motor speed control of a surgical stapling and cutting instrument based on the articulation angle

专利摘要:
The present invention relates to a motorized surgical instrument. The surgical instrument includes a control circuit configured to control the movement of an end actuator. If the end actuator moves out of a predetermined desired position, the control circuit can activate the energized condition of the motor to move the end actuator back to the desired position. When the end actuator is in the desired position, the control circuit can engage the motor's de-energized condition and engage an electromagnetic lock.
公开号:BR112019026895A2
申请号:R112019026895-2
申请日:2018-05-21
公开日:2020-06-30
发明作者:Frederick E. Shelton Iv；David C. Yates；Jason L. Harris
申请人:Ethicon Llc；
IPC主号:

专利说明:

[001] [001] The present invention relates to surgical instruments and, in various circumstances, surgical instruments for stapling and cutting, and staple cartridges for them, which are designed to staple and cut fabrics. BACKGROUND OF THE INVENTION
[002] [002] In a motorized surgical cutting and stapling instrument, it may be useful to control the speed of a cutting member or to control the articulation speed of an end actuator. The speed of a displacement member can be determined by measuring the time elapsed at the predetermined position intervals of the displacement member or by measuring the position of the displacement member at predetermined time intervals. The control can be open circuit or closed circuit. Such measurements can be useful for assessing tissue conditions, such as tissue thickness, and adjusting the speed of the cutting member during a firing stroke to take tissue conditions into account. The thickness of the fabric can be determined by comparing the expected speed of the cutting member with the actual speed of the cutting member. In some situations, it may be useful to pivot the end actuator at a constant pivot speed. In other situations, it may be useful to drive the end actuator at a different pivot speed than the standard pivot speed in one or more regions within a scan range of the end actuator.
[003] [003] During the use of a motorized surgical cutting and stapling instrument it is possible that the end actuator can articulate or even articulate undesirably. Therefore, it may be desirable to provide a holding load to create a dynamic brake for holding when the end actuator is not being pivoted, but the end actuator jaws are open to synchronize the motor with the pivot member. SUMMARY OF THE INVENTION
[004] [004] In one aspect, a surgical instrument is provided. The surgical instrument may include an end actuator, an articulated joint and an articulated member. The pivot member can be translatable with respect to the end actuator at a distance from a proximal to a distal position, where translation of the pivot member causes the pivot joint to pivot. The surgical instrument can also include an operable motor to move the articulation member along the distance from the proximal to the distal position. The engine can include an energized condition and an de-energized condition. The surgical instrument may also include a control circuit coupled to the engine and a position sensor attached to the control circuit. The position sensor can be configured to detect a position of the hinge member over at least a portion of the distance. The control circuit can be configured to receive position input information from the position sensor indicative of a pivot position of the pivot member. The control circuit can also identify a predetermined desired position corresponding to the articulation position of the articulation member. The control circuit can also determine a motor control action in response to a current position of the articulation member that does not correspond to the desired position. The control circuit can control the movement of the articulation member when the current position corresponds to the desired position, where the control of the movement of the articulation member comprises placing the motor in the de-energized condition.
[005] [005] In another aspect, the surgical instrument may include an end actuator and a rotating drive shaft assembly. The rotary drive shaft assembly can be configured to rotate around a longitudinal geometry axis. The rotary drive shaft assembly may include a rotary position sensor and a gear assembly. The rotary position sensor can be configured to monitor the rotation of the rotary drive shaft assembly around the longitudinal geometry axis. The surgical instrument may also include a motor operationally connected to the gear assembly of the rotary drive shaft assembly. The motor can be configured to apply a rotary force to rotate the gear assembly. Rotating the gear assembly rotates the rotary drive shaft assembly about the longitudinal geometry axis. The surgical instrument may also include a control circuit coupled to the engine. The control circuit can be configured to monitor a rotating position of the rotary drive shaft assembly based on a signal from the rotary position sensor. The control circuit can also identify a predetermined desired position that corresponds to the rotation position of the rotary drive shaft assembly. The control circuit can also determine a motor control action in response to a current position of the rotary drive shaft assembly that does not correspond to the desired position. The control circuit can also control the rotation of the rotary drive shaft assembly when the current position corresponds to the desired position, where the control of the rotation of the rotary drive shaft assembly may include placing the motor in the de-energized condition.
[006] [006] In another aspect, the surgical instrument may include a longitudinal drive shaft assembly. The longitudinal drive shaft assembly may include a rotary drive shaft that extends along a longitudinal geometry axis. The longitudinal drive shaft assembly may further comprise a drive gear and an articulated joint. The drive gear can be configured to rotate the rotary drive shaft portion around the longitudinal geometry axis. The pivot joint can include a pivot gear. The surgical instrument may also include a drive assembly. The drive assembly may include a motor, a control circuit and a drive member. The motor may include a drive output. The control circuit can be configured to control the engine. The drive member can be operationally connected to the drive output. When the control circuit is in a rotational condition, the drive member is operationally connected to the drive gear of the rotating drive shaft portion. When the control circuit is in an articulation condition, the drive member is operationally connected to the articulation gear of the articulated joint. The surgical instrument may also include a power supply. The engine can comprise an energized condition and an de-energized condition. When the motor is in the energized condition, the control circuit supplies the power source to the motor in a series circuit configuration. When the control circuit is in the de-energized condition, the control circuit disconnects the power supply from the motor.
[007] [007] The details of one or more implementations are shown in the attached drawings and in the description below. Other features and advantages will be evident from the description, drawings and claims. FIGURES
[008] [008] The innovative characteristics of the aspects described here are presented with particularity in the attached claims. However, these aspects, both in relation to the organization and the methods of operation, can be better understood by reference to the description below, taken in conjunction with the attached drawings.
[009] [009] Figure 1 is a perspective view of a surgical instrument that has a set of interchangeable drive axles operationally coupled to it, according to an aspect of the present description.
[0010] [0010] Figure 2 is an exploded view of a portion of the surgical instrument of Figure 1, in accordance with an aspect of the present description.
[0011] [0011] Figure 3 is an exploded assembled view of portions of the interchangeable drive shaft assembly, in accordance with an aspect of the present description.
[0012] [0012] Figure 4 is an exploded view of an end actuator of the surgical instrument of Figure 1, according to an aspect of the present description.
[0013] [0013] Figures 5A and 5B are a block diagram of a control circuit for the surgical instrument of Figure 1, which comprises two drawing sheets, according to one aspect of the present description.
[0014] [0014] Figure 6 is a block diagram of the control circuit of the surgical instrument of Figure 1 illustrating interfaces between the handle assembly and the feeding assembly and the handle assembly and the interchangeable drive shaft assembly, according to an aspect of the present description.
[0015] [0015] Figure 7 illustrates a control circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0016] [0016] Figure 8 illustrates a combinational logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0017] [0017] Figure 9 illustrates a sequential logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0018] [0018] Figure 10 is a diagram of an absolute positioning system for the surgical instrument of Figure 1, in which the absolute positioning system comprises an arrangement of the motor controlled drive circuit comprising an arrangement of the sensor, according to a aspect of this description.
