flexible circuit arrangement for surgical fastening instruments

专利摘要:
The present invention relates to a flexible assembly of a motor-driven surgical system which may include a flexible drive shaft circuit strip and a knife bar that has a first laminated plate arranged along a first side of the circuit strip and a second laminated plate disposed along a second side of the circuit strip. The knife bar can reciprocate along a longitudinal geometric axis of the circuit strip. Each laminated board can be made up of a pair of laminated boards. The flexible assembly may include a first leaf spring disposed between the first side of the circuit strip and the first laminated plate, and a second leaf spring disposed between the second side of the circuit strip and the second laminated plate. The flexible assembly can be arranged on at least a portion of a distal portion of an articulated drive shaft and at least a portion of a joint connector of the surgical device.
公开号:BR112019026805A2
申请号:R112019026805-7
申请日:2018-05-31
公开日:2020-06-30
发明作者:Jeffrey D. Messerly；David C. Yates；Frederick E. Shelton Iv；Jason L. Harris
申请人:Ethicon Llc；
IPC主号:

专利说明:

[001] [001] The present description refers to electrosurgical devices and, in several aspects, to circuit components that are designed to conduct electrical signals between a proximal end and a distal end thereof. BACKGROUND OF THE INVENTION
[002] [002] In some respects, an electrosurgical device may have an articulating drive shaft to allow a user to adjust an angle of an end actuator with respect to a handle assembly to access tissues in any orientation with respect to the user. The electrical signals exchanged between the end actuator and the handle assembly must be cleared regardless of the type or extent of the drive shaft hinge. SUMMARY OF THE INVENTION
[003] [003] In one aspect, a motor-driven surgical system may include a handle set and an interchangeable surgical tool set operably coupled to the handle set. One aspect of the interchangeable surgical tool set may include a nozzle assembly, a proximal closure tube that has a proximal end operably coupled to a distal end of the nozzle assembly, a pivot connector that has a proximally coupled end operational to a distal end of the proximal closing tube, a surgical end actuator that includes a first jaw and a second jaw and which has a proximal end operably coupled to a distal end of the hinge connector, a flexible circuit strip of drive shaft arranged on at least a portion of the proximal closing tube, at least a portion of the hinge connector and at least a portion of the surgical end actuator, a knife member slidably disposed on the surgical end actuator and a bar knife connected operatively to a proximal end of the knife member. The knife bar may additionally include a first laminated plate disposed on a first side of the drive shaft flexible circuit strip and a second laminated plate disposed on a second side of the drive shaft flexible circuit strip, and the knife bar it can be configured to reciprocate along a longitudinal geometric axis of the proximal closing tube.
[004] [004] An aspect of a flexible assembly for use in an articulated component of a motor-driven surgical system may include a flexible circuit strip of the drive shaft and a knife bar that has a first laminated plate arranged over a first side of the drive shaft flexible circuit strip and a second laminated plate disposed along a second side of the drive shaft flexible circuit strip, in which the knife bar is configured for reciprocating along a longitudinal geometric axis of the drive shaft flexible circuit strip. FIGURES
[005] [005] The innovative features of the aspects described here are presented with particularity in the attached claims. However, these aspects, both in relation to the organization and the methods of operation, can be better understood by reference to the description below, taken in conjunction with the attached drawings.
[006] [006] Figure 1 is a perspective view of a surgical system that includes a handle set attached to an interchangeable surgical tool set that is configured to be used in conjunction with conventional surgical clamp / clamp cartridges and radio frequency cartridges ( RF) according to one aspect of this description.
[007] [007] Figure 2 is an exploded perspective view of the surgical system of Figure 1, according to an aspect of this description.
[008] [008] Figure 3 is another exploded perspective view of portions of the handle set and the interchangeable surgical tool set of Figures 1 and 2, according to one aspect of this description.
[009] [009] Figure 4 is an exploded view of a proximal portion of the interchangeable surgical tool set of Figures 1 to 3, according to an aspect of this description.
[0010] [0010] Figure 5 is another exploded view of a distal portion of the interchangeable surgical tool set of Figures 1 to 5, according to an aspect of this description.
[0011] [0011] Figure 6 is a partial cross-sectional view of the end actuator represented in Figures 1 to 5 that supports an RF cartridge in it and with the tissue trapped between the cartridge and the anvil, according to one aspect of this description .
[0012] [0012] Figure 7 is a partial cross-sectional view of the anvil of Figure 6, according to an aspect of this description.
[0013] [0013] Figure 8 is another exploded view of a portion of the interchangeable surgical tool set of Figures 1 to 5, according to an aspect of this description.
[0014] [0014] Figure 9 is another exploded view of the interchangeable surgical tool set and the handle set of Figures 1 and 2, according to an aspect of the present description.
[0015] [0015] Figure 10 is a perspective view of a cartridge
[0016] [0016] Figure 11 is a partial perspective view of portions of the RF cartridge and the elongated channel of Figure 10 with a knife limb aspect in accordance with an aspect of this description.
[0017] [0017] Figure 12 is another perspective view of the RF cartridge installed in the elongated channel of Figure 10 and illustrating a portion of a flexible drive shaft circuit arrangement in accordance with an aspect of this description.
[0018] [0018] Figure 13 is an end view in cross section of the RF cartridge and the elongated channel of Figure 12 taken along lines 13-13 in Figure 12 according to an aspect of this description.
[0019] [0019] Figure 14 is a cross-sectional top view of a portion of the interchangeable surgical tool set of Figures 1 and 5 with its end actuator in an articulated position according to an aspect of this description.
[0020] [0020] Figure 15 is a perspective view of an integrated circuit board arrangement and an RF generator plus a configuration according to an aspect of this description.
[0021] [0021] Figures 16A and 16B are a block diagram of a control circuit for the surgical instrument of Figure 1 that comprises two drawing sheets according to one aspect of this description.
[0022] [0022] Figure 17 is a block diagram of the control circuit of the surgical instrument of Figure 1 that illustrates interfaces between the handle assembly, the feeding assembly and the handle assembly and the interchangeable drive shaft assembly according to one aspect of this description.
[0023] [0023] Figure 18 is a schematic diagram of a surgical instrument configured to control various functions according to an aspect of this description.
[0024] [0024] Figure 19 is a top view in cross section of an aspect of a flexible assembly shown in Figure 14 according to an aspect of this description.
[0025] [0025] Figure 20A is a cross-sectional top view of an aspect of the flexible assembly shown in Figure 14 for a knife member arranged in a proximal position, as arranged in an aspect of an electrosurgical device in accordance with an aspect thereof description.
[0026] [0026] Figure 20B is a cross-sectional top view of an aspect of the flexible assembly shown in Figure 14 for a knife member disposed in a distal position arranged in an aspect of an electrosurgical device in accordance with an aspect of this description.
[0027] [0027] Figure 21A is a cross-sectional top view of an aspect of the flexible assembly shown in Figure 14 for a knife member arranged in a proximal position according to an aspect of this description.
[0028] [0028] Figure 21B is a top cross-sectional view of an aspect of the flexible assembly shown in Figure 14 for a knife member disposed in a distal position in accordance with an aspect of this description. DESCRIPTION
[0029] [0029] The applicant for the present application holds the following patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities:
[0030] [0030] Power of attorney document number END8184USNP / 170063, entitled SURGICAL SYSTEM COUPLABLE WITH STAPLE
[0031] [0031] Power of attorney document number END8183USNP / 170064, entitled SYSTEMS AND METHODS OF DISPLAYING SURGICAL INSTRUMENT STATUS, by the inventors Jeffrey D. Messerly et al., Filed on June 28, 2017.
[0032] [0032] Power of attorney document number END8190USNP / 170065, entitled SHAFT MODULE CIRCUITRY ARRANGEMENTS, by the inventors Jeffrey D. Messerly et al., Filed on June 28,
[0033] [0033] Power of attorney document number END8189USNP / 170066, entitled SYSTEMS AND METHODS FOR CONTROLLING CONTROL
[0034] [0034] Power of attorney document number END8188USNP / 170068, entitled SURGICAL SYSTEM COUPLEABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND HAVING A PLURALITY OF RADIO-FREQUENCY ENERGY RETURN PATHS, by the inventors Jeffrey D. Messerly et al., Deposited on 28 June
[0035] [0035] N ° of the power of attorney document END8181USNP / 170069, entitled SYSTEMS AND METHODS FOR CONTROLLING CONTROL
[0036] [0036] Power of attorney document number END8187USNP / 170070, entitled SURGICAL END EFFECTOR FOR APPLYING ELECTROSURGICAL ENERGY TO DIFFERENT ELECTRODES ON
[0037] [0037] Power of attorney document number END8182USNP / 170071, entitled ELECTROSURGICAL CARTRIDGE FOR USE IN THIN PROFILE SURGICAL CUTTING AND STAPLING INSTRUMENT, by the inventors Tamara Widenhouse et al., Filed on June 28,
[0038] [0038] Power of attorney document number END8186USNP / 170072, entitled SURGICAL END EFFECTOR TO ADJUST JAW COMPRESSION, by the inventors Frederick E. Shelton, IV et al., Filed on June 28, 2017.
[0039] [0039] Power of Attorney Document No. END8224USNP / 170073, entitled CARTRIDGE ARRANGEMENTS FOR SURGICAL CUTTING
[0040] [0040] Power of attorney document number END8229USNP / 170074, entitled SYSTEMS AND METHODS OF DISPLAYING SURGICAL INSTRUMENT STATUS, by the inventors Jeffrey D. Messerly et al., Filed on June 28, 2017.
[0041] [0041] Electrosurgical devices can be used in many surgical operations. Electrosurgical devices can apply electrical energy to the tissue to treat the tissue. An electrosurgical device may comprise an instrument that has a distally mounted end actuator that comprises one or more electrodes. The end actuator can be positioned against the fabric, so that electric current can be introduced into the fabric. Electrosurgical devices can be configured for monopolar or bipolar operation. During monopolar operation, current can be introduced into the tissue by an electrode (or source) active on the end actuator and returned via a return electrode. The return electrode can be a grounding block located separately on a patient's body. During bipolar operation, current can be introduced into the tissue and returned from it, respectively, through the active and return electrodes of the end actuator.
[0042] [0042] The end actuator can include two or more claw members. At least one of the claw members can have at least one electrode. At least one claw can be movable from a spaced position of the opposite claw to receive tissue in a position in which the space between the claw members is less than that of the first position. This movement of the movable claw can compress the tissue retained between it. The heat generated by the current flow through the tissue in combination with the compression obtained by the movement of the claw can form hemostatic seals within the tissue and / or between tissues and, therefore, can be particularly useful for sealing blood vessels, for example . The end actuator can comprise a cutting member. The cutting element can be movable in relation to the tissue and the electrodes to transpose the tissue.
[0043] [0043] Electrosurgical devices may also include mechanisms for securing the tissue, such as a stapling device and / or mechanisms for cutting the tissue, such as a tissue knife. An electrosurgical device may include a drive shaft for placing the end actuator in a position adjacent to the tissue being treated. The drive shaft can be straight or curved, foldable or non-foldable. In an electrosurgical device that includes a straight and foldable drive shaft, the drive shaft can have one or more articulated joints to allow controlled flexing of the drive shaft. Such joints may allow a user of the electrosurgical device to place the end actuator in contact with the tissue at an angle to the drive axis when the tissue being treated is not readily accessible using an electrosurgical device that has an axis non-folding straight drive.
[0044] [0044] The electrical energy applied by the electrosurgical devices can be transmitted to the instrument by a generator in communication with the handpiece. The electrical energy may be in the form of radio frequency energy ("RF"). RF energy is a form of electrical energy that can be in the frequency range of 200 kilohertz (kHz) to 1 megahertz (MHz). In application, an electrosurgical instrument can transmit RF energy at low frequency through the tissue, which causes friction, or ionic agitation, that is, resistive heating, which, therefore, increases the tissue temperature. Since a precise boundary is created between the affected tissue and the surrounding tissue, surgeons can operate with a high level of precision and control, without sacrificing adjacent tissue that is not the target. The low operating temperatures of the RF energy are useful for removing, shrinking or sculpting soft tissues while simultaneously cauterizing blood vessels. RF energy works particularly well in connective tissue, which mainly comprises collagen and shrinks when it comes in contact with heat.
