of analog Hall effect elements , which emit a unique combination of position of signs or values. Controller 11104 may be contained within master controller 11 or may be contained within the instrument mounting portion 301 compartment.
[0107] [0107] The absolute positioning system 11100 provides an absolute position of the displacement member 11111 with the energization of the robotic surgical instrument 10 without retracting or advancing the driving member 11111 to the reset position (zero or initial), as may be the case with conventional rotary encoders that merely count the number of progressive or regressive steps that the 11120 motor has traveled to infer the position of a device actuator, actuation bar, knife and the like.
[0108] [0108] The 11104 controller can be programmed to perform various functions, such as precise control of the speed and position of the articulation and cutting systems. In one aspect, the 11104 controller includes an 11108 processor and an 11106 memory. The 11120 electric motor can be a brushed DC motor with a gearbox and mechanical connections with a hinge or cut system. In one aspect, a 11110 motor starter can be an A3941 available from Allegro Microsystems, Inc. Other motor starters can be readily replaced for use in the 11100 absolute positioning system.
[0109] [0109] The 11104 controller can be programmed to provide precise control of the speed and position of the 11111 displacement members and articulation systems. The 11104 controller can be configured to compute a response in the controller software
[0110] [0110] The absolute positioning system 11100 can comprise and / or be programmed to implement a feedback controller, such as a PID, status feedback and an adaptive controller. An 11129 power supply converts the signal from the feedback controller to a physical input to the system, in this case the voltage. Other examples include pulse width modulation (PWM) of voltage, current and force. Other 11118 sensors can be provided to mediate the physical parameters of the physical system in addition to the position measured by the position sensor 11112. In a digital signal processing system, an 1100 absolute positioning system is coupled to a capture system digital data in which the output of the absolute positioning system 11100 will have a finite resolution and sampling frequency. The 11100 absolute positioning system can comprise a comparison and combination circuit to combine a computed response with a measured response through the use of algorithms, such as a weighted average and a theoretical control circuit, that trigger the calculated response towards the measured response. The computed response of the physical system considers properties such as mass, inertia, viscous friction, resistance to inductance, etc., to predict by knowing the input what the states and outputs of the physical system will be.
[0111] [0111] The 11110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The 11110 A3941 driver is an entire bridge controller for use with semiconductor metal oxide field effect transistors (MOSFET). external power, N channel, specifically designed for inductive loads, such as DC motors with brushes. The 11110 actuator comprises a single charge pump regulator, provides full door drive (> 10 V) for batteries with voltage up to 7 V and allows the A3941 to operate with a reduced door drive, up to 5.5 V. An input command capacitor can be used to supply the excess voltage to that supplied by the battery required for the N-channel MOSFETs. An internal charge pump for the upper side drive allows direct current operation (100% duty cycle ). The entire bridge can be triggered in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. The power FETs are protected from the shoot-through effect by means of resistors with programmable dead time. The integrated diagnosis provides indication of undervoltage, overtemperature and faults in the power bridge, and can be configured to protect power MOSFETs in most short-circuit conditions. Other motor controllers can be readily replaced for use in the 11100 absolute positioning system.
[0112] [0112] Figure 28 is a diagram of a position sensor 11200 for an absolute positioning system 11100, which comprises a rotating magnetic absolute positioning system, in accordance with an aspect of the present invention. The 11200 position sensor can be implemented as a single-circuit rotary magnetic position sensor, ASSOSSEQFT, available from Austria Mi-
[0113] [0113] The Hall effect elements 11228A, 11228B, 11228C, 11228D are located directly above the rotating magnet 11202. The Hall effect is a well-known effect and for convenience will not be described in detail in the present invention, however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electric conductor transversal to an electric current in the conductor and a magnetic field perpendicular to the current. The Hall coefficient is defined as the ratio between the induced electric field and the product of the current density by the applied magnetic field. It is a characteristic of the material from which the conductor is made, since its value depends on the type, number and properties of the load carriers that make up the chain. In the ASS055 11200 position sensor, the Hall effect elements 11228A, 11228B, 11228C, 11228D are capable of producing a voltage signal indicative of the absolute positioning of the magnet 11202 in terms of the angle during a single revolution of the magnet 11202. This angle value, which is a single position signal, is calculated by the CORDIC 11236 processor and stored integrated in the ASS055 11200 position sensor in a register or a memory. The angle value that is indicative of the position of the 11202 magnet during a revolution is provided to the 11104 controller in a variety of techniques, for example, during power-up or upon demand from the 11104 controller.
[0114] [0114] The ASS055 11200 position sensor requires only a few external components to operate when connected to the controller
[0115] [0115] Due to the measurement principle of the AS5055 11200 position sensor, only a single angle measurement is performed in a very short time (-600 us) after each energization sequence. As soon as an angle measurement is completed, the ASS5055 11200 position sensor enters the de-energized state. There is no filter of the angle value by digital average implemented, as this would require more than one angle measurement and, consequently, a longer energization time, which is not desired in low power applications. The angle variation can be reduced by averaging several angle samples on the 11104 controller. For example, an average of four samples reduces the variation by 6 dB (50%).
[0116] [0116] Figure 29 is a sectional view of an end actuator 2502 of the robotic surgical instrument 10 showing a firing stroke of the beam with an i-profile 2514 in relation to the tissue 2526 trapped inside the end actuator 2502 , in accordance with an aspect of the present description. End actuator 2502 is configured to operate with surgical instrument 10. End actuator 2502 comprises an anvil 2516 and an elongated groove 2503 with a clip cartridge 2518 positioned in the elongated groove
[0117] [0117] An exemplary firing stroke of the beam with an I-profile 2514 is illustrated by a graphic 2529 aligned with the end actuator 2502. The example tissue 2526 is also shown aligned with the end actuator 2502. The stroke of the firing member may comprise a start position 2527 and an end position 2528. During a firing stroke of the i-profile beam 2514, the i-profile beam 2514 can be advanced distally from the position start position 2527 to end position 2528. The beam with i 2514 profile is shown in a location exemplifying a start position 2527. Graph 2529 of the travel of the beam member with i 2514 profile illustrates five travel regions of the firing member 2517, 2519, 2521, 2523 and 2525. In a first region of the firing course 2517, the beam with profile in