[0019] [0019] Figure 11 is an exploded perspective view of the sensor arrangement of an absolute positioning system, showing a set of control circuit board and the relative alignment of the elements of the sensor arrangement, according to one aspect of the present description.
[0020] [0020] Figure 12 is a diagram of a position sensor comprising a magnetic rotating absolute positioning system according to an aspect of the present description.
[0021] [0021] Figure 13 is a sectional view of an end actuator of the surgical instrument of Figure 1, showing a course of the firing member in relation to tissue trapped within the end actuator in accordance with an aspect of the present description.
[0022] [0022] Figure 14 illustrates a block diagram of a surgical instrument programmed to control the distal translation of the displacement member according to an aspect of the present description.
[0023] [0023] Figure 15 illustrates a diagram showing two examples of displacement member courses performed in accordance with an aspect of the present description.
[0024] [0024] Figure 16 is a partial perspective view of a portion of a surgical instrument end actuator showing an elongated drive shaft assembly in a non-articulated orientation with portions omitted for clarity, according to an aspect of this description.
[0025] [0025] Figure 17 is another perspective view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a non-articulated orientation, in accordance with an aspect of the present description.
[0026] [0026] Figure 18 is an exploded perspective view of the end actuator of Figure 16 showing the appearance of the elongated drive shaft assembly, in accordance with an aspect of the present description.
[0027] [0027] Figure 19 is a top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a non-articulated orientation, in accordance with an aspect of the present description.
[0028] [0028] Figure 20 is another top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a first articulated orientation, in accordance with an aspect of the present description.
[0029] [0029] Figure 21 is another top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a second articulated orientation, in accordance with an aspect of the present description.
[0030] [0030] Figure 22 shows an example of an articulation mechanism for articulating an end actuator of a surgical instrument, according to an aspect of the present description.
[0031] [0031] Figure 23 is a graph of an angle of the firing rod and the duty cycle of the motor as a function of the articulation angle of the end actuator, according to an aspect of the present description.
[0032] [0032] Figure 24 is a graph of the engine's duty cycle as a function of the rotation of the drive shaft of a surgical instrument, according to one aspect of the present description.
[0033] [0033] Figure 25 is a circuit diagram illustrating the circuit configurations of a motor system for a surgical instrument, according to an aspect of the present description.
[0034] [0034] Figure 26 shows an example of an articulation mechanism for articulating an end actuator of a surgical instrument, according to an aspect of the present description.
[0035] [0035] Figure 27 is a logic flow diagram of a process that represents a control program or a logical configuration representing a dynamic articulation control program, according to an aspect of the present description.
[0036] [0036] Figure 28 is a logic flow diagram of a process representing a control program or a logical configuration representing a dynamic rotational control program, according to an aspect of the present description.
[0037] [0037] Figure 29 is a logic flow diagram of a process that represents a control program or a logical configuration representing a passive articulation control program, according to an aspect of the present description.
[0038] [0038] Figure 30 is a logic flow diagram of a process representing a control program or a logical configuration representing a passive rotational control program, in accordance with an aspect of the present description. DESCRIPTION
[0039] [0039] 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:
[0040] [0040] N ° of the power of attorney document END8191USNP / 170054, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0041] [0041] Power of attorney document number END8191USNP / 170055, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0042] [0042] Power of attorney document number END8193USNP / 170056, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0043] [0043] Power of attorney document number END8194USNP / 170057, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0044] [0044] Power of attorney document number END8195USNP / 170058, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0045] [0045] Power of attorney document number END8196USNP / 170059, entitled SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0046] [0046] Power of attorney document number END8197USNP / 170060, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0047] [0047] Power of attorney document number END8198USNP / 170061, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0048] [0048] Power of Attorney Document No. END8199USNP / 170062M, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR
[0049] [0049] Proxy document number END8275USNP / 170185M, entitled TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR
[0050] [0050] N ° of the power of attorney document END8268USNP / 170186, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0051] [0051] N ° of the power of attorney document END8276USNP / 170187, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0052] [0052] N ° of the power of attorney document END8266USNP / 170188, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT
[0053] [0053] N ° of the power of attorney document END8267USNP / 170189, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0054] [0054] Power of attorney document number END8269USNP / 170190, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT, by the inventors Jason L. Harris et al., Filed on June 20,
[0055] [0055] Power of attorney document number END8270USNP / 170191, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0056] [0056] Power of attorney document number END8271USNP / 170192,
[0057] [0057] Power of attorney document number END8274USDP / 170193D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0058] [0058] Power of attorney document number END8273USDP / 170194D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0059] [0059] Power of attorney document number END8272USDP / 170195D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0060] [0060] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the disclosed devices and methods. The features shown or described in one example can be combined with the features in other examples and modifications and variations are within the scope of this description.
[0061] [0061] The terms "proximal" and "distal" refer to a doctor manipulating the handle of the surgical instrument where "proximal" refers to the portion closest to the doctor and "distal" refers to the portion located in the direction furthest from the doctor. For convenience, the spatial terms "vertical", "horizontal", "above" and "below" used in relation to the drawings are not intended to be limiting and / or absolute, because surgical instruments can be used in many orientations and positions.
[0062] [0062] Exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. Such devices and methods, however, can be used in other surgical procedures and applications including open surgical procedures, for example. Surgical instruments can be inserted into a natural orifice or into an incision or perforation formed in tissues. The functional portions or portions of the instrument's end actuator can be inserted directly into a patient's body or into an access device that has a working channel through which the end actuator and the elongated drive shaft of a surgical instrument can be inserted. be advanced.
[0063] [0063] Figures 1 to 4 show a surgical instrument powered by motor 10 to cut and secure, which may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 that comprises a handle assembly 14 that is configured to be picked up, manipulated and actuated by the physician. The housing 12 is configured for operational fixation to an interchangeable drive shaft assembly 200 that has an end actuator 300 operatively coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in conjunction with robotically controlled surgical systems. Thus, the term "compartment" may also cover a compartment or similar portion of a robotic system that houses or, otherwise, operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the interchangeable drive shaft assemblies. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument. Interchangeable drive shaft assemblies can be used with various robotic systems, instruments, components and methods disclosed in US Patent No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", which is incorporated herein by way of reference, in its entirety.
[0064] [0064] Figure 1 is a perspective view of a surgical instrument 10 having an interchangeable drive shaft assembly 200 operably coupled to it, in accordance with an aspect of the present description. Housing 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a 304 surgical clamp cartridge inside. Housing 12 can be configured for use in conjunction with interchangeable drive shaft assemblies which include end actuators that are adapted to hold different sizes and types of clamp cartridges that have different lengths, sizes and types of drive shaft. Enclosure 12 can be used with a variety of interchangeable drive shaft assemblies, including assemblies configured to apply other movements and forms of energy, such as radio frequency (RF) energy, ultrasonic energy and / or movement to adapted end actuator arrangements for use in conjunction with various surgical applications and procedures. End actuators, drive shaft assemblies, handles, surgical instruments and / or surgical instrument systems can use any fastener or fasteners suitable for fastening tissue. For example, a fastener cartridge comprising a plurality of fasteners stored therein removably can be removably inserted into and / or attached to the end actuator of a drive shaft assembly.