[0045] [0045] The RF energy can be in a frequency range described in EN 60601-2-2: 2009 + A11: 2011, Definition 201.3.218 - HIGH FREQUENCY. For example, the frequency in monopolar RF applications can typically be restricted to less than 5 MHz. However, in bipolar RF applications, the frequency can be almost any. Frequencies above 200 kHz can typically be used for monopolar applications to avoid unwanted nerve and muscle stimulation, which would result from using a low frequency current. Lower frequencies can be used for bipolar applications if the risk analysis shows that the possibility of neuromuscular stimulus has been mitigated to an acceptable level. Typically, frequencies above 5 MHz are not used in order to minimize problems associated with high frequency dispersion currents. Higher frequencies can, however, be used in the case of bipolar applications. It is generally accepted that 10 mA is the lower threshold for thermal effects on tissue.
[0046] [0046] Figures 1 and 2 depict a motor-driven surgical system 10 that can be used to perform a variety of different surgical procedures. In the illustrated arrangement, surgical system 10 comprises an interchangeable surgical tool set 1000 that is operatively coupled to a handle set 500. In another aspect of the surgical system, the interchangeable surgical tool set 1000 can also be employed effectively with a set tool drive of a robotically controlled or automated surgical system. For example, the surgical tool set 1000 disclosed herein can be employed with various robotic systems, instruments, components and methods such as, but not limited to, those disclosed in US Patent No. 9,072,535, entitled "SURGICAL
[0047] [0047] In the illustrated aspect, the handle assembly 500 may comprise a handle compartment 502 that includes a pistol handle portion 504 that can be handled and manipulated by the physician. As will be briefly discussed below, the handle set 500 operationally supports a plurality of drive systems, which are configured to generate and apply various control movements to the corresponding portions of the interchangeable surgical tool set
[0048] [0048] In at least one form, the handle assembly 500 and the handle structure 506 can operationally support another drive system called in the present invention a trigger drive system 530, which is configured to apply trigger movements to the portions corresponding to the interchangeable surgical tool set that is attached to it. As described in detail in US Patent Application Publication No. 2015/0272575, the firing drive system 530 may employ an electric motor 505 which is located in the pistol grip portion 504 of the handle assembly 500. In various forms , the 505 motor can be a brushed DC motor with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the 505 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. The motor 505 can be powered by a power supply 522 which, in one form, can comprise a removable power source. The power source can support a plurality of lithium ion batteries ("Li ions") or other suitable ones therein.
[0049] [0049] The electric motor 505 is configured to axially drive a longitudinally movable driving member 540 (Figure 3) in the distal and proximal directions depending on the polarity of the motor. For example, when the 505 electric motor is driven in a direction of rotation, the longitudinally movable driving member will be axially driven in a distal "DD" direction. When the motor 505 is driven in the opposite rotating direction, the longitudinally movable driving member 540 will be driven axially in the proximal direction "PD". The grip set 500 may include a switch 513 that can be configured to reverse the polarity applied to the electric motor 505 by power source 522 or otherwise control the engine 505. The grip set 500 may also include a sensor or sensors ( not shown) that are configured to detect the position of the drive member and / or the direction in which the drive member is being moved. The actuation of the 505 motor can be controlled by a trigger trigger (not shown) that is in a position adjacent to the closing trigger 512 and pivotally supported in the handle set 500. The trigger trigger can be pivoted between an unacted position and an acted position. The trigger can be moved to the unacted position by means of a spring or other propensity arrangement so that when the doctor releases the trigger, it can be rotated or otherwise returned to the untreated position. actuated by means of the spring or the propensity arrangement. In at least one way, the trigger trigger can be positioned "away from the center" of the closing trigger 512. As discussed in US Patent Application Publication No. 2015/0272575, the grip handle 500 can be equipped with a button trigger trigger safety (not shown) to prevent inadvertent triggering. When the closing trigger 512 is in the unacted position, the safety button is contained in the handle assembly 500, where the doctor cannot readily access it and move it between a safety position, which prevents the trigger from operating trigger, and a trigger position in which the trigger can be fired. As the doctor presses the closing trigger, the safety button and the trigger trigger pivot down to a position where they can then be manipulated by the doctor.
[0050] [0050] In at least one form, the longitudinally movable drive member 540 may have a tooth rack 542 formed thereon for engagement with a corresponding drive gear arrangement (not shown) that interfaces with the motor. See Figure 3. Additional details regarding those features can be found in US Patent Application Publication No. 2015/0272575. In at least one arrangement, however, the longitudinally movable drive element is insulated to protect it from inadvertent RF energy. At least one form also includes a manually actuated "retraction" set, which is configured to allow the physician to manually retract the longitudinally movable drive member, in case the 505 engine stops running. The retract assembly may include a retract lever or handle assembly that is stored inside the handle assembly 500 under a removable door 550. See Figure 2. The lever can be configured to be manually pivoted in ratchet engagement with the teeth. on the drive member. In this way, the physician can manually retract drive member 540 using the retract handle assembly to engage the drive member in the proximal "PD" direction. US Patent No. 8,608,045, entitled
[0051] [0051] In the illustrated aspect, the interchangeable surgical tool set 1000 includes a surgical end actuator 1500 comprising a first jaw 1600 and a second jaw 1800. In one arrangement, the first jaw comprises an elongated channel 1602 that is configured to support operationally a cartridge of staples / conventional surgical clamps (mechanical) 1400 (Figure 4) or a cartridge of radio frequency (RF) 1700 (Figures 1 and 2) in it. The second claw 1800 comprises an anvil 1810 which is pivotally supported in relation to the elongated channel 1602. The anvil 1810 can be selectively moved towards and in the opposite direction to a surgical cartridge supported in the elongated channel 1602 between the open and closed positions by through the actuation of the closing drive system 510. In the illustrated arrangement, the anvil 1810 is pivotally supported on a proximal end portion of the elongated channel 1602 for selective pivoting displacement around a geometric pivot axis that is transverse to the axis geometry of the SA drive shaft. The actuation of the closing drive system 510 may result in the distal axial movement of a proximal closing member or proximal closing tube 1910 which is attached to a 1920 hinge connector.
[0052] [0052] Returning to Figure 4, the hinge connector 1920 includes upper and lower protrusions 1922, 1924 that project distally from a distal end of the hinge connector 1920 to be movably coupled to an actuator closing sleeve. distal closing tube end or segment 1930. See Figure 3. The distal closing tube segment 1930 includes an upper protrusion 1932 and a lower protrusion (not shown) that project proximally from an end proximal to it. An upper double pivot link 1940 includes proximal and distal pins 1941, 1942 that engage the corresponding holes in the upper protrusions 1922, 1932 of the articulation connector 1920 and the distal closing tube segment 1930, respectively. Similarly, an upper double pivot link 1944 includes proximal and distal pins 1945, 1946 that engage the corresponding holes in the lower protrusions 1924 of the hinge connector tube segment 1920 and the distal closing tube segment 1930, respectively.
[0053] [0053] Still with reference to Figure 4, in the illustrated example, the distal closing tube segment 1930 includes positive claw opening features or flaps 1936, 1938 that correspond to the corresponding portions of the anvil 1810 to apply opening movements to the anvil 1810 , as the distal closing tube segment 1930 is retracted in the proximal direction PD to an initial position. Additional details regarding the opening and closing of the 1810 anvil can be found in the US patent application, entitled
[0054] [0054] As shown in Figure 5, in at least one arrangement, the interchangeable surgical tool kit 1000 includes a tool frame assembly 1200 comprising a tool chassis 1210 that operationally supports a nozzle assembly 1240 therein. As further discussed in detail in the US patent application, entitled SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER, power of attorney document number END8209USNP / 170097, filed on the same date hereof, which is hereby incorporated by reference in its entirety for reference in the present invention, the tool chassis 1210 and the nozzle arrangement 1240 facilitate the rotation of the surgical end actuator 1500 about a geometric axis of the drive shaft SA in relation to the tool chassis 1210. Such rotational displacement is represented by the arrow R in Figure 1. As also shown in Figures 4 and 5, the interchangeable surgical tool set 1000 includes a central column assembly 1250 that operationally supports the proximal closing tube 1910 and is coupled to the surgical end actuator 1500. In various circumstances , to facilitate the assembly, the back set 1250 can be manufactured from a back segment upper 1251 and a lower back segment 1252 which are interconnected together by snap-on, adhesive, solder, etc. In assembled form, the dorsal assembly 1250 includes a proximal end 1253 that is pivotally supported on the tool chassis 1210. In one arrangement, for example, the proximal end 1253 of the central column assembly 1250 is attached to a dorsal bearing (not shown) which is configured to be supported within the tool chassis
[0055] [0055] As shown in Figure 4, the upper center column segment 1251 ends in an upper tab assembly feature 1260 and the lower center column segment 1252 ends in a lower tab assembly feature 1270. The upper tab 1260 is formed with a tab slot 1262 in it which is adapted to support a mountable upper link 1264 thereon. Similarly, the lower pin crimping feature 1270 is formed with a pin slot 1272 in it which is adapted to mount a lower mounting link 1274 in a passable way. The upper link 1264 includes a pivot socket 1266 in which it is displaced from the axis of the drive shaft SA. The pivot socket 1266 is adapted to pivot a pivot pin 1634 on it which is formed on a channel cover or anvil retainer 1630 which is attached to a proximal end portion 1610 of the elongated channel 1602. The lower mounting link 1274 includes the lower pivot pin 1276 which is adapted to be received within a pivot hole 1611 formed in the proximal end portion 1610 of the elongated channel 1602. The lower pivot pin 1276, as well as the pivot hole 1611 is displaced relative to to the axis of the drive shaft SA. The lower pivot pin 1276 is vertically aligned with the pivot socket 1266 to define the AA pivot geometry axis around which the surgical end actuator 1500 can pivot in relation to the SA drive shaft geometry axis. See Figure 1. Although the hinge axis AA is transversal to the hinge axis of the drive shaft SA, in at least one arrangement, the hinge axis AA is laterally displaced from it and does not cross the hinge axis. SA drive.
[0056] [0056] Returning to Figure 5, a proximal end 1912 of the proximal closing tube 1910 is rotationally coupled to a closing hook 1914 by a connector 1916 which is seated in an annular groove 1915 in the proximal closing tube segment
[0057] [0057] The trigger drive system 530 in the handle set 500 is configured to be operationally coupled to a trigger system 1300 that is operationally supported in the interchangeable surgical tool set 1000. The trigger system 1300 may include an intermediate portion of trigger drive axis 1310 which is configured to be axially moved in the distal and proximal directions in response to the corresponding trigger movements applied to it by the trigger drive system 530. See Figure 4. As shown in Figure 5, a proximal end 1312 the firing drive shaft intermediate portion 1310 has a firing drive shaft fixing lug 1314 formed therein that is configured to be seated on a fixing base 544 (Figure 3) which is located at the distal end of the firing member longitudinally movable drive 540 of the trigger drive system 530 within the handle assembly to 500. This arrangement facilitates the axial movement of the intermediate portion of the trigger drive shaft 1310 by actuation of the trigger drive system
[0058] [0058] In the illustrated example, the surgical end actuator 1500 is selectively pivotable about the geometric hinge axis AA by a hinge system 1360. In one form, hinge system 1360 includes proximal hinge actuator 1370 that is coupled to pivoting mode to a pivot link 1380. As can be seen more particularly in Figure 4, a displaced fixing pin 1373 is formed at a proximal end 1372 of the proximal pivot driver 1370. A pivot hole 1374 is formed in the fixing pin displaced 1373 and is configured to pivotally receive a proximal link pin 1382 formed at the proximal end 1381 of the link link 1380. A distal end 1383 of the link link 1380 includes a pivot hole 1384 which is configured to receive, pivotally inside, a channel pin 1618 formed at the proximal end portion 1610 of the elongated channel 1602. Thus, the movement the axial of the proximal articulation actuator 1370 will thus apply articulation movements to the elongated channel 1602 to thereby cause the surgical end actuator 1500 to articulate about the geometric axis of articulation AA in relation to the central column assembly 1250. In many circumstances, the 1370 proximal articulation trigger can be held in position by the 1390 articulation lock when the 1370 proximal articulation trigger is not being moved in the proximal or distal directions. Additional details related to an exemplary form of the 1390 hinge lock can be found in the US patent application, entitled SURGICAL