[0118] [0118] In the second travel region of firing member 2519, cutting edge 2509 can begin to come into contact and cut the fabric
[0119] [0119] As discussed above and with reference now to Figures 27 to 29, electric motor 11122 positioned on master controller 13 of surgical instrument 10 can be used to advance and / or retract the trigger system of the drive shaft assembly, including the i-profile beam 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or cut the captured tissue inside the end actuator 2502. The i-profile beam 2514 can be advanced or retracted at a desired speed, or within a desired speed range. Controller 1104 can be configured to control the speed of the beam with i 2514 profile. Controller 11104 can be configured to predict the speed of the beam with i 2514 profile based on various parameters of the energy supplied to the electric motor 11122, such as voltage and / or current, for example, and / or other operating parameters of the 11122 electric motor or external influences. The 11104 controller can be configured to predict the current speed of the beam with i 2514 profile based on the previous values of the current and / or voltage supplied to the electric motor 11122 and / or the previous states of the system,
[0120] [0120] The force acting on the beam with i 2514 profile can be determined using various techniques. The strength of the i 2514 beam can be determined by measuring the motor current 2504, the motor current 2504 being based on the load experienced by the i 2514 beam as it moves away. The strength of the beam with i 2514 profile can be determined by placing a tension meter on the drive member, on the firing member, on the beam with i 2514 profile, on the firing bar and / or in a proximal end of the cutting edge 2509. The strength of the i-profile beam 2514 can be determined by monitoring the actual position of the i-profile beam 2514 which moves at an expected speed based on the speed of the adjusted motor current 11122 after a predetermined elapsed period T, and by comparing the actual position of the i-profile beam 2514 with the expected position of the i-profile beam 2514 based on the set current speed of the motor 11122 at the end of the T1 period. Thus, if the actual position of the beam with i 2514 profile is less than the expected position of the beam with i 2514 profile, the force on the beam with i 2514 profile is greater than a nominal force. On the other hand, if the actual position of the beam with i 2514 profile is greater than the expected position of the beam with i 2514 profile, the force on the beam with i 2514 profile is less than the nominal force. The difference between the actual and expected positions of the beam with i 2514 profile is proportional to the deviation of the force in the beam with i 2514 profile from the nominal force.
[0121] [0121] Figure 30 is a schematic diagram of a 2500 robotic surgical instrument configured to operate the surgical instrument described in this document, in accordance with an aspect of the present description. The 2500 robotic surgical instrument can be programmed or configured to control the distal / proximal translation of a displacement member, the distal / proximal displacement of the closing tube, the rotation and articulation of the drive shaft, either with a single type or multiple articulation drive connections. In one aspect, the surgical instrument 2500 can be programmed or configured to individually control a firing member, a closing member, a driving shaft member and / or one or more hinge members. The surgical instrument 2500 comprises a control circuit 2510 configured to control motor-driven firing members, closing members, driving shaft members and / or one or more hinge members.
[0122] [0122] In one aspect, the robotic surgical instrument 2500 comprises a control circuit 2510 configured to control an anvil 2516 and a beam portion with an i-profile 2514 (including a sharp cutting edge) of an end actuator 2502, a removable staple cartridge 2518, a drive shaft 2540 and one or more hinge members 2542a, 2542b via a plurality of motors 2504a to 2504e. A 2534 position sensor can be configured to provide feedback on the 2514 i-profile beam to the 2510 control circuit. Other 2538 sensors can be configured to provide feedback to the 2510 control circuit. A 2531 timer / counter provides timing and counting information to the 2510 control circuit. A 2512 power source can be provided to operate the 2504a to 2504e motors and a 2536 current sensor provides motor current feedback to the 2510 control circuit. The 2504a to 2504e motors can be be operated individually by the 2510 control circuit in an open circuit or closed loop feedback control.
[0123] [0123] In one aspect, the 2510 control circuit may comprise one or more microcontrollers, microprocessors or other processors suitable for executing instructions to the processor or processors. Control circuit 2510 can be implemented as a control circuit 961 (Figure 22), 800 (Figure 23), 810 (Figure 24), 820 (Figure 25), 4420 (Figure 26). In one aspect, a timer / counter circuit 2531 provides an output signal, such as elapsed time or a digital count, to control circuit 2510 to correlate beam position with i 2514 profile, as determined by the position sensor 2534, with the timer / counter output 2531 so that the control circuit 2510 can determine the position of the beam with i-profile 2514 at a specific time (t) in relation to an initial position or time (t) when the beam with i 2514 profile is in a specific position in relation to an initial position. The 2531 timer / counter can be configured to measure elapsed time, count external events, or measure external events.
[0124] [0124] In one aspect, the control circuit 2510 can be programmed to control functions of the end actuator 2502 based on one or more tissue conditions. The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. The 2510 control circuit can be programmed to select a trigger control program or a closing control program based on the conditions of the fabric. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker tissue is present, the control circuit 2510 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When a thinner fabric is present, the 2510 control circuit can be programmed to move the displacement member at a higher speed and / or with greater power. A closing control program can control the closing force applied to the fabric by the anvil 2516. Other control programs control the rotation of the drive shaft 2540 and the hinge members 2542a, 2542b.
[0125] [0125] In one aspect, the 2510 motor control circuit can generate motor setpoint signals. Motor setpoint signals can be provided for several 2508a to 2508e motor controllers. Motor controllers 2508a to 2508e can comprise one or more circuits configured to provide motor start signals for motors 2504a to 2504e in order to drive motors 2504a to 2504e, as described here. In some examples, motors 2504a to 2504e can be brushed DC motors. For example, the speed of motors 2504a to 2504e can be proportional to the respective motor start signals. In some instances, motors 2504a to 1540e may be brushless DC motors and the respective motor drive signals 2524a to 2524e may comprise a pulse width modulated (PWM) signal supplied to a or more stator windings of motors 2504a to 2504e. In addition, in some instances, motor controllers 2508a to 2508e can be omitted and control circuit 2510 can directly generate motor drive signals 2524a to 2524e.