[0065] [0065] The handle assembly 14 can comprise a pair of interconnectable segments of the handle compartment 16 and 18 interconnected by screws, push-fit elements, adhesive, etc. The grip compartment segments 16, 18 cooperate to form a portion of the pistol grip 19 that can be handled and manipulated by the physician. The handle assembly 14 operationally supports a plurality of drive systems configured to generate and apply control movements to the corresponding portions of the interchangeable drive shaft assembly that is operationally attached to it. A screen can be provided under a cover 45.
[0066] [0066] Figure 2 is an exploded view of a portion of the surgical instrument 10 of Figure 1, in accordance with an aspect of the present description. The handle assembly 14 can include a frame 20 that operationally supports a plurality of drive systems. The frame 20 can operationally support a "first" closing drive system 30, which can apply closing and opening movements to the interchangeable drive shaft assembly 200. The closing drive system 30 can include an actuator, such as a trigger. closing 32 pivotally supported by structure 20. The closing trigger 32 is pivotally coupled to the handle assembly 14 by a pivot pin 33 to enable the closing trigger 32 to be manipulated by a physician. When the physician wields the pistol grip portion 19 of the grip assembly 14, the closing trigger 32 can rotate from an initial or "not acted" position to an "acted" position and, more particularly, to a fully compressed or completely actuated.
[0067] [0067] The grip handle 14 and the frame 20 can operationally support a trigger drive system 80, which is configured to apply trigger movements to corresponding portions of the interchangeable drive shaft assembly that is attached to it. The firing drive system 80 may employ an electric motor 82 located in the pistol grip portion 19 of the handle assembly 14. Electric motor 82 may be a brushed DC DC motor having a maximum rotation speed of approximately 25,000 rpm , for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable electric motor. Electric motor 82 can be powered by a power supply 90 which can comprise a removable battery 92. Removable battery 92 can comprise a proximal compartment portion 94 configured to be attached to a distal compartment portion 96. The proximal compartment portion 94 and the distal compartment portion 96 are configured to operationally support a plurality of batteries 98. Each of the batteries 98 may comprise, for example, a lithium ion battery (LI) or other suitable battery. The distal compartment portion 96 is configured for removable operational attachment to a control circuit board 100 that is operationally coupled to the electric motor 82. Several batteries 98 connected in series can power the surgical instrument 10. In addition, the power supply 90 can be replaceable and / or rechargeable. A screen 43, which is located below the cover 45, is electrically coupled to the control circuit board
[0068] [0068] The electric motor 82 may include a rotary drive shaft (not shown), which, operationally, interfaces with a gear reduction assembly 84, which is mounted on a coupling hitch with a set or rack, of driving teeth 122 on a longitudinally movable drive member 120. The longitudinally movable drive member 120 has a drive tooth rack 122 formed thereon for engagement with a corresponding drive gear 86 of the gear reducer assembly 84.
[0069] [0069] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, where the voltage polarity applied to the electric motor by the battery can be reversed so as to operate the electric motor 82 in anticlockwise. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable driving member 120 will be driven axially in the proximal direction "PD". The handle assembly 14 can include a switch that can be configured to reverse the polarity applied to the electric motor 82 by the power supply 90. The handle assembly 14 can include a sensor configured to detect the position of the longitudinally movable drive member 120 and / or the direction in which the longitudinally movable drive member 120 is being moved.
[0070] [0070] The activation of the electric motor 82 can be controlled by a trigger trigger 130 that is pivotally supported on the handle assembly 14. The trigger trigger 130 can be pivoted between an unacted position and an acted position.
[0071] [0071] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 comprising an elongated channel 302 that is configured to operationally support a surgical staple cartridge
[0072] [0072] Returning to Figure 1, the closing tube 260 is moved distally (direction "DD") to close the anvil 306, for example, in response to the actuation of the closing trigger 32 in the manner described in the previously mentioned reference of the publication of patent application no. 2014/0263541 Anvil 306 is opened by proximal translation of the closing tube 260. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[0073] [0073] Figure 3 is another exploded assembled view of portions of the interchangeable drive shaft assembly 200, according to an aspect of the description. The interchangeable drive shaft assembly 200 may include a sustained firing member 220 to perform axial displacement inside the back 210. The firing member 220 includes an intermediate firing shaft 222 configured to attach to a portion of distal cut or cutting bar 280. The firing member 220 can also be called "second drive shaft" and / or "second drive shaft set". The intermediate firing drive shaft 222 may include a longitudinal slot 223 at its distal end configured to receive a tab 284 at the proximal end 282 of the cutting bar 280. The longitudinal slot 223 and the proximal end 282 can be sized and configured to enable the relative movement between them and may comprise a sliding joint 286. The sliding joint 286 may enable the intermediate firing drive shaft 222 of the firing member 220 to pivot the end actuator 300 around the hinge joint 270 without moving, or at the less without substantially moving the cutter bar 280. Once the end actuator 300 has been properly oriented, the intermediate firing drive shaft 222 can be advanced distally until a proximal side wall of the longitudinal slot 223 contacts the flap 284 to advance the cutter bar 280 and fire a staple cartridge positioned inside d channel 302. The back 210 has an elongated opening or window 213 inside it to facilitate the assembly and insertion of the intermediate trigger drive shaft 222 into the back 210. When the intermediate trigger drive shaft 222 has been inserted into it , an upper segment of the frame 215 can be engaged with the drive shaft structure 212 to enclose the intermediate trigger drive shaft 222 and the cutter bar 280 itself. The operation of the trigger member 220 can be seen in the Order Publication US Patent No. US 2014/0263541. The back 210 can be configured to slidably support a firing member 220 and the closing tube 260 which extends around the back 210. The back 210 can slidably support an articulation actuator 230.
[0074] [0074] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple the hinge actuator 230 to the firing member
[0075] [0075] The interchangeable drive shaft assembly 200 may comprise a slip ring assembly 600 that can be configured to conduct electrical energy to and / or to the end actuator 300 and / or communicate signals from and / or to the actuator of end 300, for example. The slip ring assembly 600 may comprise a proximal connector flange 604 and a distal connector flange 601 positioned within a slot defined in the mouth portions 202, 203. The proximal connector flange 604 may comprise a first face and the flange the distal connector 601 may comprise a second face, which is positioned adjacent and which is movable with respect to the first face.
[0076] The interchangeable drive shaft assembly 200 may include a proximal portion that is securely mounted on the handle assembly 14 and a distal portion that is rotatable about a longitudinal geometric axis. The distal swivel portion of the drive shaft can be rotated with respect to the proximal portion around the slip ring assembly 600. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the distal rotary drive shaft portion.