[0059] [0059] In addition to the above, the interchangeable surgical tool set 1000 can include a set of displacer 1100 that can be configured to selectively and releasably couple the proximal articulation driver 1310 to the firing system 1300. As shown in Figure 5 , in one form, the shifter assembly 1100 includes a locking collar or locking sleeve 1110 positioned around the intermediate portion of the firing drive shaft o 1310 of the firing system 1300, where the locking sleeve 1110 can be rotated between a engaged position, in which the locking sleeve 1110 operationally couples the proximal articulation driver 1370 to the trigger member 1300, and a disengaged position, in which the proximal articulation driver 1370 is not operationally coupled to the member of the trigger member firing 1300. When locking sleeve 1110 is in its engaged position, distal movement of firing member assembly 1300 can move distally the proximal articulation actuator 1370 and, correspondingly, the proximal movement of the firing member assembly 1300 can proximally move the proximal articulation actuator 1370. When the locking sleeve 1110 is in its disengaged position, the movement of the firing member 1300 is not transmitted to the proximal pivot driver 1370 and, as a result, the firing member 1300 assembly can move independently of the proximal pivot driver 1370. In various circumstances, the proximal pivot driver 1370 can be held in position by hinge lock 1390 when the proximal hinge driver 1370 is not being moved in the proximal or distal direction by the trigger member assembly 1300.
[0060] [0060] In the illustrated arrangement, the intermediate portion of the firing drive shaft 1310 of the firing member assembly 1300 is formed with two opposing flat sides with a driving groove 1316 formed there. See Figure 5. As can also be seen in Figure 5, locking sleeve 1110 comprises a cylindrical, or at least substantially cylindrical, body that includes a longitudinal opening that is configured to receive the trigger drive shaft intermediate portion. 1310 through it. The locking sleeve 1110 can comprise locking protrusions diametrically opposite and facing inwards which, when the locking sleeve 1110 is in a position, are received in an engaging manner within the corresponding portions of the drive notch 1316 in the intermediate portion of the drive shaft trigger 1310 and, when in another position, are not received inside the drive slot 1316 to allow, thus, the relative axial movement between the locking sleeve 1110 and the intermediate trigger drive shaft 1310. As can be seen in Figure 5, the locking sleeve 1110 additionally includes a locking member 1112 that is sized to be movably received within a notch 1375 at a proximal end of the proximal pivot driver 1370. Such an arrangement allows the locking sleeve 1110 to rotate slightly in and out of the engagement with the intermediate portion of the trigger drive shaft 1310, while remaining in position to engage or engage with notch 1375 on the proximal pivot drive 1370. More particularly, when locking sleeve 1110 is in its engaged position, the locking projections are positioned within the drive notch 1316 defined in the intermediate portion of the firing drive shaft 1310, so that a distal pushing force and / or a proximal pulling force can be transmitted from the firing member assembly 1300 to the locking sleeve 1110. Such a pushing movement or Axial traction is then transmitted from the locking sleeve 1110 to the proximal pivoting actuator 1370, to thus pivot the surgical end actuator 1500. In effect, the trigger member set 1300, the locking sleeve 1110 and the proximal joint 1370 will move together when locking sleeve 1110 is in its engaged (pivot) position. On the other hand, when the locking sleeve 1110 is in its disengaged position, the locking protrusions are not received inside the drive notch 1316 of the intermediate portion of the trigger drive shaft 1310 and, as a result, a distal pushing force and / or a proximal tractive force may not be transmitted from the firing assembly 1300 to the locking sleeve 1110 (and the proximal hinge driver 1370).
[0061] [0061] In the illustrated example, the relative movement of the locking sleeve 1110 between its engaged and disengaged positions can be controlled by the displacer assembly 1100 that interfaces with the proximal closing tube 1910. Still with reference to Figure 5, the assembly of Shifter 1100 additionally includes a shifter key 1120 that is configured to be slidably received within a key groove formed at the outer perimeter of the locking sleeve 1110. Such an arrangement allows shifter key 1120 to move axially with respect to the sleeve locking
[0062] [0062] In an arrangement, for example, when the proximal closing tube 1910 is in a non-actuated configuration (the anvil 1810 is in an open position spaced in the opposite direction to the cartridge mounted in the elongated channel 1602) the actuation of the intermediate portion of firing drive axis 1310 will result in axial movement of the proximal pivot actuator 1370 to facilitate pivoting the end actuator 1500. Once the user has pivoted the surgical end actuator 1500 to a desired orientation, the user can then act on proximal closing tube portion 1910. The actuation of the proximal closing tube portion 1910 will result in the distal displacement of the distal closing tube segment 1930 to finally apply a closing motion to the anvil 1810. This distal displacement of the closing tube portion proximal 1910 will result in the cam opening still interacting cam mode with a cam portion of the 1120 shifter switch to thereby cause the shifter key 1120 to rotate the locking sleeve 1110 in an actuating direction. Such rotation of the locking sleeve 1110 will result in the disengagement of the locking protrusions of the drive notch 1316 in the intermediate portion of the trigger drive axis 1310. When in such a configuration, the trigger drive system 530 can be actuated to actuate the intermediate portion of the 1310 trigger drive shaft without activating the 1370 proximal articulation trigger. Additional details related to the operation of the 1130 key drum and locking sleeve 1110, as well as alternative articulation trigger and trigger arrangements that can be employed with the various interchangeable surgical tool sets described here, can be found in US Patent Application Serial No. 13 / 803,086, now US Patent Application Publication No. 2014/0263541 and USP Patent Application Publication Serial No. US Patent Application 15 / 019,196, the integral disclosures of which are hereby incorporated by reference in the present invention.
[0063] [0063] As also illustrated in Figures 5 and 15, the interchangeable surgical tool set 1000 may comprise a slip ring assembly 1150 that can be configured to conduct electrical energy to and / or from the surgical end actuator 1500 and / or communicate signals to and / or from the surgical end actuator 1500 back to an 1152 integrated circuit board while facilitating the rotational displacement of the drive shaft and end actuator 1500 around the geometric axis of the SA drive axis in relation to to the tool chassis 1210 by rotating the nozzle assembly 1240. As shown in Figure 15, in at least one arrangement, integrated circuit board 1152 includes an integrated connector 1154 that is configured to interface with a slot connector 562 ( Figure 9) that communicates with a microprocessor 560 that is supported on the handle set 500 or robotic system controller, for example. The 1150 slip ring assembly is configured to interface with a 1153 proximal connector that interfaces with the 1152 integrated circuit board. More details on the 1150 slip ring assembly and associated connectors can be found in US Patent Application No. serial, 13 / 803,086, currently US Patent Application Publication No. 2014/0263541 and US Patent Application No. Serial No. 15 / 019,196, each of which has been incorporated by reference in its respective entirety as well as in US Patent Application Serial No. 13 / 800,067 entitled
[0064] [0064] An exemplary version of the interchangeable surgical tool set 1000 disclosed in the present invention can be employed in connection with a standard (mechanical) surgical clamp cartridge 1400 or a 1700 cartridge that is configured to facilitate cutting the tissue with the limb. knife and seal the cut fabric using radio frequency (RF) energy. Again with reference to Figure 4, a cartridge of the conventional or standard mechanical type 1400 is shown. Such cartridge arrangements are known and may comprise a cartridge body 1402 that is sized and shaped to be removably received and supported in the elongated channel 1602 For example, cartridge body 1402 can be configured to be removably retained by pressure engagement with elongate channel 1602. Cartridge body 1402 includes an elongated slot 1404 to accommodate axial displacement of knife member 1330 through the same. Cartridge body 1402 operationally supports a plurality of clip drivers (not shown) which are aligned in rows on each side of a centrally arranged elongated slot 1404. The drivers are associated with corresponding clip / fastener pockets 1412 that open through the upper platform surface 1410 of the cartridge body 1402. Each of the clamp actuators holds one or more clamps or surgical clamps (not shown) on it. A slide assembly 1420 is supported within a proximal end of cartridge body 1402 and is located proximal to the drivers and fasteners in an initial position when cartridge 1400 is new and not fired. Slider assembly 1420 includes a plurality of inclined or wedge-shaped cams 1422 with each cam 1422 corresponding to a specific line of fasteners or drivers located on one side of slot 1404. Slider assembly 1420 is configured to be placed in contact and driven by knife member 1330, as the knife member is driven distally through the fabric that is trapped between the anvil and the 1410 cartridge platform surface. As the drivers are driven upward toward the surface of the cartridge platform 1410, the fastener (or fasteners) supported on them is driven out of their pockets for staples 1412 and through the fabric that is stuck between the anvil and the cartridge.
[0065] [0065] Still with reference to Figure 4, the anvil 1810, in at least one form, includes an anvil mounting portion 1820 that has a pair of anvil sleeves 1822 that project laterally from it to be received hinged on corresponding trunnion bases 1614 formed on the vertical walls 1622 of the proximal end portion 1610 of the elongated channel 1602. The rotating pins of the anvil 1822 are hinged in their corresponding rotating pin bases 1614 by the channel cover or anvil retainer 1630. The anvil mounting portion 1820 is movably or pivotally supported on the elongated channel 1602 for selective pivoting displacement with respect to it around a fixed anvil pivot geometry axis that is transverse to the geometric axis of the SA drive axis . As shown in Figures 6 and 7, in at least one shape, the anvil 1810 includes an anvil body portion 1812 that is manufactured from an electrically conductive metallic material, for example, and has a lower staple forming surface 1813 which has a series of fastener-forming pockets 1814 formed therein on each side of a centrally arranged anvil slot 1815 which is configured to slide the knife member 1330 therein. The anvil slit 1815 opens into an upper opening 1816 that extends longitudinally through the anvil body 1812 to accommodate the anvil engaging features 1336 on the knife member 1330 during firing. When a conventional mechanical surgical clamp / clamp cartridge 1400 is installed in the elongated channel 1602, the clamps / clamps are actuated through the T fabric and in formation contact with the corresponding clamp formation pockets 1814. The anvil body 1812 can have an opening in the upper portion of it to facilitate installation, for example. An anvil cover 1818 can be inserted into it and welded to the anvil body 1812 to close the opening and improve the overall stiffness of the anvil body 1812. As shown in Figure 7, to facilitate the use of the end actuator 1500 in connection with RF 1700 cartridges, the segments facing the fabric 1817 of the bottom fastener forming surface 1813 may have electrically insulating material 1819 in them.
[0066] [0066] In the illustrated arrangement, the interchangeable surgical tool set 1000 is configured with a trigger member locking system, generally designated as 1640. See Figure 8. As shown in Figure 8, the elongated channel 1602 includes a lower surface or lower portion 1620 which has two vertical side walls 1622 projecting therefrom. A centrally arranged longitudinal channel slot 1624 is formed through the lower portion 1620 to facilitate axial displacement of the knife member 1330 therethrough. The channel slot 1624 opens in a longitudinal passage 1626 that accommodates the channel or foot engagement feature 1338 in the knife member 1330. The passage 1626 serves to define two protruding inwardly extending portions 1628 that serve to engage the portions corresponding to the 1338 channel or foot hitch feature. The triggering member locking system 1640 includes proximal openings 1642 located on each side of channel slot 1624 that are configured to receive corresponding portions of the 1338 channel or foot hitch feature when knife member 1330 is in an initial position. A knife locking spring 1650 is supported at the proximal end 1610 of the elongated channel 1602 and serves to force the knife member 1330 down. As shown in Figure 8, knife lock spring 1650 includes two distally terminating spring arms 1652 that are configured to engage corresponding center channel engagement features 1337 on the knife body
[0067] [0067] Still referring to Figure 8, the trigger member locking system 1640 also includes an unlocking assembly 1660 formed or supported at a distal end of the trigger member body 1332. The unlocking assembly 1660 includes a protrusion that extends distally 1662 which is configured to engage an unlocking feature 1426 formed in the slide assembly 1420 when the slide assembly 1420 is in its initial position in an untapped surgical staple cartridge
[0068] [0068] The attachment of the interchangeable surgical tool set 1000 to the handle set 500 will now be described with reference to Figures 3 and 9. To start the coupling process, the doctor can position the tool frame 1210 of the interchangeable surgical tool set 1000 above or adjacent to the distal end of the grip structure 506 so that the tapered clamping portions 1212 formed on the tool chassis 1210 are aligned with the slot slots 507 in the grip structure 506. The physician can then move the assembly of an interchangeable surgical tool 1000 along an installation axis IA which is perpendicular to the drive axis SA to seat the tapered clamping portions 1212 in "operational engagement" with the corresponding receiving slots 507 at the distal end of the grip