[0126] [0126] In one aspect, the 2510 control circuit can initially operate each of the 2504a to 2504e motors in an open circuit configuration for a first open circuit portion of the travel member travel. Based on a response from the 2500 instrument during the open circuit portion of the course, the 2510 control circuit can select a trip control program in a closed circuit configuration. The response of the instrument may include a translation of the distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the energy supplied to the motor 2504 during the open circuit portion, a sum pulse widths of a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trip control program for a second portion of the travel member travel. For example, during a closed circuit portion of the stroke, control circuit 2510 can modulate motor 2504 based on translation data that describes a position of the displacement member in a closed circuit manner to translate the displacement member into a constant speed.
[0127] [0127] In one aspect, motors 2504a to 2504e can receive power from a 2512 power source. The 2512 power source can be a direct current power source powered by an alternating main current power source, a battery, a supercapacitor or any other suitable 2512 power source. Motors 2504a to 2504e can be mechanically coupled to moving individual mechanical elements such as the beam with I-profile 2514, the anvil 2516, the drive shaft 2540, the joint 2542a and the joint 2542b, through the respective transmissions 2506a to 2506e . Transmissions 2506a to 2506e may include one or more gears or other connecting components to couple motors 2504a to 2504e to moving mechanical elements. A 2534 position sensor can detect a position of the beam with i 2514 profile. The position sensor 2534 can be or can include any type of sensor that is capable of generating position data that indicate a position of the beam with i 2514 profile. In some examples, the position sensor 2534 may include an encoder configured to supply a series of pulses to the control circuit 2510 according to the beam with i-profile 2514 translated distally and proximally. The 2510 control circuit can track pulses to determine the position of the 2514 i-beam profile. Another suitable position sensor can be used, including, for example, a proximity sensor. Other types of position sensors can provide other signals that indicate the movement of the profile beam in 1 2514. In addition, in some examples, the position sensor 2534 can be omitted. When any of the engines 2504a to 2504e is a stepper motor, the control circuit 2510 can track the position of the beam with i-profile 2514 by aggregating the number and direction of the steps that the 2504 engine has been instructed to perform. The 2534 position sensor can be located on end actuator 2502 or on any other portion of the instrument. The outputs of each of the 2504a to 2504e motors include a torque sensor 2544a to 2544e to detect force and have an encoder to detect the rotation of the drive shaft.
[0128] [0128] In one aspect, the 2510 control circuit is configured to drive a firing member as the 2514 i-profile beam portion of end actuator 2502. The 2510 control circuit provides a motor setpoint for a motor control 2508a, which provides a drive signal for motor 2504a. The motor output drive shaft 2504a is coupled to a torque sensor 2544a and a transmission 2506a which is coupled to the beam with I-profile 2514. The transmission 2506a comprises moving mechanical elements, such as rotating elements, and a firing member for distally and proximally controlling the movement of the i-profile beam 2514 along a longitudinal axis of the end actuator
[0129] [0129] In one aspect, control circuit 2510 is configured to drive a closing member, such as anvil portion 2516 of end actuator 2502. Control circuit 2510 provides a motor setpoint for control motor 2508b, which provides a drive signal for motor 2504b. The motor output shaft 2504b is coupled to a torque sensor 2544b and to a transmission 2506b, which is coupled to the anvil 2516. The transmission 2506b comprises moving mechanical elements, such as rotating elements and a closing member, for control the movement of the anvil 2516 between the open and closed positions. In one aspect, the motor 2504b is coupled to a closing gear assembly 1110, which includes a closing reduction gear assembly 1114 that is supported in engagement engaged with the closing sprocket 1112. As can be seen in Figures 9 and 10, the closing reduction gear assembly 1114 includes a driven gear 1116 that is pivotally supported in engagement with the closing sprocket 1112. The closing reduction gear assembly 1114 additionally includes a first drive gear locking gear 1118 which is in gear with a second locking drive gear 1120 which is pivotally supported on the instrument mounting plate 302 in gearing with locking gear 1106. The torque sensor 2544b provides a closing force feedback signal to control circuit 2510. The closing force feedback signal then represents the closing force applied to the anvil 2516. The position sensor 2534 can be configured to provide the position of the closing member as a feedback signal to the 2510 control circuit. Additional sensors 2538 on the 2502 end actuator can provide the closing force feedback signal to the control circuit 2510. A pivoting slide 2516 is positioned opposite the clamp cartridge 2518. When ready for use, the control circuit 2510 can provide a closing signal to the motor control 2508b . In response to the closing signal, motor 2504b advances a closing member to secure the fabric between the anvil 2516 and the staple cartridge 2518.
[0130] [0130] In one aspect, the 2510 control circuit is configured to rotate a drive shaft member, such as the 2540 drive shaft, to rotate the end actuator 2502. The 2510 control circuit provides a set point motor for a 2508c motor control, which provides a drive signal for the 2504c motor. The motor output shaft 2504c is coupled to a torque sensor 2544c and a transmission 2506c, which is coupled to the drive shaft 2540. The transmission 2506c comprises moving mechanical elements, such as rotating elements, to control the rotation drive axis 2540 clockwise or counterclockwise up to and above 360º. In one aspect, the motor 2504c is coupled to the rotary transmission assembly 1069, which includes a pipe gear segment 1062 that is formed over (or attached to) the proximal end 1060 of the proximal closing tube 1040 for operational engagement by a rotary gear assembly 1070 that is operationally supported on the instrument mounting plate 302. As shown in Figure 8, the rotating gear assembly 1070, in at least one aspect, comprises a 1072 rotating drive gear that is coupled to a first correspondent
[0131] [0131] In one aspect, the 2510 control circuit is configured to link the end actuator 2502. The 2510 control circuit provides a motor setpoint for a 2508d motor control, which provides a drive signal for the motor 2504d. The motor output shaft 2504d is coupled to a torque sensor 2544d and to a transmission 2506d which is coupled to a hinge member 2542a. The 2506d transmission comprises moving mechanical elements, such as articulation elements, to control the joint of the 2502 + 65º end actuator. In one aspect, the engine 2504d is coupled to a hinge nut 1260, which is pivotally seated on the proximal end portion of the distal column portion 1050 and is pivotally driven thereon by a gear set of hinge 1270. More specifically and with reference to Figure 8, in at least one aspect, hinge gear assembly 1270 includes a hinge sprocket 1272 that is coupled to a quarter of the corresponding disks or driven elements 304 on the side adapter 307 of the instrument mounting plate 302. The torque sensor 2544d provides a feedback signal from the hinge force to the 2510 control circuit. The feedback signal from the hinge force represents the hinge force applied to the actuator. end 2502. The 2538 sensors, as an articulation encoder, can provide the articulation position of the end actuator 2502 to the control circuit