[0077] [0077] Figure 4 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to an aspect of this description. End actuator 300 may include anvil 306 and surgical staple cartridge 304. Anvil 306 can be coupled to an elongated channel 302. Openings 199 can be defined in elongated channel 302 to receive pins 152 extending from the anvil 306 to enable the anvil 306 to rotate from an open position to a closed position in relation to the elongated channel 302 and the surgical staple cartridge 304. A firing bar 172 is configured to move longitudinally into the end actuator 300. A firing bar 172 may be constructed from a solid section or may include a laminated material comprising a stack of steel plates. The firing bar 172 comprises an i-profile beam 178 and a cutting edge 182 at a distal end thereof. A distal projecting end of the firing bar 172 can be attached to the i-profile beam 178 to assist in spacing the anvil 306 from a surgical staple cartridge 304 positioned in the elongated channel 302, when the anvil 306 is in a closed position. The i-beam beam 178 may include a sharp cutting edge 182 for cutting fabric, as the i-beam beam 178 is advanced distally by the firing bar 172. In operation, the i-beam beam 178 can fire, or fires, the staple cartridge 304. The staple cartridge 304 may include a molded cartridge body 194 that holds a plurality of staples 191 that rest on the staple actuators 192 within the respective staple cavities open up 195 A wedge slider 190 is driven distally by the i-profile beam 178, sliding over a cartridge tray 196 of the surgical staple cartridge 304. The wedge slide 190 moves the staple actuators 192 upwards by cam. expelling the clamps 191 in deformation contact with the anvil 306, while a cutting surface 182 of the i-profile beam 178 separates the clamped fabric.
[0078] [0078] The beam with i-profile 178 may include upper pins 180 that engage the anvil 306 during firing. The i-profile beam 178 may include intermediate pins 184 and a base 186 for engaging portions of the cartridge body 194, the cartridge tray 196 and the elongated channel 302. When a surgical staple cartridge 304 is positioned inside the elongated channel 302, a slot 193 defined in the cartridge body 194 can be aligned with a longitudinal slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 302. In use, the i-beam beam 178 can slide through the slots longitudinal lines 193, 197 and 189, in which, as shown in Figure 4, the base 186 of the i-beam beam 178 can engage with a groove positioned along the lower surface of the elongated channel 302 along the length of the slot 189 , the middle pins 184 can engage the upper surfaces of the cartridge tray 196 along the length of the longitudinal slot 197, and the upper pins 180 can engage with the anvil 306. In these circumstances, the beam with i-profile 178 can space or limit the relative movement between the anvil 306 and the surgical staple cartridge 304, while the firing bar 172 is moved distally in order to fire the staples from the surgical staple cartridge 304 and / or make an incision in the tissue captured between the anvil 306 and the surgical staple cartridge 304. The firing bar 172 and the i-profile beam 178 can be retracted proximally allowing the anvil 306 to be opened to release the two stapled and separated tissue portions.
[0079] [0079] Figures 5A and 5B are a block diagram of a control circuit 700 of the surgical instrument 10 of Figure 1, which comprises two drawing sheets, in accordance with an aspect of the present description. Referring mainly to Figures 5A and 5B, a handle assembly 702 can include a motor 714, which can be controlled by a motor driver 715 and can be employed by the trigger system of the surgical instrument 10. In various ways, the motor 714 can be a brushed DC DC motor, having 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" - field-effect transistors) 719, for example. The motor 714 can be powered by the supply set 706 releasably mounted to the handle assembly 200 to supply control power 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 power supply to power the surgical instrument 10. In certain circumstances, the battery cells in the 706 power pack can be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries that can be separably coupled to the 706 power pack.
[0080] [0080] The drive shaft assembly 704 can include a drive shaft controller 722 that can communicate with the safety controller and the power management controller 716 through an interface, while the drive shaft assembly 704 and the supply set 706 are coupled to the handle assembly 702. For example, the interface may comprise a first portion of interface 725, which may include one or more electrical connectors for coupling engagement with electrical driveshaft assembly connectors corresponding, and a second interface portion 727, which may include one or more electrical connectors for coupling coupling with the corresponding electrical connectors of the power supply set, to enable electrical communication between the controller of the drive shaft assembly 722 and the controller management system 716 while the drive shaft assembly 704 and the power assembly 706 are coupled to the handle assembly 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the fixed interchangeable drive shaft assembly 704 to the power management controller 716. In response , the power management controller can modulate the battery power output of the 706 power pack, as described in more detail below, according to the power requirements of the fixed drive shaft assembly 704. The connectors can comprise switches that can be activated after coupling by mechanical coupling of the handle set 702 to the drive shaft 704 and / or the power set 706 to enable electrical communication between the drive set controller
[0081] [0081] The interface can facilitate the transmission of one or more communication signals between the power management controller 716 and the drive shaft assembly controller 722 by routing these communication signals through a main controller 717 resident in the assembly handle grip 702, for example. In other cases, the interface can facilitate a direct communication line between the power management controller 716 and the drive shaft assembly controller 722 through the handle assembly 702, while the drive shaft assembly 704 and the drive assembly 706 are coupled to the handle assembly 702.
[0082] [0082] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name of ARM Cortex from Texas Instruments. In one respect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB serial random access memory ("SRAM"), an internal read-only memory ("ROM" - read-only memory) loaded with the StellarisWare® program, electrically erasable programmable read-only memory ("EEPROM" - 2 KB), one or more pulse width modulation modules (" PWM "- pulse width modulation), one or more analogs of quadrature encoder inputs (" QEI "- quadrature encoder inputs), one or more 12-bit analog-to-digital converters (" ADC "- analog-to-digital converters) with 12 analog input channels a, details of which are available on the product data sheet.
[0083] [0083] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x known under the trade name of Hercules ARM Cortex R4, also from Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0084] [0084] 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 power output based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and the power supply 706 are coupled to the handle assembly 702. The power management controller 716 can be programmed to control the power modulator 738 from the power output of the power supply 706, and the 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 on the battery power output, so that the 716 power management controller can adjust the power output power supply 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.
[0085] [0085] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include one or more devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices ( eg haptic actuators). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument 10 via output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. Output device 742 can, in instead, be integrated into the supply set 706. In these circumstances, communication between the output device 742 and the drive shaft assembly controller 722 can be done through the interface, while the drive shaft assembly 704 is coupled to the handle set 702.
[0086] [0086] The control circuit 700 comprises segments configured to control the operations of the energized surgical instrument 10. A segment of the safety controller (Segment 1) comprises a safety controller and the segment of the main controller 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 and a power segment. Each of the circuit segments can be coupled to the safety controller and / or to the main controller 717. The main controller 717 is also coupled to a flash memory. The main controller 717 also comprises a serial communication interface. Main controller 717 comprises a plurality of inputs coupled, for example, to one or more circuit segments, a battery, and / or a plurality of switches. The segmented circuit can be implemented by any suitable circuit, such as, for example, a printed circuit board assembly ("PCBA") inside the energized surgical instrument 10. It must be understood that the term processor, as used here, includes any microprocessor, processor, controller, controllers or other basic computing device that incorporates the functions of a central computer processing unit (CPU) in an integrated circuit or at most some integrated circuits. The 717 main controller is a programmable multipurpose device that accepts digital data as input, processes it according to instructions stored in its memory and provides results as output. This is an example of sequential digital logic, as it has internal memory. The control circuit 700 can be configured to implement one or more of the processes described herein.