[0069] [0069] During a typical surgical procedure, the doctor can introduce the surgical end actuator 1500 into the surgical site through a trocar or other opening in the patient to access the target tissue. In doing so, the physician typically axially aligns the surgical end actuator 1500 along the geometric axis of the drive shaft SA (non-articulated state). Once the surgical end actuator 1500 passes through the trocar port, for example, the physician may need to articulate the end actuator 1500 to advantageously position it adjacent to the target tissue. That is, before closing the anvil 1810 on the target tissue, so that the closing drive system 510 remains unactivated. When in this position, actuation of the trigger drive system 530 will result in the application of joint movements to the proximal articulation driver 1370. Once the end actuator 1500 has reached the desired articulated position, the trigger drive system 530 is deactivated and the hinge lock 1390 can hold the surgical end actuator 1500 in the hinged position. The physician can then activate the closing drive system 510 to close the anvil 1810 on the target tissue. Such actuation of the closing drive system 510 may also result in the displacer assembly 1100 which detaches the proximal articulation driver 1370 from the intermediate portion of the firing drive axis 1310. Thus, once the target tissue was captured in the actuator of surgical end 1500, the physician can again activate the trigger drive system 530 to axially advance the trigger member 1330 through the surgical clamp / clamp cartridge 1400 or RF cartridge 1700 to cut the clamped tissue and fire the clamps / clamps into the cutting fabric T. Other closing and firing trigger arrangements, actuator arrangements (portable, manual and automated or robotic) can also be employed to control the axial movement of the closing system components, joint system components and / or trigger system components of the surgical tool set 1000 without departing from the scope this description.
[0070] [0070] As indicated above, the surgical tool set 1000 is configured to be used in conjunction with conventional mechanical surgical clamp / clamp cartridges 1400, as well as with RF 1700 cartridges. In at least one way, the 1700 cartridge can facilitate the mechanical cutting of the fabric that is stuck between the anvil 1810 and the RF cartridge 1700 with the knife member 1330, while the electric coagulation current is applied to the fabric in the current path. Alternative arrangements for mechanically cutting and coagulating tissue using electrical current are disclosed, for example, in US Patent Applications No. 5,403,312; No. 7,780,663 and patent application No. US 15 / 142,609, entitled ELECTROSURGICAL
[0071] [0071] As shown in Figures 10 to 12, in at least one arrangement, the RF 1700 surgical cartridge includes a 1710 cartridge body that is sized and shaped to be received and removably supported in the elongated channel 1602. For example, the cartridge body 1710 can be configured to be removably retained by pressure engagement with the elongated channel 1602. In various arrangements, the cartridge body 1710 can be manufactured from a polymeric material, such as a thermoplastic engineering materials such as Vectra ™ liquid crystal polymer (LCP) and elongated channel 1602 can be manufactured from metal. In at least one aspect, the cartridge body 1710 includes an elongated centrally arranged slot 1712 that extends longitudinally through the cartridge body to accommodate the longitudinal displacement of the knife 1330 therethrough. As shown in Figures 10 and 11, a pair of locking engagement tails 1714 extends proximally from the cartridge body 1710. Each locking engagement tail 1714 has a locking block 1716 formed on the underside of it that is sized to be received within a corresponding proximal opening portion 1642 at the channel bottom 1620. Thus, when the cartridge 1700 is properly installed in the elongated channel 1602, the locking engagement tails 1714 cover openings 1642 and projections 1654 to retain the knife 1330 in an unlocked position ready for firing.
[0072] [0072] In relation to Figures 10 to 13, in the illustrated example, the cartridge body 1710 is formed with a centrally arranged raised electrode block 1720. As can be seen more particularly in Figure 6, the elongated slot 1712 extends through the center of the electrode block 1720 and serves to divide the block 1720 into a left block segment 1720L and a right block segment 1720R.
[0073] [0073] In at least one arrangement, the RF energy is supplied to the surgical tool set 1000 by a conventional RF generator 400 via a supply lead 402. In at least one arrangement, the supply conductor 402 includes a set of male plug 406 that is configured to be plugged into corresponding female connectors 410 that are attached to a segmented RF circuit 1160 on an 1152 integrated circuit board. See Figure 15. This arrangement facilitates the rotational displacement of the shaft end actuator. drive 1500 around the axis of the drive shaft SA in relation to the tool chassis 1210 by rotating the nozzle assembly 1240 without winding the supply conductor 402 of the generator 400. An integrated on / off switch 420 is supported on the assembly lock 1280 and tool chassis 1210 to turn the RF generator on and off. When tool set 1000 is operationally coupled to handle set 500 or robotic system, the integrated segmented RF circuit 1160 communicates with microprocessor 560 through connectors 1154 and 562. As shown in Figure 1, handle set 500 can also include a display screen 430 for viewing information about sealing progress, stapling, knife location, cartridge status, fabric, temperature, etc. As can also be seen in Figure 15, the slip ring assembly 1150 interfaces with a distal connector 1162 that includes a strip or flexible circuit assembly of drive shaft 1164 that can include a plurality of narrow electrical conductors 1166 for activities related to stapling and wider 1168 electrical conductors used for RF purposes. As shown in Figures 14 and 15, the drive shaft flexible circuit strip 1164 is centrally supported between the laminated plates or bars 1322 that form knife bar 1320. This arrangement facilitates sufficient flexing of knife bar 1320 and the strip drive shaft flexible circuit 1164 during articulation of end actuator 1500 while remaining sufficiently rigid to allow knife member 1330 to be distally advanced through the trapped tissue.
[0074] [0074] Again with reference to Figure 10, in at least one illustrated arrangement, the elongated channel 1602 includes a channel circuit 1670 supported in a recess 1621 that extends from the proximal end 1610 of the elongated channel 1602 to a distal location 1623 in the lower portion of the elongated channel 1620. The channel circuit 1670 includes a proximal contact portion 1672 that contacts a distal contact portion 1169 of the drive shaft flexible circuit strip 1164 for electrical contact therewith. A distal end 1674 of the channel circuit 1670 is received within a corresponding wall recess 1625 formed in one of the channel walls 1622 and is folded over and fixed to an upper edge 1627 of the channel wall 1622. A series of corresponding exposed contacts 1676 are provided at the distal end 1674 of channel circuit 1670, as shown in Figure. 10. As can also be seen in Figure 10, an end 1752 of a flexible cartridge circuit 1750 is attached to the distal integrated chip 1740 and is affixed to the distal end portion of the cartridge body 1710. Another end 1754 is folded over the edge of the 1711 cartridge platform surface and includes exposed contacts 1756 configured to make electrical contact with the exposed contacts 1676 of the 1670 channel circuit. Thus, when the RF cartridge 1700 is installed in the elongated channel 1602, the electrodes, as well as the distal integrated microcircuit 1740 are fed and communicate with the integrated circuit board 1152 through the contact between the flexible cartridge circuit 1750, the flexible channel circuit 1670, the flexible drive shaft circuit 1164 and slip ring assembly 1150.
[0075] [0075] Figures 16A and 16B are a block diagram of a control circuit 700 of surgical instrument 10 of Figure 1 which comprises two drawing sheets according to one aspect of this description. Referring mainly to Figures 16A and 16B, a handle assembly 702 can include an engine 714, which can be controlled by an engine driver 715 and can be employed by the trigger system of the surgical instrument 10. In several ways, the engine 714 it can be a direct current (DC) motor with brushes with a maximum rotation speed of approximately 25,000 RPM. In other arrangements, the 714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 715 may comprise an H bridge starter comprising field effect transistors (FETs) 719, for example. The motor 714 can be powered by the supply set 706 releasably mounted to the handle set 500 to supply control energy to the surgical instrument 10. The supply set 706 may comprise a battery that may include several battery cells connected in series, which can be used as the energy source to energize the surgical instrument 10. In certain circumstances, the battery cells in the 706 power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries that can be separably coupled to the 706 power pack.
[0076] [0076] The drive shaft assembly 704 can include a drive shaft controller 722 that can communicate with a safety controller and a power management controller 716 through an interface, while the drive shaft assembly 704 and power supply 706 are coupled to cable assembly 702. For example, the interface may comprise a first portion of interface 725 which may include one or more electrical connectors for coupling coupling with corresponding electrical drive shaft assembly connectors and a second interface portion 727 which can include one or more connectors for coupling coupling with the corresponding power pack electrical connectors to enable electrical communication between the drive shaft assembly controller 722 and the power management controller 716 while the drive shaft assembly 704 and the supply assembly 706 are coupled s to cable assembly 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the interchangeable drive shaft assembly 704 to the power management controller 716. In response, the controller management module can modulate the battery power output of the 706 power pack, as described in more detail below, according to the power requirements of the 704 fixed drive shaft assembly. The connectors can comprise switches that can be activated after mechanically coupling the cable assembly 702 to the drive shaft assembly 704 and / or the power assembly 706 to allow electrical communication between the drive shaft assembly controller 722 and the power management controller 716.
[0077] [0077] The interface can facilitate the transmission of one or more communication signals between the energy management controller 716 and the controller of the drive shaft assembly 722 by routing these communication signals through a main controller 717 located in the assembly cable 702, for example. In other circumstances, the interface can facilitate a direct communication line between the power management controller 716 and the drive shaft assembly controller 722 via cable assembly 702, while the drive shaft assembly 704 and the drive assembly 706 are attached to cable assembly 702.
[0078] [0078] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one respect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, memory 2 KB electrically erasable programmable read-only (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more analog to digital converters ( 12-bit ADC) with 12 analog input channels, details of which are available for the product data sheet.
[0079] [0079] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x known by the trade name of Hercules ARM Cortex R4, also from Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0080] [0080] The power supply 706 may include a power management circuit which may comprise the power management controller 716, a power modulator 738 and a current sensor circuit 736. The power management circuit can be configured to modulate the battery's output power based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and the power supply 706 are coupled to the cable assembly 702. The power management controller 716 can be programmed to control the power modulator 738 from the power output of the power set 706 and the current sensor circuit 736 can be employed to monitor the power output of the power set 706 to provide feedback to the power management controller 716 on the battery power output so that the 716 power management controller can adjust the power output the supply set 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.
[0081] [0081] The surgical instrument 10 (Figures 1 to 5) can comprise an output device 742 that can include devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, a monitor with LCD screen, LED indicators),
[0082] [0082] Control circuit 700 comprises circuit segments configured to control the operations of the energized surgical instrument 10. A safety controller segment (segment 1) comprises a safety controller and main controller segment 717 (segment 2). The safety controller and / or the main controller 717 are configured to interact with one or more additional circuit segments such as an acceleration segment, a display segment, a drive axis segment, an encoder segment, a motor segment , and a feed segment. Each circuit segment can be coupled to the safety controller and / or the main controller
[0083] [0083] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. Input from the accelerometer can be used to transition to and from a suspend mode, identify the orientation of the energized surgical instrument, and / or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0084] [0084] The screen or display segment (segment 4) comprises a screen connector coupled to the main controller 717. The screen connector couples the primary controller 717 to a screen through one or more drivers of the integrated circuits of the screen. The drivers of the integrated circuits of the display may be integrated with the display and / or may be located separately from the display. The display may comprise any suitable display, such as an organic light-emitting diode (OLED) display, a liquid crystal display (LCD), and / or any other suitable display. In some examples, the screen segment is coupled to the safety controller.