[0132] [0132] In another aspect, the articulation function of the robotic surgical system 10 can comprise two articulation members 2542a, 2542b or connections. These articulation members 2542a, 2542b are driven by separate disks at the robot interface (the rack), which are driven by the two motors 2508d, 2508e. When the separate firing motor 2504a is provided, each pivot connection 2542a, 2542b can be antagonistically driven with respect to the other connection to provide a resistive holding motion and a load to the head when it is not moving and to provide a articulation movement when the head is articulated. The hinge members 2542a, 2542b, or connections, attach to the head in a fixed radius when the head is rotated. As a result, the mechanical advantage of the push and pull connection changes when the head is turned. This change in mechanical advantage can be more pronounced with other drive systems for the articulation connection.
[0133] [0133] In one aspect, end actuator 2502 can be implemented as the surgical end actuator 1012, 3000, 5650, 6460, 6470 shown and described in conjunction with Figures 4, 6, 8 to 12, 15A, 15B, 19, 20 and 21. In one aspect, the i-profile beam portion 2514 of end actuator 2502 can be implemented as the cutting member 1032, 3005, 2514 shown and described in conjunction with Figures 11A, 12 , 29. The i-profile beam 2514 comprises a cutting body that operationally supports a 2509 fabric cutting blade (Figure 29) in it. In one aspect, the anvil portion 2516 of the end actuator 2502 can be implemented as the anvil 1024, 3002, 5502, 5602, 6472 shown and described in conjunction with Figures 4.6 to 14, 20 and 21.
[0134] [0134] In one aspect, the one or more motors 2504a to 2504e may comprise a brushed direct current motor with a gearbox and mechanical connections to a firing member, closing member or articulation member. Another example are electric motors 2504a to 2504e that operate the moving mechanical elements, such as the displacement member, the articulation connections, the closing tube and the drive shaft. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to an electric motor 2504a to 2504e. External influence, such as dragging, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[0135] [0135] In one aspect, the position sensor 2534 can be implemented as an absolute positioning system, as shown and described together with Figures 27 and 28. In one aspect, the position sensor 2534 can comprise an absolute rotary magnetic positioning system implemented as a single integrated circuit rotary magnetic position sensor, ASSOSSEQFT, available from Austria Microsystems, AG. The 2534 position sensor can interface with the 2510 control circuit 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.
[0136] [0136] In one aspect, the control circuit 2510 can be in communication with one or more sensors 2538. The sensors 2538 can be positioned on the end actuator 2502 and adapted to work with the surgical instrument 2500 in order to measure the various derived parameters such as span distance as a function of time, tissue compression as a function of time and anvil tension as a function of time. The 2538 sensors can comprise a magnetic sensor, a magnetic field sensor, a stress meter, a load cell, a pressure sensor, a force sensor, a torque sensor, an inductive sensor such as a current sensor rasita, a resistive sensor, a capacitive sensor, an optical sensor and / or any other sensor suitable for measuring one or more parameters of the 2502 end actuator. The 2538 sensors may include one or more sensors. The 2538 sensors can be located on the 2518 staple cartridge platform to determine the location of the tissue using segmented electrodes. The torque sensors 2544a to 2544e can be configured to detect force, such as firing force, closing force and / or articulation force, among others. Consequently, the 26510 control circuit can detect: (1) the closing load experienced by the distal closing tube and its position; (2) the firing member on the rack and its position; (3) which portion of the staple cartridge 2518 has tissue over it; and (4) detecting the load and position on both articulation rods.
[0137] [0137] In one aspect, the one or more 2538 sensors can comprise a stress meter, such as a microstrain meter, configured to measure the magnitude of the stress on the 2516 burner during a clamped condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 2538 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 2516 and the staple cartridge 2518. The 2538 sensors can be configured to detect the impedance of a section of fabric located between the anvil 2516 and the staple cartridge 2518 which is indicative of the thickness and / or completeness of the fabric located between them.
[0138] [0138] In one aspect, the 2538 sensors can be implemented as one or more limit switches, electromechanical devices, solid state switches, Hall effect devices, magnetic resistive devices (MR), giant magnetoresistive devices ("GMR "- magneto-resistive gi- ant), magnetometers, among others. In other implementations, the 2538 sensors can be implemented as 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, the 2538 sensors can include driverless electric switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[0139] [0139] In one aspect, the 2538 sensors can be configured to measure the forces exerted on the 2516 anvil by the closing drive system. For example, one or more sensors 2538 may be at a point of interaction between the closing tube and anvil 2516 to detect the closing forces applied by the closing tube on anvil 2516. The forces exerted on anvil 2516 may be representative of the tissue compression experienced by the tissue section captured between the anvil 2516 and the staple cartridge 2518. One or more 2538 sensors can be positioned at various points of interaction throughout the closing drive system to detect the forces closing applied to the anvil 2516 by the closing drive system. The one or more 2538 sensors can be sampled in real time during a gripping operation by the 2510 control circuit processor. The 2510 control circuit receives sample measurements in real time to provide and analyze time-based information and evaluate, in real time the closing forces applied to the anvil 2516.
[0140] [0140] In one aspect, a current sensor 2536 can be used to measure the current drained by each of the 2504a to 2504e motors. The force required to advance any of the moving mechanical elements, such as the beam with i 2514 profile, corresponds to the current drained by a 2504a to 2504e motor. The force is converted into a digital signal and supplied to the 2510 control circuit. The 2510 control circuit can be configured to simulate the response of the instrument's actual system in the controller software. A displacement member can be actuated to move a beam with a profile at 2514 on end actuator 2502 at or near a target speed. The 2500 robotic surgical instrument may include a feedback controller, which can be one of any feedback feedback controllers, including, but not limited to, a PID, state feedback, an LQR (quadratic linear controller) and / or an adaptable controller, for example. The 2500 robotic surgical instrument can include a power source to convert the control signal