[0087] [0087] The acceleration segment (Segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. The accelerometer input is used to transition to and from a suspend mode, identify the orientation of the energized surgical instrument and / or identify when the surgical instrument was dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0088] [0088] The screen segment (Segment 4) comprises a screen connector coupled to the main controller 717. The screen connector couples the main controller 717 to a screen through one or more drivers of the integrated circuits of the screen. The drivers of the integrated circuits of the display may be integrated with the display and / or may be located separately from the display. The screen may comprise any suitable screen, such as an organic light-emitting diode (OLED) screen, a liquid crystal screen (LCD) and / or any other suitable screen. In some examples, the screen segment is coupled to the security processor.
[0089] [0089] The drive shaft segment (Segment 5) comprises controls for an interchangeable drive shaft assembly 200 (Figures 1 and 3) coupled to the surgical instrument 10 (Figures 1 to 4) and / or one or more controls for an end actuator 300 coupled to the interchangeable drive shaft 200. The drive shaft segment comprises a drive shaft connector configured to couple main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microcontroller with ferroelectric random access memory ("FRAM" - ferroelectric random access memory), an articulation switch, a drive shaft release Hall switch and a PCBA EEPROM . The PCBA EEPROM comprises one or more parameters, routines and / or specific programs for the interchangeable drive shaft 200 and / or for the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 200 and / or integral 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,
[0090] [0090] The position encoding segment (Segment 6) comprises one or more rotary magnetic angle position encoders. The one or more rotary magnetic angle position encoders are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 of the surgical instrument 10 (Figures 1 to 4). In some examples, rotary magnetic angle position encoders can be coupled to the safety controller and / or the main controller
[0091] [0091] The motor circuit segment (Segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 4). Motor 714 is coupled to the primary microcontroller processor 717 by an H bridge driver that comprises one or more H bridge field effect transistors (FETs). The H bridge actuator is also coupled to the safety controller. A motor current sensor is connected in series to the motor to measure the current drain of the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety controller. In some instances, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0092] [0092] 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.
[0093] [0093] The power segment (Segment 8) comprises a battery coupled to the safety controller, the main controller 717 and the additional circuit segments. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more segments of the circuit. For example, in some instances, the segmented circuit may comprise 3.3 V voltage converters and / or 5 V voltage converters. A voltage amplification converter is configured to provide a voltage rise to a predetermined amount, such as , for example, up to 13 V. The voltage amplification converter is configured to supply additional voltage and / or current during operations that require a lot of energy and to avoid blackouts or low power conditions.
[0094] [0094] The plurality of keys is coupled to the safety controller and / or the main controller 717. The keys can be configured to control operations of the surgical instrument 10 (Figures 1 to 4) of the segmented circuit and / or indicate a state of the surgical instrument 10. An ejection port switch and ejection Hall switch are configured to indicate the status of the 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 a drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 (Figures 1 and 4). A reverse switch on the left side and a reverse switch on the right side are coupled to the main controller
[0095] [0095] 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 be limited keys operated by the movement of the components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, passage, positioning and end of an object's displacement. In other implementations, the switches can be solid state switches that work under the influence of a magnetic field, such as Hall effect devices, magnetoresistive (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" - metal-oxide semiconductor-FET), bipolar and the like). Other switches may include wireless switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[0096] [0096] Figure 6 is a block diagram of the control circuit 700 of the surgical instrument of Figure 1 illustrating interfaces between the handle assembly 702 and the feeding assembly 706 and between the handle assembly 702 and the drive shaft assembly interchangeable 704, in accordance with an aspect of the present description. The handle assembly 702 may comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector 730. The power assembly 706 may include a power assembly connector 732, a 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 power output 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 handle assembly 702. The power management controller 716 can be programmed to control power modulator 738 from the control power output together with the power supply 706 and the 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 on the power output of the battery 707 so that the power management controller power 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 the 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.
[0097] [0097] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 for sensory feedback to a user. Such devices may comprise visual feedback devices (for example, a monitor with an LCD screen, LED indicators), audio feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example, haptic actuators). In certain circumstances, the output device 742 may comprise a screen
[0098] [0098] Figure 7 illustrates a control circuit 800 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. Control circuit 800 can be configured to implement various processes described herein. Control circuit 800 may comprise a controller comprising one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one memory circuit 804. Memory circuit 804 stores instructions executable on a machine that, when executed by the processor 802, cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor can be any one of a number of single-core or multi-core (multi-core) processors known in the art. The memory circuit 804 can comprise volatile and non-volatile storage media. The 802 processor can include an 806 instruction processing unit and an arithmetic unit
[0099] [0099] Figure 8 illustrates a combinational logic circuit 810 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. The combinational logic circuit 810 can be configured to implement various processes described here. Circuit 810 may comprise a finite state machine comprising a combinational logic circuit 812 configured to receive data associated with the surgical instrument 10 at an input 814, process the data by combinational logic 812 and provide an output 816.
[00100] [00100] Figure 9 illustrates a sequential logic circuit 820 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement various processes described herein. Circuit 820 may comprise a finite state machine. Sequential logic circuit 820 may comprise a combinational logic circuit 822, at least one memory circuit 824 and a clock 829, for example. The at least one memory circuit 820 can store a current state of the finite state machine. In certain cases, the sequential logic circuit 820 can be synchronous or asynchronous. The combinational logic circuit 822 is configured to receive data associated with the surgical instrument 10 from an input 826, process the data through the combinational logic circuit 822 and provide an output
[00101] [00101] Aspects can be implemented in the form of an article of manufacture. The article of manufacture may include a computer-readable storage medium arranged to store logic, instructions and / or data for carrying out various operations of one or more aspects. For example, the article of manufacture may comprise a magnetic disk, an optical disk, a flash memory or firmware containing computer program instructions suitable for execution by a general purpose processor or application specific processor.
[00102] [00102] Figure 10 is a diagram of an absolute positioning system 1100 of surgical instrument 10 (Figures 1 to 4), in which the absolute positioning system 1100 comprises an arrangement of the motor-controlled drive circuit comprising an arrangement of sensor 1102, in accordance with an aspect of the present description. The sensor arrangement 1102 of an absolute positioning system 1100 provides a unique position signal that corresponds to the location of a displacement member 1111. Briefly returning to Figures 2 to 4, in one aspect, displacement member 1111 represents a limb longitudinally movable drive 120 (Figure 2) comprising a drive tooth rack 122 for engagement with a corresponding drive gear 86 of gear reducer assembly 84. In other respects, displacement member 1111 represents trigger member 220 (Figure 3) that can be adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member 1111 represents the firing bar 172 (Figure 4) or the beam with I-profile 178 (Figure 4), each of which can be adapted and configured to include a rack of drive teeth .
[00103] [00103] The electric motor 1120 may include a rotary drive shaft 1116, which interfaces operationally with a gear set 1114, which is mounted in gear engaged with a set, or rack, of drive teeth on the drive member 1111. A sensor element 1126 can be operationally coupled to a gear assembly 1114, so that a single revolution of the sensor element 1126 corresponds to some linear longitudinal translation of the displacement member
[00104] [00104] A single revolution of sensor element 1126 associated with position sensor 1112 is equivalent to a longitudinal linear displacement of d1 of displacement member 1111, where d1 is the longitudinal linear distance by which displacement member 1111 moves from point " a "to point" b "after a single revolution of the sensor element 1126 coupled to the displacement member 1111. The sensor arrangement 1102 can be connected by means of a gear reduction which results in the completion of one or more revolutions by the position sensor 1112 of the full travel of the travel member 1111. The position sensor 1112 can complete multiple revolutions of the full travel of the travel member 1111.