[0085] [0085] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft assembly 500 coupled to surgical instrument 10 (Figures 1 to 5) and / or one or more controls for an end actuator 1500 coupled to the interchangeable drive shaft assembly 500. The drive shaft segment comprises a drive shaft connector configured to couple main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microprocessor with a ferroelectric random access memory (FRAM), a toggle switch, a drive shaft release Hall effect switch, and a drive shaft PCBA EEPROM memory. . The drive shaft PCBA EEPROM comprises one or more parameters, routines and / or specific programs for the interchangeable drive shaft assembly 500 and / or for the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 500 and / or can be integrated with the surgical instrument 10. In some instances, the drive shaft segment comprises a second drive shaft EEPROM. The second EEPROM of the drive shaft comprises a plurality of algorithms, routines, parameters and / or other data that correspond to one or more sets of drive shafts 500 and / or end actuators 1500 that can interface with the energized surgical instrument 10 .
[0086] [0086] The position encoder segment (segment 6) comprises one or more magnetic encoders of the position of the rotation angle. One or more magnetic encoders of the rotation angle position are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 500 and / or an end actuator 1500 of the surgical instrument 10 (Figures 1 to 5). In some instances, the magnetic encoders of the rotation angle position can be coupled to the safety controller and / or the main controller 717.
[0087] [0087] The motor circuit segment (segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 5). Motor 714 is coupled to the main microcontroller processor 717 by an H bridge driver comprising one or more H bridge field effect transistors (FETs) and a motor controller. The H bridge actuator is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current drain from the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety processor. In some instances, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0088] [0088] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of motor 714 to main controller 717. Main controller 717 provides a high pulse width modulation (PWM) signal ), a low PWM signal, a direction signal, a synchronization signal, and a motor restart signal to the motor controller via a buffer. The supply segment is configured to supply a segment voltage to each of the circuit segments.
[0089] [0089] The energy segment (segment 8) comprises a battery coupled to the safety controller, the main controller
[0090] [0090] A plurality of keys are coupled to the safety controller and / or the main controller 717. The keys can be configured to control the operations of the surgical instrument 10 (Figures 1 to 5), the segmented circuit and / or to indicate a surgical instrument status 10. An ejection port switch and an ejection Hall switch are configured to indicate the status of an ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key on the left side left pivot to the right side, a right pivot key to the right side and a central pivot key to the right side are configured to control the articulation of an interchangeable drive shaft assembly 500 (Figures 1 and 3) and / or the end actuator 300 (Figures 1 and 4). A reverse key on the left and a reverse key on the right side are coupled to the main controller 717. The keys on the left side which comprise the key on the left pivot side for the left side, the key on the right pivot side for the left side , the central hinge key for the left side and the reverse key for the left side are coupled to the primary controller 717 by a flexing connector on the left. The keys on the right side comprising the key on the left pivot side for the right side, the key on the right pivot side for the right side, the central pivot key for the right side, and the reverse key on the right side are coupled main controller 717 via a right-hand flex connector. A trip key, a clamping release key, and a key attached to the drive shaft are coupled to the main controller 717.
[0091] [0091] Any suitable mechanical, electromechanical, or solid state switches can be employed to implement the plurality of switches, in any combination. For example, the keys can limit the keys operated by the movement of components associated with the surgical instrument 10 (Figures 1 to 5) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, passage, positioning and end of an object's displacement. In other implementations, the switches can be solid state switches that work under the influence of a magnetic field, such as Hall effect devices, magnetoresistive (MR) devices, giant magnetoresistive devices ("GMR" - giant magneto-resistive), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). Other switches may include switches without an electrical conductor, ultrasonic switches, accelerometers, inertia sensors, among others.
[0092] [0092] Figure 17 is another block diagram of the control circuit 700 of the surgical instrument of Figure 1 that illustrates the interfaces between the handle assembly 702 and the feeding assembly 706 and between the handle assembly 702 and the shaft assembly interchangeable drive 704 according to one aspect of the present description. Cable assembly 702 can comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector 730. Power assembly 706 may include a power assembly connector 732, a power management circuit power 734 which can comprise the power management controller 716, a power modulator 738, and a current sensor circuit 736. The drive shaft assembly connectors 730, 732 form an interface 727. The power management circuit 734 can be configured to modulate the battery output energy 707 based on the power requirements of the interchangeable drive shaft assembly 704 while the interchangeable drive shaft assembly 704 and the power supply 706 are coupled to the cable assembly 702. The power management controller 716 can be programmed to control power modulator 738 from the power output of the power pack tion 706 and current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 about the power output of the battery 707 so that the power management controller 716 can adjust the power output of the power supply 706 to maintain a desired output. The drive shaft assembly 704 comprises a drive shaft processor 719 coupled to a non-volatile memory 721 and a drive shaft assembly connector 728 to electrically couple the drive shaft assembly 704 to the handle assembly 702. The connectors of the drive shaft assembly 726, 728 form an interface 725. The main controller 717, the drive shaft processor 719 and / or the power management controller 716 can be configured to implement one or more of the processes described herein.
[0093] [0093] The surgical instrument 10 (Figures 1 to 5) can comprise an output device 742 for sensory feedback to a user. Such devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example, actuators haptic). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the cable assembly
[0094] [0094] Figure 18 is a schematic diagram of a surgical instrument 600 configured to control various functions according to an aspect of the present description. In one aspect, the surgical instrument 600 is programmed to control the distal translation of a displacement member, such as the I-profile beam 614. The surgical instrument 600 comprises an end actuator 602 that can comprise an anvil 616, a beam with I-614 profile and a removable staple cartridge 618 that can be interchanged with an RF 609 cartridge (shown in dashed line). The end actuator 602, the anvil 616, the I-profile beam 614, the staple cartridge 618 and the RF cartridge 609 can be configured as described here, for example, in relation to Figures 1 to 15. For brevity and clarity of the description, various aspects of the present description can be described with reference to Figure 18. It will be understood that the components shown schematically in Figure 18 such as control circuit 610, sensors 638, position sensor 634, end actuator 602, beam with I-profile 614, staple cartridge 618, RF cartridge 609, anvil 616, are described in connection with Figures 1 to 17 of the present description.
[0095] [0095] Consequently, the components represented schematically in Figure 18 can be readily replaced by the equivalent physical and functional components described in connection with Figures 1 to 17. For example, in one aspect, the control circuit 610 can be implemented as the circuit control 700 shown and described together with Figures 16 and 17. In one aspect, sensors 638 can be implemented as a limit switch, an electromechanical device, solid state switches, Hall effect devices, magnetoresistive (MR) devices, giant magnetoresistive devices (GMR), magnetometers among others.
[0096] [0096] The position, movement, displacement and / or translation of a linear displacement member, such as the beam with I 614 profile, can be measured by an absolute positioning system, a sensor arrangement and a sensor position represented as the 634 position sensor. Since the I-beam beam 614 is coupled to a longitudinally movable drive member 540, the I-beam beam position 614 can be determined by measuring the position of the drive member longitudinally movable 540 using the position sensor 634. Consequently, in the following description, the position, displacement and / or translation of the beam with I-shaped profile 614 can be obtained by the position sensor 634, as described in the present invention . A control circuit 610, like the control circuit 700 described in Figures 16A and 16B, can be programmed to control the translation of the displacement member, such as the I-profile beam 614, as described in the present invention. The control circuit 610, in some examples, may comprise one or more microcontrollers, microprocessors or other suitable processors to execute the instructions that cause the processor or processors to control the displacement member, for example, the I-profile beam 614 , as described. In one aspect, a timer / counter circuit 631 provides an output signal, such as elapsed time or a digital count, to control circuit 610 to correlate beam position with I-614 profile, as determined by position sensor 634, with the output of the timer / counter circuit 631 so that the control circuit 610 can determine the position of the I-profile beam 614 at a specific time (t) in relation to an initial position. The timer / counter circuit 631 can be configured to measure elapsed time, count external events or measure the time of external events.
[0097] [0097] Control circuit 610 can generate a 622 motor setpoint signal. The 622 motor setpoint signal can be supplied to a 608 motor controller. The 608 motor controller can comprise one or more circuits configured to provide a motor 624 drive signal to motor 604 to drive motor 604, as described in the present invention. In some examples, motor 604 may be a brushed direct current (DC) electric motor, such as motor 505 shown in Figure 1. For example, the speed of motor 604 may be proportional to the drive signal of motor 624. In In some examples, motor 604 may be a brushless direct current (DC) electric motor and the motor 624 drive signal may comprise a pulse width modulated (PWM) signal supplied to one or more motor stator windings
[0098] [0098] The 604 motor can receive energy from an energy source
[0099] [0099] The control circuit 610 can be in communication with one or more sensors 638. The sensors 638 can be positioned on the end actuator 602 and adapted to work with the surgical instrument 600 to measure the various derived parameters, such as the distance from the they go in relation to time, the compression of the tissue in relation to time and the deformation of the anvil in relation to time. The 638 sensors can comprise, for example, a magnetic sensor, a magnetic field sensor, a stress meter, a pressure sensor, a force sensor, an inductive sensor such as a eddy current sensor, a sensor resistive, capacitive sensor, optical sensor and / or any other sensors suitable for measuring one or more parameters of end actuator 602. Sensors 638 may include one or more sensors.
[00100] [00100] The one or more 638 sensors may comprise an effort meter, such as a microstrain meter, configured to measure the magnitude of the stress on the anvil 616 during a stuck condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 638 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 616 and the staple cartridge 618. The sensors 638 can be configured to detect the impedance of a section of tissue located between the anvil 616 and the staple cartridge 618 which is indicative of the thickness and / or completeness of the fabric located between them.
[00101] [00101] The 638 sensors can be configured to measure the forces exerted on the anvil 616 by the closing drive system. For example, one or more sensors 638 may be at a point of interaction between the closing tube 1910 (Figures 1 to 4) and the anvil 616 to detect the closing forces applied by the closing tube 1910 to the anvil 616. The forces exerted on the anvil 616 can be representative of the tissue compression experienced by the tissue section captured between the anvil 616 and the staple cartridge 618. The one or more sensors 638 can be positioned at various points of interaction throughout the closing drive system to detect the closing forces applied to the anvil 616 by the closing drive system. The one or more 638 sensors can be sampled in real time during a hold operation by a processor as described in Figures 16A and 16B. The control circuit 610 receives sample measurements in real time to provide and analyze information based on time and evaluate, in real time, the closing forces applied to the anvil 616.
[00102] [00102] A current sensor 636 can be used to measure the current drained by the 604 motor. The force required to advance the beam with I-shaped profile 614 corresponds to the current drained by the motor
[00103] [00103] The RF 400 power source is coupled to the end actuator 602 and is applied to the RF 609 cartridge when the RF 609 cartridge is loaded on the end actuator 602 in place of the staple cartridge 618. The control circuit 610 controls the supply of RF energy to the RF 609 cartridge.