[0141] [0141] For the use of a motorized robotic surgical stapling system, the force on the closing member drops slightly during a waiting period after the tissue has grasped due to the compression on the tissue and the fluid outlet. In addition, the force on the closing member drops precipitously from the moment the firing member engages the clamping arm and the closing force is transferred from the closing member to the firing member. Therefore, the present description provides a closed loop feedback control system configured to advance the closing member during the waiting period and during the firing stroke while the firing member advances distally. The present description also provides individually controllable closing and firing members configured to be coupled to an interface of the robotic surgical instrument.
[0142] [0142] In one aspect, the present description provides several techniques for the adaptive control of the speed of the closing member. In one aspect, the present description provides techniques for adaptive control of the speed of the closing member that measure at least two parameters of a robotic drive shaft. Parameters associated with the robotic drive shaft include, but are not limited to, location of the firing member, firing of the firing member, knife advance speed, location of the closing tube stroke, closing tube loading, among others, through a removable robotic interface unit and a removable cartridge together with a circuit arranged in the robotic interface, and the cartridge that can identify itself and its status or provide parameters or a program of control to actuate the device or end actuator and record its use.
[0143] [0143] In one aspect, the present description provides closed loop feedback control techniques for advancing a closing member during a waiting period and during a trip course. A closed loop feedback control system can be configured to receive at least two parameters, such as the trigger member travel location, trigger member load, knife advance speed, travel tube travel location closing or loading of the closing tube, to progressively close the closing member as the firing member is advancing.
[0144] [0144] The advance of the closing tube can be controlled based on the location of the firing member within its travel and the measured force on the closing tube actuator. In one aspect, the advance of the closing tube can be controlled based on the continuous advance of the closing tube based on both the location of the trigger member within its stroke and the measured closing force (FTC). Advance of the closing tube during firing provides less firing force (FTF) and results in greater pivot angles, shorter joint lengths and better tissue capacity.
[0145] [0145] Figure 31 is a 13000 diagram of three graphs. A displacement graph 13002 represents a plot of the displacement of the closing member as a function of time. The closing force graph 13004 represents a closing force plot (FTC) of the closing member as a function of time. The trigger force graph 13006 represents a trigger force plot (FTF) of the trigger member as a function of time. The three graphs 13002, 13004, 13006 represent plots of three different time periods, or phases, called the closing course (CLOSING), waiting period (WAITING) and firing course (TRIGGER). Each graph 13002, 13004, 13006 includes two separate graphs where the first graph represents a conventional closing member where a closing force is applied only during a closing stroke and the second graph represents a closing member where a closing force is maintained or applied beyond the closing stroke. Diagram 13000 will be described with reference to Figure 27, which is a schematic diagram of a re-information control system configured to receive at least two parameters, such as the location of the firing member (for example, the beam with an I-profile) 2514) along the firing stroke, the load on the firing member, the advance speed of the firing member, the location of the closing tube (for example, the closing tube 1040, 1042), or the load on the closing tube 1040, 1042 and to progressively close anvil 2516 during the firing stroke. The control circuit 2510 is configured to receive such parameters from the position sensor 2534, the current sensor 2536, other sensors 2538 positioned along the 2500 instrument, the timer / counter circuit 2531 and / or any of the sensors torque 2544a to 2544e positioned at the 2504a 2504e engine output, respectively. Based on the feedback parameters, the control circuit 2510 controls the displacement of the closing 1040, 1042 (back and forth) to maintain a desired closing force and / or trigger force during the trigger stroke period with based on the measured closing force and the position of the beam with i 2514 profile and the closing force on the closing tube 1040, 1042.
[0146] [0146] Displacement graph 13002 represents the first and second graphs 13020, 13026 of displacement of the closing member
[0147] [0147] The closing force graph 13004 represents the first and second plots 13022, 13028 of the closing force as a function of time, where the closing force (FCT) N is plotted along the vertical geometric axis 13012 and time is plotted along the horizontal geometric axis 13014. The first plot 13022 represents the closing force applied to the closing member as a function of the time the closing member travels over a fixed distance and stops and applies constant closing force during the firing stroke. The second plot 13028 represents the closing force applied to the closing member as a function of the time that the force of the closing member is under feedback control during the firing stroke, according to an aspect of the present description.
[0148] [0148] The plot of the firing force 13006 represents the first and second plots 13024, 13030 of the firing force as a function of time, where the firing force (FCF) N is plotted along the vertical geometric axis 13016 and the time (seconds) is plotted along the horizontal geometric axis 13018. The first plot 13024 represents the firing force applied to the firing member as a function of the time the closing member travels over a fixed distance and stops e applies a constant closing force during the firing stroke. The second graph 13030 represents firing force as a function of the time when the closing member is under feedback control while the member is advancing distally during the firing course, according to one aspect of the present description.
[0149] [0149] The period of the closing course (CLOSING) starts at time to and ends at time t1. During the closing stroke, a closing force 13038, 13058 is applied to the closing member, for example, closing tube 1040, 1042 (Figures 4 and 6 to 10), causing the closing tube 1040, 10402 to translate distally 13032, 13050 to move the anvil 2516 in relation to the clamp cartridge 2518 in response to the actuation of the closing motor 2504b through one or more transmission components 2506b. During the closing stroke period, trip force 13044, 13070 is substantially zero. As the closing force 13038, 13058 increases exponentially up to a maximum force of Frc1, the closing tube 1040, 1042 travels a fixed distance up to õo (mm). The closing force reaches a maximum force Frc1 at time t1. The initial hold period can be about one second, for example.