[00105] [00105] A series of keys 1122a through 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the 1112 position sensor. The status of the switches 1122a to 1122n is fed back to a controller 1104 that applies logic to determine a single position signal that corresponds to the longitudinal linear displacement d1 + d2 +… dn of the drive member 1111. The position sensor output 1124 1112 is provided to controller 1104. Position sensor 1112 of sensor array 1102 may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, or an array of analog Hall effect elements, which emit a unique combination of signals or position values.
[00106] [00106] The absolute positioning system 1100 provides an absolute positioning of the displacement member 1111 by energizing the instrument without having to retract or advance the displacement member 1111 to a reset position (zero or initial), as may be required by conventional rotary encoders that merely count the number of progressive or regressive steps that the 1120 motor has traveled to infer the position of a device actuator, a drive bar, knife, and the like.
[00107] [00107] Controller 1104 can be programmed to perform various functions, such as precise control of the speed and position of the articulation and cutting systems. In one aspect, controller 1104 includes a processor 1108 and memory 1106. Electric motor 1120 may be a brushed DC motor with a gearbox and mechanical connections with a hinge or cut system. In one aspect, an 1110 motor driver can be an A3941 available from Allegro Microsystems, Inc. Other motor drivers can be readily replaced for use in the 1100 absolute positioning system. A more detailed description of the 1100 absolute positioning system is described in US patent application 15 / 130,590 entitled SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, filed on April 15, 2016, the description of which is incorporated herein by reference, in its entirety.
[00108] [00108] Controller 1104 can be programmed to provide precise control of the speed and position of displacement member 1111 and articulation systems. Controller 1104 can be configured to compute a response in the software of controller 1104. The computed response is compared to a measured response from the actual system to obtain an "observed" response, which is used for actual feedback-based decisions. The observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.
[00109] [00109] The absolute positioning system 1100 can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback and adaptive controller. An 1129 power supply converts the signal from the feedback controller to a physical input to the system, in this case, the voltage. Other examples include pulse width modulation (PWM) of voltage, current and force. Other 1118 sensors can be provided to measure the physical parameters of the physical system, in addition to the position measured by the 1112 position sensor. In a digital signal processing system, an 1100 absolute positioning system is coupled to a digital data capture system where the output of the 1100 absolute positioning system will have a finite resolution and sampling frequency. The 1100 absolute positioning system can comprise a comparison and combination circuit to combine a computed response with a measured response through the use of algorithms, such as a weighted average and a theoretical control loop, that trigger the calculated response towards the measured response. The computed response of the physical system considers properties, such as mass, inertia, viscous friction, resistance to inductance, etc., to predict what the states and exits of the physical system will be, knowing the input. Controller 1104 can be a control circuit 700 (Figures 5A and 5B).
[00110] [00110] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The A3941 1110 driver is an entire bridge controller for use with externally powered metal oxide semiconductor (MOSFET) field effect transistors. channel N, specifically designed for inductive loads, such as brushed DC motors. The 1110 actuator comprises a single charge pump regulator, provides full door drive (> 10 V) for batteries with voltage up to 7 V and allows the A3941 to operate with a reduced door drive, up to 5.5 V. A capacitor input control can be used to supply the voltage surpassing that supplied by the battery required for the N channel MOSFETs. An internal charge pump for the upper side drive allows direct current operation (100% duty cycle). The entire bridge can be triggered in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. Power FETs are protected from the shoot-through effect through programmable dead-time resistors. The integrated diagnostics provide indication of undervoltage, overtemperature and faults in the power bridge and can be configured to protect power MOSFETs in most short-circuit conditions. Other motor controllers can be replaced immediately for use in the 1100 absolute positioning system.
[00111] [00111] Having described a general architecture for implementing aspects of an absolute positioning system 1100 for a sensor array 1102, the description now turns to Figures 11 and 12 for a description of an aspect of a sensor array 1102 for the absolute positioning system 1100. Figure 11 is an exploded perspective view of sensor arrangement 1102 for absolute positioning system 1100, showing a circuit 1205 and the relative alignment of elements of sensor arrangement 1102, according to one aspect. The sensor arrangement 1102 of an absolute positioning system 1100 comprises a position sensor 1200, a magnet sensor element 1202, a magnet holder 1204, which rotates each full stroke of the drive member 1111 and a set of gears 1206 to provide gear reduction. With brief reference to Figure 2, the drive member 1111 can represent the longitudinally movable drive member 120 which comprises a rack of drive teeth 122 for engagement with a corresponding drive gear 86 of the gear reducer assembly 84. Returning to the Figure 11, a structural element, such as a bracket 1216, is provided to support gear set 1206, magnet holder 1204 and magnet 1202. Position sensor 1200 comprises magnetic sensing elements, such as Hall elements, and is positioned next to magnet 1202. As magnet 1202 rotates, the magnetic sensing elements of position sensor 1200 determine the absolute angular position of magnet 1202 during a revolution.
[00112] [00112] The sensor arrangement 1102 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to the possibility of them measuring the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[00113] [00113] A gear set comprises a first gear 1208 and a second gear 1210 in gear engaged to provide a connection with a gear ratio of 3: 1. A third gear 1212 rotates about a drive shaft 1214. The third gear 1212 is in engagement with the displacement member 1111 (or 120 as shown in Figure 2) and rotates in a first direction as the offset 1111 advances in a distal direction D and rotates in a second direction as displacement member 1111 retracts in a proximal direction P. second gear 1210 also rotates about drive axis 1214 and therefore rotation of the second gear 1210 around the drive shaft 1214 corresponds to the longitudinal translation of the displacement member 1111. Thus, a full stroke of the displacement member 1111, in either the distal D or proximal directions P, corresponds to three revolutions of the second gear 1210 and a single rotation of the first gear 1208. Since the magnet holder 1204 is coupled to the first gear 1208, the magnet holder 1204 rotates with each stroke complete displacement member 1111.
[00114] [00114] The position sensor 1200 is supported by a position sensor holder 1218, defining an opening 1220 suitable for containing the position sensor 1200 in precise alignment with a magnet 1202 rotating inside the magnet holder 1204. The accessory is coupled to bracket 1216 and circuit 1205 and remains stationary while magnet 1202 rotates with the magnet holder
[00115] [00115] Figure 12 is a diagram of a position sensor 1200 of an absolute positioning system 1100, which comprises a rotating magnetic absolute positioning system, according to an aspect of this description. The position sensor 1200 can be implemented as a rotary, magnetic, single-circuit, AS5055EQFT position sensor, available from Austria Microsystems, AG. Position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system
[00116] [00116] The Hall effect elements 1228A, 1228B, 1228C, 1228D are located directly above the rotating magnet 1202 (Figure 11). The Hall effect is a well-known effect and for convenience it will not be described here in detail, however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electrical conductor transverse to an electric current in the conductor and a magnetic field perpendicular to the current. The Hall coefficient is defined as the ratio between the induced electric field and the product of the current density by the applied magnetic field. It is a characteristic of the material from which the conductor is made, since its value depends on the type, number and properties of the load carriers that make up the chain. In the AS5055 1200 position sensor, Hall effect elements 1228A, 1228B, 1228C, 1228D are capable of producing a voltage signal indicative of the absolute positioning of magnet 1202 in terms of the angle relative to a single revolution of magnet 1202. This value The angle, which is a single position signal, is calculated by the CORDIC 1236 processor and stored integrated in the AS5055 1200 position sensor in a register or memory. The angle value that is indicative of the position of magnet 1202 during a revolution is provided to controller 1104 in a variety of techniques, for example, by energizing or upon demand from controller 1104.