[00104] [00104] Typical electrical wires that pass between the handle assembly and an end actuator can become entangled and can potentially be cut over time due to repeated flexing of the articulated drive shaft. Therefore, the present description provides a flexible circuit element that can withstand the repeated articulation of the drive shaft and any other mechanical articulation movements necessary to operate the electrosurgical device end actuator.
[00105] [00105] As shown in Figure 14, the 1164 drive shaft flexible circuit strip may be arranged, in part, on the proximal closing tube 1910 and may extend through the hinge connector 1920 into the surgical end actuator 1500 Similarly, knife bar 1320 can also be arranged, in part, on the proximal closing tube 1910 and can extend through the hinge connector 1920 into the surgical end actuator 1500. The flexible shaft circuit strip drive 1164 can be centrally supported between the laminated plates or bars 1322 that form knife bar 1320. This arrangement facilitates sufficient flexing of knife bar 1320 and the flexible circuit strip of drive shaft 1164 during hinge end actuator 1500 while remaining sufficiently rigid to allow knife member 1330 to be advanced distally through the trapped tissue. Together, the drive shaft flexible circuit strip 1164 and the laminated plates or bars 1322 that form knife bar 1320 can comprise a flexible assembly to allow knife bar 1320 to reciprocate while the hinge connector 1920 is flexed.
[00106] [00106] Figure 19 represents in more detail an aspect of a flexible assembly 3500. In the aspect of flexible assembly 3500 shown in Figure 19, knife bar 1320 is composed of two pairs of laminated plates 1322, in which a pair of plates laminate 1322 is arranged along a first side of the drive shaft flexible circuit strip 1164 and a second pair of laminated plates 1322 is disposed along a second side of the drive shaft flexible circuit strip 1164. Although the bar with knife
[00107] [00107] As shown in Figure 10, the drive shaft flexible circuit strip 1164 includes a distal contact portion 1169 that can be in electrical communication with a proximal contact portion 1672 of a 1670 channel circuit arranged within a recess. wall 1625 formed in one of the channel walls 1622 of the elongated channel 1602. In this way, the distal end of the flexible shaft strip of drive shaft 1164 can be in a fixed position in relation to the elongated channel 1602 of the surgical end actuator 1500 As shown in Figure 15, a proximal end of the drive shaft flexible circuit strip 1164 may be in electrical communication with a distal connector 1162 of a slip ring assembly 1150 disposed in the tool frame assembly 1200. Thus, the proximal end of the 1164 drive shaft flexible circuit strip can be in a fixed position in relation to the tool frame assembly then 1200. As shown in Figure 14, the 1164 drive shaft flexible circuit strip can therefore pass through the hinge connector 1920 and can therefore flex through the hinge connector 1920.
[00108] [00108] Knife bar 1320 can similarly pass through the hinge connector 1920 from a connection proximal to the intermediate firing drive shaft portion 1310 disposed in nozzle assembly 1240 to a distal connection on the knife member 1330 as shown in Figure 3. Knife bar 1320 can therefore be configured for reciprocation to activate knife member 1330, although it is flexible enough to flex when the hinge connector 1920 is pivoted.
[00109] [00109] It can be recognized that the reciprocating action of knife bar 1320 along the sides of the 1164 drive shaft flexible circuit strip can cause rubbing and / or abrasion of any traces or electrical wires disposed on the flexible circuit strip of drive shaft 1164. Traces or electrical wires may comprise wider wires / conductors for RF purposes and thinner wires for conventional stapling purposes (for example, to conduct electrical control or detection signals). This wear and tear can result in breaks or gaps in electrical wires that can compromise the ability of electrical wires to conduct electrical signals, including RF. Consequently, additional protection of the 1164 drive shaft flexible circuit strip may be required.
[00110] [00110] As shown in Figure 19, this protection can be provided by one or more spring bundles 3505 arranged on opposite sides of the 1164 drive shaft flexible circuit strip. Each spring bundle 3505 can be arranged between one side of the strip drive shaft flexible circuit 1164 and an inner side of a laminated plate 1322. The spring bundles 3505 can remain fixed in relation to the drive shaft flexible circuit strip 1164 and can therefore protect each side of the drive strip drive shaft flexible circuit 1164 against knife bar wear 1320 during positioning of knife member 1330. Each spring bundle 3505 can also provide physical support for the drive shaft flexible circuit strip 1164. In addition, each beam spring spring 3505 can provide a restoring force to the 1164 drive shaft flexible strip so that the 1164 drive shaft flexible strip returns to a essentially longitudinal (or non-flexed) geometry when the end actuator 1500 returns to a position coaxial with the drive axis of the electrosurgical device. It can be recognized that, in some respects, the flexible assembly 3500 may also include one or more of these spring bundles 3505 in addition to the drive shaft flexible circuit strip 1164 and the plurality of laminated plates 1322.
[00111] [00111] Figure 20A represents the flexible set 3500 disposed in an electrosurgical device, in which the knife member 1330 is arranged in a proximal knife position 3530. Figure 20B represents the flexible set 3500 disposed in the electrosurgical device, in which the knife member 1330 is disposed in a distal knife position 3531. Although the articulation of the drive axis of the electrosurgical device is shown in a right direction (from the perspective of using the device) in Figures 20A and 20B, recognize that the articulation of a drive shaft of the electrosurgical device can also be in a direction to the left (from the perspective of using the device), with the 3500 flexible assembly components flexed properly in the left direction.
[00112] [00112] Figure 20A is similar to Figure 14 and points out additional details. For example, a proximal end of the flexible assembly 3500 can be stabilized in the central column assembly 1250 disposed in the proximal closing tube (1910, see Figure 14). The distal end of the flexible assembly 2500 can be stabilized in the proximal end portion 1610 of the elongated channel (1602, see Figure 4). The distal contact portion 1169 of the drive shaft flexible circuit strip 1164 can be either electrically or physically coupled to the proximal contact portion 1672 of the channel circuit (1670, see
[00113] [00113] As shown in Figure 20A, the knife member can be located in a 3530 proximal knife position. In a non-limiting aspect, the 3530 proximal knife position of the knife member can have a proximal knife distance ("PKD "- proximal knife distance) measured, for example, from a proximal end of the knife member to a distal end of the distal contact portion 1169 of the drive shaft flexible circuit strip 1164. Figure 20B represents the knife member located in a 3531 distal knife position. In a non-limiting aspect, the distal knife position 3531 of the knife member can have a distal knife distance ("DKD") measured, for example, from a proximal end of the knife member to a distal end of the distal contact portion 1169 of the drive shaft flexible circuit strip
[00114] [00114] As revealed above, the distal end of the 1164 drive shaft flexible circuit strip may be in a fixed position relative to the surgical end actuator 1500 and the proximal end of the 1164 drive shaft flexible circuit strip may be in a fixed position in relation to the tool frame assembly 1200. In addition, the spring bundles 3505 can remain in a fixed position in relation to the 1164 drive shaft flexible strip. In a non-limiting aspect, a first springs 3505 can be arranged adjacent or against a first side of the drive shaft flexible circuit strip 1164 and a second spring bundle 3505 can be arranged adjacent to or against a second side or an opposite side of the drive shaft flexible circuit strip 1164. As knife bar 1320 moves knife member 1330 to distal knife position 3531 or proximal knife position 3530, laminated plates 13 22 of the knife bar 1320 slide in a longitudinal direction in relation to the fixed position of the flexible shaft strip of drive shaft 1164 and the spring bundles 3505.
[00115] [00115] Although knife bar 1320 is in a proximal aspect and knife member 1330 is in the proximal knife position 3530, a portion of the first pair of laminated plates 1322 may be situated in a first proximal position 3522a over a outer side of a first spring bundle 3505 and a portion of the second pair of laminated plates 1322 may be located in a second proximal position 3522b along an outer side of a second spring bundle 3505. In this configuration, the portion of the spring strip flexible drive shaft circuit 1164 and a portion of the spring bundles 3505 separate those portions of the laminated plates 1322 located in the first proximal position 3522a and in the second proximal position 3522b. When knife bar 1320 moves distally so that knife member 1330 is in the distal knife position 3531, the portion of the first pair of laminated plates 1322 located in the first proximal position 3522a can traverse in the distal direction to a first distal position 3522c. Similarly, when knife bar 1320 moves distally so that knife member 1330 is in the distal knife position 3531, the portion of the second pair of laminated plates 1322 located in the second proximal position 3522b can traverse in the distal direction until a second 3522d distal position.
[00116] [00116] As a result of the knife bar 1320 moving in the distal direction, the portion of the first pair of laminated plates in the first distal position 3522c and the portion of the second pair of laminated plates in the second distal position 3522d are no longer separated by the strip of 1164 drive shaft flexible circuit and spring bundles
[00117] [00117] Similarly, it can be understood that when knife bar 1320 moves in a proximal direction, thus moving knife member 1330 from distal knife position 3531 to proximal knife position 3530, the portion of the first pair of laminated plates 1322 located in the first distal position 3522c can traverse in the proximal direction to the first proximal position 3522a. Similarly, when knife bar 1320 moves in a proximal direction, the portion of the second pair of laminated plates 1322 located in the second distal position 3522d can traverse in the proximal direction to the second proximal position 3522b. As a result of moving the knife bar 1320 in the proximal direction, the portion of the first pair of laminated plates in the first proximal position 3522a and the portion of the second pair of laminated plates in the second proximal position 3522b can be separated by spring bundles 3505 and by 1164 drive shaft flexible circuit strip.
[00118] [00118] Figures 21A and 21B show the flexible assembly 3500 of Figures 20A and 20B independent of structures that can accommodate the flexible assembly 3500 in an electrosurgical device. In particular, Figure 21A represents a flexible, non-articulated assembly 3501 (dotted line) and a flexible, articulated assembly 3502 after a joint to the right RA. Figure 21B represents the effect of a movement of knife bar 1320 in a distal direction DD, thus moving knife member 1330 from proximal knife position 3530 to distal knife position 3531. Figure 21B further represents the effect of a movement of knife bar 1320 in a proximal direction PD, thus moving knife member 1330 from distal knife position 3531 to proximal knife position 3530.
[00119] [00119] As disclosed above with reference to Figures 16 and 20A, B, a flexible assembly 3500 may include a flexible circuit strip of drive shaft 1164 disposed between a pair of spring bundles 3505 and a knife bar 1320 comprising two pairs of laminated plates 1322, wherein a pair of laminated plates 1322 is arranged along an outer surface of each of the spring bundles 3505. These spring bundles 3505 can provide protection of the surfaces of the flexible shaft strip of drive 1164 against abrasion and wear caused by reciprocating movement of laminated plates 1322. In an alternative aspect, flexible assembly 3500 may not have the pair of spring bundles 3505, and laminated plates 1322 may be arranged directly against the sides of the strip of drive shaft flexible circuit 1164. The movement of the laminated plates 1322 against the sides of the drive shaft flexible circuit strip 1164 can include these movements as shown above in detail with reference to Figures 20A, B. This alternative aspect of a 3500 flexible assembly without the 3505 spring bundles can be used for a 3500 flexible assembly where the 1164 drive shaft flexible circuit strip includes a protective coating on its sides,
[00120] [00120] It may be further recognized that the 3500 flexible assembly disclosed above may be useful in an electrosurgical device that includes an end actuator configured to include a clamp / cartridge of surgical clamps, a radio frequency cartridge (RF), or to accept from a clamp / cartridge of surgical fasteners or a radio frequency (RF) cartridge
[00121] [00121] Aspects of a flexible set configured for use in an electrosurgical system that comprises an articulated drive shaft are revealed above. The flexible assembly can comprise a pivot connector and include a flexible drive shaft circuit strip configured to flex according to the pivot of the pivot connector. The drive shaft flexible circuit strip can be configured to allow the communication of electrical signals from a handle assembly at a proximal end of the pivotable drive shaft to an end actuator at a distal end of the pivotable drive shaft. The flexible assembly may also include one or more components configured to move transversely along a longitudinal geometric axis of the pivotable drive axis to control one or more operations of the end actuator. The flexible assembly may additionally include additional components configured to support or protect the drive shaft flexible circuit strip and / or the components configured to move transversely along the longitudinal geometric axis of the pivotable drive shaft.