[0150] [0150] After the closing course period comes the waiting period (WAITING), which starts at time t; and ends at time t2. A waiting period can be applied before starting a firing course. The waiting period allows fluid to escape from the compressed tissue through the end actuator 2502, which reduces the thickness of the compressed tissue producing a smaller gap between the anvil 2516 and the staple cartridge 2518 and a reduction in the closing force at the end of the waiting period. If no other closing force is applied to the closing tube 1040, 1042, the closing force
[0151] [0151] The trigger stroke period (TRIGGER) starts at time t2 and ends at time ts. The triggering stroke starts at the end of the waiting period. In a conventional closing force process, as the firing force increases exponentially in the initial stage of the firing stroke, the closing force 13041 falls exponentially as the beam with i-profile 2514 is coupled to the anvil 2516 and the closing load is transferred from the closing tube 1040, 1042 to the i-profile beam 2514. In a conventional process, as the firing force 13046 increases rapidly to Frr1, the closing force decreases rapidly to Frc3 and the closing force remains constant for the remainder of the firing stroke and firing force 13048 falls steadily to FrF3 at the end of the stapling period and then falls to zero at the end of the firing stroke. During the firing period, the displacement 13036 of the closing tube remains constant. In other words, in a conventional process, the displacement of the closing tube 1040, 1042 stops after the initial displacement during the closing stroke.
[0152] [0152] In one aspect, the present description provides the closed loop feedback control system to advance the closing tube 1040, 1042 during the firing stroke. A closed-loop feedback control system comprising a 2510 control circuit configured to receive at least two parameters, such as the location of the beam with i 2510 profile (firing member)
[0153] [0153] For example, with reference to the second plot portion 13028 of the closing force graph 13004 and the second plot portion 13030 of the trigger force graph 13006, after the waiting period, the closing tube 1040, 1042 is under constant closing force 13060 applied during the waiting period until the firing force 13072 increases rapidly to Frr2 and the closing force 13062 begins to decrease as the i-profile beam 2514 is coupled to the anvil 2516 and the closing load is transferred from the closing tube 1040, 1042 to the I-profile beam 2514. During this short period, however, the closed circuit feedback circuit 2510 receives the closing force 13062 from the torque sensor 2544b coupled to the output drive shaft of the closing motor 2504b and the position of the beam with i-profile 2514 during the firing stroke and increasing the closing force 13064 in the closing tube 1040 , 1042 based on these measured parameters. To increase the closing force 13064, the control circuit 2510 advances the offset 13056 of the closing tube 1040, 1042 to 52 and, in this example, remains in that position 13054 for the rest of the firing stroke. Consequently, after the brief drop in the closing force 13062, the closing force 13064 recovers to Frc1 and remains constant until the beam with i-profile 2514 is approximately one third (1/3) of the firing stroke period. At this moment, the control circuit 2510 allows the closing force 13066 to decrease from Frc1: the Frca when the beam with i-profile 2514 is approximately two thirds (2/3) of the firing stroke period. In this example, the closing force 13068 remains constant at Frc3 for the remaining one-third (1/3) of the firing stroke period. As shown by the second plot 13030, the trigger force 13074 decreases from a peak trigger force Frr2, which is less than the peak trigger force Frr1 in the conventional process, for Frr3, which coincides with the force of conventional process triggering and rapidly drops to zero for the remainder of the trigger stroke period until the end of the trigger stroke is reached.
[0154] [0154] Consequently, the advance of the closing tube 1040, 1042 can be controlled based on the location of the firing member such as the measured position of the beam with i-profile 2514 within the firing stroke period and the closing force measurement applied to the closing tube 1040, 1042 as measured, for example, by the torque sensor 2544b coupled to the output drive shaft of the closing motor 2504b. The closing tube 1040, 1042 can be advanced or retracted based on these feedback parameters. The result produces a lower firing force (FTF) and provides greater articulation angles, shorter joint lengths and the best possible fabric capacity.
[0155] [0155] Consequently, with reference now mainly to Figure 27, in one aspect, the control circuit 2510 is configured to provide progressive closure of a closing member (e.g., closing tube 1040, 1042) during the waiting period and during the firing stroke, according to one aspect of this description. As previously described, in a conventional gripping and firing process, the closing force drops during the waiting period due to the compression of the tissue and fluid outflow from the tissue. Thus, during the closing and waiting periods, the control circuit 2510 monitors the closing force on the closing tube 1040, 1042 and advances the closing tube 1040, 1042 providing a motor setpoint signal to the control circuit. motor control 2508b, which applies a motor start signal to the 2504b motor. Motor 2504b drives a transmission 2506b, which includes one or more gears or other connecting components to couple the output of the motor 2504b to the closing tube 1040, 1042. Consequently, the closing tube 1040, 1042 applies a force closing torque to 2516. A torque sensor 2444b coupled to the motor output 2504b provides closing force to the control circuit 2510.
[0156] [0156] In addition, at the start of the firing stroke, as the closing force is transferred from the closing tube 1040, 1042 to the beam with i-profile 2514, the control circuit 2510 receives the position of the beam with profile in i 2514 (or another component of the firing system) of the position sensor 2534. After the beam with i-2514 profile advances distally and is coupled to the anvil 2516, during the firing stroke, the control circuit 2510 receives the force lock applied to the closing tube 1040, 1042 from the torque sensor 2544b and the position of the beam with i-profile 2514 from the position sensor 2534 to adjust the displacement of the closing tube 1040, 1042 e, thus, control the force based on the measured closing force and the measured position of the i-beam beam
[0157] [0157] Figure 32 is a logic flow diagram representing a 13100 process from a control program or a logical configuration to determine the closing force applied to the closing member and the position of the firing member and defining the closing force based on the measured closing force and the position information.
[0158] [0158] The functions or processes 13100 described here can be performed by any of the processing circuits described here, such as control circuit 961 (Figure 22), 800 (Figure 23), 810 (Figure 24), 820 (Figure 25), 4420 (Figure 26) and / or the 2510 control circuit (Figure 30). The aspects of the motorized surgical instrument can be practiced without the specific details revealed in the present invention.
[0159] [0159] Parts of this description can be presented in terms of instructions that operate on data stored in a computer's memory. An algorithm refers to the self-consistent sequence of steps that lead to the desired result, where a "step" refers to the manipulation of physical quantities that can take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared and manipulated in any other way. These signs can be called bits, values, elements, symbols, characters, terms, numbers. These terms and similar terms can be associated with the appropriate physical quantities and are merely convenient identifications applied to these quantities.