[00117] [00117] The AS5055 1200 position sensor requires only a few external components to operate when connected to the controller
[00118] [00118] Due to the measurement principle of the AS5055 1200 position sensor, only a single angle measurement is performed in a very short time (~ 600 µs), after each energization sequence. As soon as an angle measurement is completed, the AS5055 1200 position sensor enters the de-energized state. There is no filter of the angle value by digital average implemented in the integrated circuit, as this would require more than one angle measurement and, consequently, a longer energization time, which is not desired in low power applications. The angle variation can be reduced by averaging several angle samples on controller 1104. For example, an average of four samples reduces the variation by 6 dB (50%).
[00119] [00119] Figure 13 is a sectional view of an end actuator 2502 of the surgical instrument 10 (Figures 1 to 4) showing a firing stroke of the beam with i-profile 2514 in relation to the tissue 2526 trapped inside the end actuator 2502, in accordance with an aspect of the present description. The end actuator 2502 is configured to operate the surgical instrument 10 shown in Figures 1 to 4. The end actuator 2502 comprises an anvil 2516, an elongated channel 2503 with a staple cartridge 2518 positioned in the elongated channel 2503. An firing 2520 is translatable distally and proximally along a longitudinal geometric axis 2515 of end actuator 2502. When end actuator 2502 is not pivoted, end actuator 2502 is in line with the instrument driving shaft. An i-profile beam 2514 comprising a cutting edge 2509 is shown in a distal portion of the firing bar
[00120] [00120] A firing stroke of the beam with 2514 exemplary i-profile is illustrated by a graphic 2529 aligned with the end actuator 2502. The 2526 exemplifying fabric is also shown aligned with the end actuator 2502. The firing member travel can comprise an initial position of the stroke 2527 and an end position of the stroke 2528. During a firing stroke of the beam with i-profile 2514, the beam with i-profile 2514 can be advanced distally from the initial position of the stroke 2527 to the end position of stroke 2528. The beam with i-profile 2514 is shown in an example location from an initial position of stroke 2527. The 2529 stroke profile of the beam member of the i-profile beam illustrates five stroke regions of the firing member 2517, 2519, 2521, 2523, 2525. In a first firing stroke region 2517, the beam with i-profile 2514 can begin to advance distally. In the first firing stroke region 2517, the i-profile beam 2514 can come into contact with the wedge slide 2513 and start moving it distally. While in the first region, however, cutting edge 2509 may not come into contact with the fabric and the wedge slide 2513 may not come into contact with a 2511 clamp driver. Once static friction is breathed in, the force needed to driving the beam with i-profile 2514 in the first region 2517 can be substantially constant.
[00121] [00121] In the second stroke region of firing member 2519, cutting edge 2509 can begin to come in contact and cut the fabric
[00122] [00122] As discussed above and with reference now to Figures 10 to 13, the electric motor 1122 positioned inside the cable assembly of the surgical instrument 10 (Figures 1 to 4 can be used to advance and / or retract the system of driving the drive shaft assembly, including the i-profile beam 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or cut the tissue captured inside the end actuator 2502. The beam with i-profile 2514 can be advanced or retracted at a desired speed, or within a range of desired speeds Controller 1104 can be configured to control the speed of the beam with i-profile 2514. Controller 1104 can be configured to predict the speed of the 2514 i-beam profile based on various parameters of the energy supplied to the 1122 electric motor, such as voltage and / or current, for example, and / or other operational parameters of the 1122 electric motor or external influences. Controller 1104 can be configured to predict the current speed of the beam with an i 2514 profile based on the previous values of current and / or voltage supplied to the electric motor 1122 and / or the previous states of the system, such as speed, acceleration and / or position. Controller 1104 can be configured to detect the speed of the beam with i 2514 profile using the absolute positioning sensor system described here. The controller can be configured to compare the predicted speed of the i 2514 profiled beam and the detected speed of the i 2514 profiled beam to determine whether the power of the 1122 electric motor needs to be increased in order to increase the speed of the profiled beam in i 2514 and / or decreased in order to decrease the speed of the beam with i 2514 profile. US patent no.
[00123] [00123] The force acting on the beam with i 2514 profile can be determined using several techniques. The force on the i-profile beam 2514 can be determined by measuring the current of the motor 2504, where the current of the motor 2504 is based on the load on the i-profile beam 2514 as it advances distally. The strength of the i-profile beam 2514 can be determined by placing a stress meter on the drive member 120 (Figure 2), the firing member 220 (Figure 2), the i-profile beam 2514 (beam with i-profile 178, Figure 20), the firing bar 172 (Figure 2) and / or at a proximal end of the cutting edge 2509. The i-profile beam 2514 can be determined by monitoring the actual position of the beam with profile in profile i 2514 moving at an expected speed based on the current set speed of the engine 2504 after a predetermined period of time T1 has elapsed and by comparing the actual position of the beam with i 2514 profile with the expected position of the beam with i 2514 profile based on the current set speed of the 2504 engine at the end of the T1 period. Thus, if the actual position of the beam with i 2514 profile is less than the expected position of the beam with i 2514 profile, the force on the beam with i 2514 profile is greater than a nominal force. On the other hand, if the actual position of the beam with i 2514 profile is greater than the expected position of the beam with i 2514 profile, the force on the beam with i 2514 profile will be less than the nominal force. The difference between the actual and expected positions of the beam with i 2514 profile is proportional to the deviation of the force in the beam with i 2514 profile from the nominal force. These techniques are described in the power of attorney document END8195USNP, which is hereby incorporated by reference in its entirety.
[00124] [00124] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of the displacement member according to an aspect of the present description. In one aspect, the surgical instrument 2500 is programmed to control the distal translation of a displacement member 1111, such as the beam with I-profile 2514. The surgical instrument 2500 comprises an end actuator 2502 that can comprise an anvil 2516, a beam with i-profile 2514 (including a sharp cutting edge 2509) and a removable staple cartridge 2518. End actuator 2502, anvil 2516, i-profile beam 2514 and staple cartridge 2518 can be configured as described here , for example, in relation to Figures 1 to 13.