[00122] [00122] Although a flexible set is described in relation to a motor-driven surgical system, as shown in Figures 1 to 15 and as shown above, it can be recognized that a flexible set may not be limited to a surgical system that has the components specific or functions of this motor-driven surgical system. This flexible assembly can be incorporated into any surgical system comprising at least one articulating drive shaft that has a body or a handle assembly at a proximal end of the articulating drive shaft and an end actuator at a distal end of the drive shaft articulable.
[00123] [00123] Thus, one of the flexible circuit strip of the drive shaft of a flexible circuit assembly can be configured to conduct any one or more of the electrical signals, including electrical DC signals, electrical AC signals, digital electrical signals , analog electrical signals, electrical RF signals, or any combination or combinations of these electrical signals. The flexible shaft strip of the drive shaft can comprise any non-conductive material in which any number, type or size of wires or conductive lines are arranged. The drive shaft flexible circuit strip can comprise any number of layers. The drive shaft flexible circuit strip may additionally comprise any one or more electronic components as separate circuits (for example, resistors, capacitors and inductors) or integrated circuits. The drive shaft flexible circuit strip may additionally include protective layers to cover the one or more conductive wires or traces and / or electronic components. The flexible assembly may include one or more springs, such as spring bundles, arranged on one or more sides of the drive shaft flexible circuit strip to provide a restoring force for the strip after the surgical system returns from an articulated position. Alternatively, the drive shaft flexible strip may incorporate these spring bundles into the body of the drive shaft flexible strip.
[00124] [00124] The components configured to move in a transverse manner along the longitudinal geometric axis of the articulating drive axis can include any number or type of component or components capable of both a transverse movement and a flexion movement. Non-limiting examples of these components may include wires, bands, plates and flexible drive shafts. One or more of these components configured to move transversely can be included in the flexible assembly. Multiple components can move together or can move independently. Multiple components can be arranged along a single side of the drive shaft flexible circuit strip. Alternatively, some of the multiple components can be arranged along a first side of the drive shaft flexible strip, although a different number of the multiple components can be arranged along a second side of the drive shaft flexible strip . The components configured to move transversely can be operationally coupled to any moving components at a proximal end or a distal end of the articulating drive shaft, without limitation on the functions of such moving components.
[00125] [00125] The flexible assembly can also include any number or type of components configured to protect or support the flexible circuit strip of the drive shaft and / or the components configured to move transversely. For example, the additional components can include any number or type of component configured to protect one or more surfaces of the drive shaft flexible circuit strip including, for example, protective sheets or sheaths. Additional components may include a frame to support the drive shaft flexible circuit strip. Additional components may additionally include protective shells for components configured to move transversely, such as "cannulas".
[00126] [00126] The aspects of the surgical instrument can be practiced without the specific details revealed in the present invention. Some aspects were shown as block diagrams instead of details. Parts of this description can be presented in terms of instructions that operate on data stored in a computer's memory. In general, the aspects described here, which can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware, or any combination thereof, can be seen as being composed of several types of "circuits" electrical ". Consequently, "electrical circuit" includes, but is not limited to, electrical circuits that have at least one separate electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit for a specific application, electrical circuits forming a general-purpose computing device configured by a computer program (for example, a general-purpose computer or processor configured by a computer program that at least partially performs the processes and / or devices described herein), electrical circuits that form a memory device (for example, forms of random access memory), and / or electrical circuits that form a communications device (for example, a modem, routers or optical-electrical equipment). These aspects can be implemented in analog or digital form, or combinations thereof.
[00127] [00127] The previously mentioned description presented aspects of the devices and / or processes through the use of block diagrams, flowcharts, and / or examples, which may contain one or more functions and / or operation. Each function and / or operation within such block diagrams, flowcharts or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware or virtually any combination thereof. In one aspect, several portions of the subject described here can be implemented using application-specific integrated circuits (ASICs), field programmable port arrangements (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates, or other integrated formats. Some aspects disclosed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs operating on one or more computer systems). computer), as one or more programs operating on one or more processors (for example, as one or more programs operating on one or more microprocessors), as firmware, or virtually as any combination thereof, and to design the circuitry and / or writing the code for the software and firmware would be within the scope of practice of a person skilled in the art in the light of this description.
[00128] [00128] The mechanisms of the disclosed subject can be distributed as a program product in a variety of ways, and an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission media used to effectively perform the distribution. Examples of a signal transmission medium include, but are not limited to, the following: recordable type media such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a tape digital, computer memory, etc .; and a transmission type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a communications link with an electrical conductor, a communication link without an electrical conductor (for example, example, transmitter, receiver, transmission logic, reception logic), etc.).
[00129] [00129] The previously mentioned description of one or more aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described in order to illustrate the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with various modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[00130] [00130] Various aspects of the subject described in this document are defined in the following numbered examples:
[00131] [00131] Example 1. Surgical system powered by a motor comprising: a handle set; a set of interchangeable surgical tools operationally coupled to the handle set and comprising: a nozzle set; a proximal closing tube that has a proximal end operatively coupled to a distal end of the nozzle assembly; a hinge connector having a proximal end operationally coupled to a distal end of the proximal closing tube; a surgical end actuator comprising a first jaw and a second jaw and having a proximal end operably coupled to a distal end of the hinge connector; a drive shaft flexible circuit strip arranged on at least a portion of the proximal closing tube, at least a portion of the hinge connector and at least a portion of the surgical end actuator; a knife member slidably arranged on the surgical end actuator; and a knife bar operatively connected to a proximal end of the knife member, the knife bar comprising a first laminated plate disposed on a first side of the drive shaft flexible circuit strip and a second laminated plate disposed on a second side of the drive shaft flexible circuit strip, the knife bar being configured for reciprocating along a longitudinal geometric axis of the proximal closing tube.
[00132] [00132] Example 2. Motor-driven surgical system according to Example 1, the first laminated plate comprising a first pair of laminated plates and the second laminated plate comprising a second pair of laminated plates.
[00133] [00133] Example 3. Motor-driven surgical system, according to one or more of Examples 1 and 2, the first laminated plate being configured for reciprocating along the first side of the drive shaft flexible circuit strip and the second laminated plate is configured for reciprocating along the second side of the flexible shaft strip of drive shaft.
[00134] [00134] Example 4. Motor-driven surgical system according to one or more of Examples 1 to 3, which additionally comprises a first spring bundle arranged between the first side of the drive shaft flexible circuit strip and the first plate laminated and a second spring bundle disposed between the second side of the drive shaft flexible circuit strip and the second laminated plate.
[00135] [00135] Example 5. Motor-driven surgical system, according to Example 4, the first laminated plate being configured for reciprocating along a first side of the first spring bundle and the second laminated plate being configured for reciprocating at the along a first side of the second spring bundle.
[00136] [00136] Example 6. Motor-driven surgical system, according to one or more of Examples 4 and 5, the first spring bundle and the second spring bundle being arranged in at least a portion of the articulation connector and the minus a portion of the surgical end actuator.
[00137] [00137] Example 7. Motor-driven surgical system, according to one or more of Examples 4 to 6, the first spring bundle and the second spring bundle being configured to flex around a geometric articulation axis transversely to a longitudinal geometric axis of the proximal closing tube.
[00138] [00138] Example 8. Surgical system powered by motor, according to one or more of Examples 1 to 7, which additionally comprises an elongated channel disposed in the first jaw, the elongated channel being configured to receive reliably a cartridge surgical fasteners.
[00139] [00139] Example 9. Motor-driven surgical system, according to one or more of Examples 1 to 8, which additionally comprises an elongated channel disposed in the first jaw, the elongated channel being configured to receive reliably a cartridge radio frequency.
[00140] [00140] Example 10. Motor-driven surgical system, according to Example 9, which further comprises a channel circuit arranged along an internal longitudinal side of the elongated channel, the channel circuit comprising a proximal contact portion configured to electrically couple to a distal contact portion of the drive shaft flexible strip and the channel circuit comprises a distal contact portion configured to electrically couple to a flexible cartridge circuit disposed on a cartridge surface radio frequency.
[00141] [00141] Example 11. Flexible set for use in an articulated component of a motor-driven surgical system, the flexible set comprising: a flexible shaft strip of drive shaft; and a knife bar comprising a first laminated plate disposed along a first side of the drive shaft flexible circuit strip and a second laminated plate disposed along a second side of the drive shaft flexible circuit strip, being that the knife bar is configured for reciprocating along a longitudinal geometric axis of the flexible axis strip of drive shaft.
[00142] [00142] Example 12. Flexible assembly, according to Example 11, the flexible assembly being configured to flex around an axis of articulation transverse to a longitudinal geometric axis of the flexible axis strip of the drive axis.
[00143] [00143] Example 13. Flexible assembly, according to one or more of Examples 11 and 12, the first laminated plate comprising a first pair of laminated plates and the second laminated plate comprising a second pair of laminated plates.
[00144] [00144] Example 14. Flexible assembly, according to one or more of Examples 11 to 13, one side of a first portion of the laminated plate being arranged along the first side of the drive shaft flexible circuit strip and one side of a first portion of the second laminated plate is disposed along the second side of the drive shaft flexible circuit strip, when the flexible assembly is in a first state, and the side of the first portion of the laminated plate is disposed on the along the side of the first portion of the second laminated plate when the flexible assembly is in a second state.
[00145] [00145] Example 15. Flexible assembly, according to one or more of Examples 11 to 14, which further comprises a first spring bundle arranged between the first side of the drive shaft flexible circuit strip and the first laminated plate, and a second spring bundle disposed between the second side of the drive shaft flexible circuit strip and the second laminated plate.
[00146] [00146] Example 16. Flexible set, according to Example 15, the first laminated plate being configured for reciprocating along a first side of the first spring bundle and the second laminated plate being configured for reciprocating over a first side of the second spring bundle.
[00147] [00147] Example 17. Flexible assembly according to one or more of Examples 15 and 16, one side of a first portion of the laminated plate being arranged along the first side of the first spring bundle and one side of a first portion of the second laminated plate is disposed along a first side of the second spring bundle, when the flexible assembly is in a first state, and the side of the first portion of the first laminated plate is disposed along the side of the first portion of the second laminated plate when the flexible assembly is in a second state.
[00148] [00148] Example 18. Flexible assembly, according to one or more of Examples 11 to 17, the flexible circuit strip of the drive shaft comprising a distal contact portion.
[00149] [00149] Example 19. Flexible assembly, according to one or more of Examples 11 to 18, the flexible circuit strip of the drive shaft comprising a plurality of narrow wires and a plurality of wider wires.
[00150] [00150] Example 20. Flexible set, according to Example 19,
the plurality of wider wires being configured to conduct a radio frequency signal.