[0160] [0160] 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 "electrical circuits". Consequently, "electrical circuit" includes, but is not limited to, electrical circuits that have at least one separate electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit to apply specific circuits, electrical circuits that form a general-purpose computer 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, random access memory forms), and / or electrical circuits that form a communications device (for example, a modem, routers or optical-electrical equipment). These aspects can be implemented in analog or digital form, or combinations of the same.
[0161] [0161] 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 by means of 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 revealed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs operating on one or more computers). computer systems), as one or more programs operating on one or more processors (for example, as one or more programs operating on one or more microprocessors), as firmware, or virtually as any combination thereof, and to design the set of circuits 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.
[0162] [0162] The mechanisms of the revealed subject can be distributed as a program product in a variety of ways, and an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission media used to effectively execute the distribution. Examples of a signal transmission medium include, but are not limited to, the following: recordable media such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), digital tape, computer memory, etc .; and transmission-type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a wired communication link, a wireless communication link (for example, transmitter, receiver, transmission logic, reception logic, etc.).
[0163] [0163] The previously mentioned description of one or more aspects was 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 for the purpose of illustrating 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.
[0164] [0164] Various aspects of the subject described in this document are defined in the following examples: Example 1. A control system for a robotic surgical system, the control system comprising: a control circuit configured to: determine a closing force applied to a closing member; determine a firing member's position; and define a new closing force based on the closing force applied to the closing member and the position of the firing member.
Example 2. The control system of Example 1, which additionally comprises a force sensor coupled to the control circuit, the force sensor being configured to measure the closing force.
Example 3. The control system of Example 2, the force sensor comprising a torque sensor coupled to an output drive shaft of a motor coupled to the closing member, and the torque sensor is configured to measure the closing force.
Example 4. The control system of one or more of Example 2 and Example 3, with the force sensor comprising an effort meter coupled to the closing member, the effort meter being configured to measure the force of closure.
Example 5. The control system of one or more from Example 2 to Example 4, the force sensor comprising a load cell coupled to the closing member, the load cell being configured to measure the closing force .
Example 6. The control system of one or more from Example 2 to Example 5, which further comprises a position sensor coupled to the trigger member, the position sensor being configured to measure the position of the trigger member.
Example 7. The control system of one or more from Example 1 to Example 6, the control circuit being configured to advance the closing member during at least a portion of the firing stroke.
Example 8. A control system for a robotic surgical system, the control system comprising: a first engine configured to be coupled to a closing member; a force sensor configured to measure the closing force applied to the closing member; a control circuit coupled to the first motor and the force sensor, the control circuit being configured to: receive, from the force sensor, the actual closing force applied to the closing member; receiving, from the position sensor, a position of a firing member; and defining a new closing force based on the actual closing force applied to the closing member and the position of the firing member.
Example 9. The control system of Example 8, with the force sensor comprising a torque sensor coupled to an output drive shaft of the first motor, the torque sensor being configured to measure the closing force .
Example 10. The control system of one or more of Example 8 and Example 9, with the force sensor comprising an effort meter coupled to the closing member, the effort meter being configured to measure the force of closure.
Example 11. The control system of one or more from Example 8 to Example 10, the force sensor comprising a load cell coupled to the closing member, the load cell being configured to measure the closing force .
Example 12. The control system of one or more from Example 8 to Example 11, which additionally comprises a position sensor coupled to the closing member, the position sensor being configured to measure the position of the closing member .
Example 13. The control system for one or more of the
Example 8 to Example 12, which further comprises a second motor coupled to the firing member, the control circuit being configured to advance the firing member during at least a portion of a firing course of the firing member.
Example 14. A control system for a robotic surgical system, the control system comprising: a control circuit configured to: apply a closing force to a closing member during a closing period; increase in the closing force during a waiting period after the closing period; determining a closing force applied to a closing member; determining a position of a firing member during a firing stroke; and defining a new closing force of the closing member based on the closing force and the position of the firing member.
Example 15. The control system of Example 14 which additionally comprises a force sensor coupled to the control circuit, the force sensor being configured to measure the closing force.
Example 16. The control system in Example 15, the force sensor comprising a torque sensor coupled to an output drive shaft of a motor coupled to the closing member, the torque sensor being configured to measure the closing force.
Example 17. The control system of one or more of Example 15 and Example 16, with the force sensor comprising an effort meter coupled to the closing member, the effort meter being configured to measure the force of closure.
Example 18. The control system of one or more from Example 15 to Example 17, the force sensor comprising a load cell coupled to the closing member, the load cell being configured to measure the closing force .
Example 19. The control system of one or more from Example 15 to Example 18, which further comprises a position sensor coupled to the trigger member, the position sensor being configured to measure the position of the trigger member .
Example 20. The control system of one or more from Example 14 to Example 19, the control circuit being configured to advance the closing member during at least a portion of the firing stroke.

权利要求:
Claims (20)
[1]
1. Control system for a robotic surgical system, the control system characterized by comprising: a control circuit configured to: determine a closing force applied to a closing member; determine a firing member's position; and adjusting a new closing force based on the closing force applied to the closing member and the position of the firing member.
[2]
2. Surgical instrument, according to claim 1, characterized in that it additionally comprises a force sensor coupled to the control circuit, in which the force sensor is configured to measure the closing force.
[3]
3. Control system, according to claim 2, characterized in that the force sensor comprises a torque sensor coupled to an output drive shaft of a motor coupled to the closing member, where the torque sensor is configured to measure the closing force.
[4]
4. Control system according to claim 2, characterized in that the force sensor comprises an effort meter coupled to the closing member, in which the effort meter is configured to measure the closing force.
[5]
5. Control system according to claim 2, characterized in that the force sensor comprises a load cell coupled to the closing member, in which the load cell is configured to measure the closing force.
[6]
6. Control system according to claim 2, characterized by additionally comprising a position sensor coupled to the firing member, in which the position sensor is configured to measure the position of the firing member.
[7]
7. Control system according to claim 1, characterized in that the control circuit is configured to advance the closing member during at least a portion of the firing course.
[8]
8. Control system for a robotic surgical system, the control system characterized by comprising: a first engine configured to be coupled to a closing member; a force sensor configured to measure the closing force applied to the closing member; a control circuit coupled to the first motor and the force sensor, where the control circuit is configured to: receive, from the force sensor, the actual closing force applied to the closing member; receiving, from the position sensor, a position of a firing member; and adjusting a new closing force based on the actual closing force applied to the closing member and the position of the firing member.
[9]
9. Control system, according to claim 8, characterized in that the force sensor comprises a torque sensor coupled to an output drive shaft of the first motor, in which the torque sensor is configured to measure the force closing.
[10]
10. Control system according to claim 8, characterized in that the force sensor comprises a strain gauge coupled to the closing member, in which the strain gauge is configured to measure the closing force.
[11]
Control system according to claim 8, characterized in that the force sensor comprises a load cell coupled to the closing member, in which the load cell is configured to measure the closing force.
[12]
Control system according to claim 8, characterized in that it additionally comprises a position sensor coupled to the closing member, in which the position sensor is configured to measure the position of the closing member.
[13]
Control system according to claim 8, characterized in that it additionally comprises a second motor coupled to the firing member, in which the control circuit is configured to advance the firing member for at least a portion of a firing stroke of the firing member.
[14]
14. Control system for a robotic surgical system, the control system characterized by comprising: a control circuit configured to: apply a closing force to a closing member during a closing period; increase the closing force during a waiting period after the closing period; determining a closing force applied to a closing member; determining a position of a firing member during a firing stroke; and adjusting a new closing force of the closing member based on the closing force and the position of the firing member.
[15]
15. Control system, according to claim 14, characterized in that it additionally comprises a force sensor coupled to the control circuit, in which the force sensor is configured to measure the closing force.
[16]
16. Control system, according to claim 15,
characterized in that the force sensor comprises a torque sensor coupled to an output drive shaft of a motor coupled to the closing member, in which the torque sensor is configured to measure the closing force.
[17]
17. Control system according to claim 15, characterized in that the force sensor comprises a strain gauge coupled to the closing member, in which the strain gauge is configured to measure the closing force.
[18]
18. Control system according to claim 15, characterized in that the force sensor comprises a load cell coupled to the closing member, in which the load cell is configured to measure the closing force.
[19]
19. Control system according to claim 15, characterized in that it additionally comprises a position sensor coupled to the firing member, in which the position sensor is configured to measure the position of the firing member.
[20]
20. Control system according to claim 14, characterized in that the control circuit is configured to advance the closing member during at least a portion of the firing stroke.

类似技术:

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公开号 | 公开日 | 专利标题

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US10398434B2|2019-09-03|Closed loop velocity control of closure member for robotic surgical instrument

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同族专利:

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公开号 | 公开日

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EP3420920A1|2019-01-02|

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US20190000448A1|2019-01-03|

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WO2019003022A1|2019-01-03|

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JP2020525170A|2020-08-27|

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US10898183B2|2021-01-26|

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CN110913774A|2020-03-24|

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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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US15/636,854|US10898183B2|2017-06-29|2017-06-29|Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing|

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US15/636,854|2017-06-29|

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PCT/IB2018/054339|WO2019003022A1|2017-06-29|2018-06-13|Robotics surgical instrument with closed loop feedback techniques for advancement of closure member during firing|

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