权利要求:
Claims (20)
[1]
1. Surgical system driven by a motor characterized by comprising: a handle set; and an interchangeable surgical tool set operatively coupled to the handle set and comprising: a nozzle set; a proximal closing tube that has a proximal end operatively coupled to a distal end of the nozzle assembly; a hinge connector having a proximal end operationally coupled to a distal end of the proximal closing tube; a surgical end actuator comprising a first jaw and a second jaw and having a proximal end operably coupled to a distal end of the hinge connector; a drive shaft flexible circuit strip arranged on at least a portion of the proximal closing tube, at least a portion of the hinge connector and at least a portion of the surgical end actuator; a knife member slidably arranged on the surgical end actuator; and a knife bar operatively connected to a proximal end of the knife member, wherein the knife bar comprises a first laminated plate disposed on a first side of the drive shaft flexible circuit strip and a second laminated plate disposed on a second side of the flexible axis strip of the drive shaft, and where the knife bar is configured for reciprocating along a longitudinal geometric axis of the proximal closing tube.
[2]
Motor-driven surgical system according to claim 1, characterized in that the first laminated plate comprises a first pair of laminated plates and the second laminated plate comprises a second pair of laminated plates.
[3]
Motor-driven surgical system according to claim 1, characterized in that the first laminated plate is configured for reciprocating along the first side of the flexible axis strip of the drive shaft and the second laminated plate is configured for reciprocating along on the second side of the drive shaft flexible circuit strip.
[4]
Motor-driven surgical system according to claim 1, characterized in that it further comprises a first leaf spring disposed between the first side of the flexible shaft strip of the drive shaft and the first laminated plate, and a second leaf spring arranged between the second side of the drive shaft flexible strip and the second laminated plate.
[5]
5. Motor-driven surgical system according to claim 4, characterized in that the first laminated plate is configured for reciprocating along a first side of the first leaf spring, and the second laminated plate is configured for reciprocating over a first side of the second leaf spring.
[6]
Motor-driven surgical system according to claim 4, characterized in that the first leaf spring and the second leaf spring are arranged on at least a portion of the hinge connector and at least a portion of the surgical end actuator.
[7]
Motor-driven surgical system according to claim 4, characterized in that the first leaf spring and the second leaf spring are configured to flex around a transverse geometric axis to a longitudinal geometric axis of the tube. proximal closure.
[8]
Motor-driven surgical system according to claim 1, characterized in that it additionally comprises an elongated channel arranged in the first jaw, in which the elongated channel is configured to receive a cartridge of surgical fasteners in a releasable manner.
[9]
Motor-driven surgical system according to claim 1, characterized in that it additionally comprises an elongated channel arranged in the first jaw, in which the elongated channel is configured to receive a radio frequency cartridge releasably.
[10]
Motor-driven surgical system according to claim 9, characterized in that it additionally comprises a channel circuit arranged along an internal longitudinal side of the elongated channel, wherein the channel circuit comprises a proximal contact portion configured to electrically coupling to a distal contact portion of the drive shaft flexible circuit strip, and wherein the channel circuit comprises a distal contact portion configured to electrically couple to a flexible cartridge circuit disposed on a radio frequency cartridge surface .
[11]
11. Flexible assembly for use in an articulated component of a motor-driven surgical system, characterized by the flexible assembly characterized by the fact that the flexible assembly comprises: a flexible circuit strip of the drive shaft; and a knife bar comprising a first laminated plate disposed along a first side of the drive shaft flexible circuit strip and a second laminated plate disposed along a second side of the drive shaft flexible circuit strip, in that the knife bar is configured for reciprocating along a longitudinal geometric axis of the flexible axis strip of drive shaft.
[12]
Flexible assembly according to claim 11, characterized in that the flexible assembly is configured to flex around a hinge axis transverse to a longitudinal hinge axis of the drive shaft flexible circuit strip.
[13]
Flexible assembly according to claim 11, characterized in that the first laminated plate comprises a first pair of laminated plates, and the second laminated plate comprises a second pair of laminated plates.
[14]
Flexible assembly according to claim 11, characterized in that one side of a first portion of the first laminated plate is disposed along the first side of the drive shaft flexible circuit strip, and one side of a first portion of the second the laminated plate is disposed along the second side of the drive shaft flexible circuit strip when the flexible assembly is in a first state, and where the first portion side of the first laminated plate is disposed along the side of the first portion of the second laminated plate when the flexible assembly is in a second state.
[15]
Flexible assembly according to claim 11, characterized in that it further comprises a first leaf spring disposed between the first side of the drive shaft flexible circuit strip and the first laminated plate, and a second leaf spring disposed between the second side of the drive shaft flexible circuit strip and the second laminated plate.
[16]
16. Flexible assembly according to claim 15, characterized in that the first laminated plate is configured for reciprocating along a first side of the first leaf spring, and the second laminated plate is configured for reciprocating along a first side of the second leaf spring.
[17]
Flexible assembly according to claim 15, characterized in that a side of a first portion of the first laminated plate is arranged along a first side of the first leaf spring, and a side of a first portion of the second laminated plate is arranged arranged along a first side of the second leaf spring when the flexible assembly is in a first state, and where the side of the first portion of the first laminated plate is arranged along the side of the first portion of the second laminated plate when the assembly flexible is in a second state.
[18]
18. Flexible assembly according to claim 11, characterized in that the flexible circuit strip of the drive shaft comprises a distal contact portion.
[19]
19. Flexible assembly according to claim 11, characterized in that the flexible circuit strip of the drive shaft comprises a plurality of narrow wires and a plurality of wider wires.
[20]
20. Flexible assembly according to claim 19, characterized in that the plurality of wider wires is configured to conduct a radio frequency signal.

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同族专利:

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公开号 | 公开日

---

US11065048B2|2021-07-20|

---

US20190000531A1|2019-01-03|

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JP2020525180A|2020-08-27|

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WO2019002980A1|2019-01-03|

---

EP3420926A1|2019-01-02|

---

CN110809439A|2020-02-18|

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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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US15/636,123|US11065048B2|2017-06-28|2017-06-28|Flexible circuit arrangement for surgical fastening instruments|

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US15/636,123|2017-06-28|

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PCT/IB2018/053911|WO2019002980A1|2017-06-28|2018-05-31|Flexible circuit arrangement for surgical fastening insturments|

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