[00125] [00125] The position, movement, displacement and / or translation of a linear displacement member 1111, such as the beam with i-profile 2514, can be measured by the absolute positioning system 1100, the arrangement of sensor 1102 and the position sensor 1200, as shown in Figures 10 to 12 and represented as position sensor 2534 in Figure 14. As the beam with i-profile 2514 is coupled to a longitudinally movable drive member 120, the position of the beam with profile in i 2514 can be determined by measuring the position of the longitudinally movable drive member 120 using the position sensor 2534. Consequently, in the following description, the position, displacement and / or translation of the beam with i 2514 profile can be obtained by the position sensor 2534, as described in the present invention. The control circuit 2510, like the control circuit 700 described in Figures 5A and 5B, can be programmed to control the translation of the displacement member 1111, such as the beam with i-profile 2514, as described in relation to Figures 10 to 12. The 2510 control circuit, in some examples, may comprise one or more microcontrollers, microprocessors or other suitable processors to execute instructions that cause the processor or processors to control the displacement member, for example, the i-profile beam 2514, as described. In one aspect, a timer / counter circuit 2531 provides an output signal, such as elapsed time or a digital count, to control circuit 2510 to correlate the beam position with i-profile 2514 as determined by the position sensor 2534 with the output of the timer / counter circuit 2531 so that the control circuit 2510 can determine the position of the beam with i-profile 2514 at a specific moment (t) in relation to an initial position. The timer / counter circuit 2531 can be configured to measure elapsed time, count external events or measure eternal events.
[00126] [00126] The 2510 control circuit can generate a 2522 motor setpoint signal. The 2522 motor setpoint signal can be supplied to a 2508 motor controller. The 2508 motor controller can comprise one or more circuits configured to provide a motor 2524 drive signal to motor 2504 to drive motor 2504, as described in the present invention. In some examples, motor 2504 may be a brushed direct current electric motor, such as motor 82, 714, 1120 shown in Figures 1, 5B, 10. For example, the speed of motor 2504 may be proportional to the drive signal of the motor 2524. In some examples, motor 2504 may be a brushless DC electric motor and the motor 2524 drive signal may comprise a pulse width modulation (PWM) signal supplied to one or more 2504 motor stator windings In addition, in some instances, motor controller 2508 may be omitted and control circuit 2510 may generate motor drive signal 2524 directly.
[00127] [00127] The 2504 motor can receive power from a 2512 power supply. The 2512 power supply can be or include a battery, supercapacitor or any other suitable 2512 power supply. The 2504 motor can be mechanically coupled to the beam with profile in i 2514 by means of a transmission 2506. The transmission 2506 can include one or more gears or other connecting components to couple the motor 2504 to the beam in profile in i 2514. A position sensor 2534 can detect a position of the beam in profile in i 2514. The 2534 position sensor can be or include any type of sensor that is capable of generating position data that indicates a beam position with i 2514 profile. In some examples, the 2534 position sensor may include an encoder configured to supply a series of pulses to the 2510 control circuit as the i-profile beam 2514 is moved distally and proximally. The 2510 control circuit can track pulses to determine the position of the 2514 i-beam profile. Another suitable position sensor can be used, including, for example, a proximity sensor. Other types of position sensors can provide other signals that indicate the movement of the beam with i 2514 profile. In addition, in some examples, the position sensor 2534 may be omitted. When the 2504 motor is a stepper motor, the control circuit 2510 can track the position of the i-profile beam 2514 by aggregating the number and orientation of the steps that the 2504 motor has been instructed to perform. The 2534 position sensor can be located on end actuator 2502 or any other portion of the instrument.
[00128] [00128] The 2510 control circuit can be in communication with one or more 2538 sensors. The 2538 sensors can be positioned on the end actuator 2502 and adapted to work with the 2500 surgical instrument to measure the various derived parameters such as span distance in in relation to time, compression of the tissue in relation to time and deformation of the anvil in relation to time. The 2538 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, a capacitive sensor, an optical sensor and / or any other sensors suitable for measuring one or more parameters of the end actuator 2502. The 2538 sensors may include one or more sensors.
[00129] [00129] The one or more 2538 sensors may comprise a strain gauge, such as a microtension gauge, configured to measure the magnitude of the strain on the 2516 anvil during a tight condition. The effort meter provides an electrical signal whose amplitude varies with the magnitude of the effort. The 2538 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 2516 and the staple cartridge 2518. The 2538 sensors can be configured to detect the impedance of a section of tissue located between the anvil 2516 and the staple cartridge 2518 which is indicative of the thickness and / or completeness of the fabric located between them.
[00130] [00130] The 2538 sensors can be configured to measure the forces exerted on the anvil 2516 by the closing drive system 30. For example, one or more 2538 sensors can be at an interaction point between the closing tube 260 (Figure 3 ) and the anvil 2516 to detect the closing forces applied by the closing tube 260 to the anvil 2516. The forces exerted on the anvil 2516 can be representative of the tissue compression experienced by the section of tissue captured between the anvil 2516 and the staple cartridge 2518. The one or more 2538 sensors can be positioned at various points of interaction throughout the closing drive system 30 (Figure 2) to detect the closing forces applied to the anvil 2516 by the closing drive system 30. The one or more 2538 sensors can be sampled in real time during a gripping operation by a processor, as described in Figures 5A and 5B. The 2510 control circuit receives sample measurements in real time to provide and analyze time-based information and evaluate, in real time, the closing forces applied to the 2516 anvil.
[00131] [00131] A current sensor 2536 can be used to measure the current drained by the 2504 motor. The force required to advance the beam with i-profile 2514 corresponds to the current drained by the 2504 motor. The measured force is converted into a digital signal and supplied to the 2510 control circuit.
[00132] [00132] Using the physical properties of the instruments disclosed here, now with reference to Figures 1 to 14 and with reference to Figure 14, the 2510 control circuit can be configured to simulate the real system response of the instrument in the controller software. A displacement member can be actuated to move an i-profile beam 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument may include a feedback controller, which may be one or any of the feedback controllers, including, but not limited to, a PID controller, state feedback, LQR and / or an adaptive controller, for example. The 2500 surgical instrument can include a power supply to convert the feedback controller signal to a physical input, such as box voltage, pulse width modulated voltage (PWM), frequency modulated voltage, current, torque and / or force , for example.
[00133] [00133] The actual drive system of the 2500 surgical instrument is configured to drive the displacement member, cutting member or beam with i 2514 profile, by a brushed DC motor with gearbox and mechanical connections to a joint and / or knife. Another example is the 2504 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 2504 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[00134] [00134] Before explaining in detail the aspects of the 2500 surgical instrument, it should be noted that the exemplifying aspects are not limited, in terms of application or use, to the details of construction and arrangement of parts illustrated in the drawings and in the attached description . The exemplifying aspects can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or executed in several ways. Furthermore, except where otherwise indicated, the terms and expressions used in the present invention were chosen for the purpose of describing the exemplifying aspects for the convenience of the reader and not for the purpose of limiting it. In addition, it should be understood that one or more of the aspects, expressions of aspects and / or examples described below can be combined with any one or more of the other aspects, expressions of aspects and / or examples described below.
[00135] [00135] Several exemplifying aspects are directed to a 2500 surgical instrument that comprises a 2502 end actuator with motor-driven surgical stapling and cutting implements. For example, an engine 2504 can drive a displacement member distally and proximally along a longitudinal geometry axis of end actuator 2502. End actuator 2502 may comprise a pivot anvil 2516 and, when configured for use, a staple cartridge 2518 positioned opposite the anvil 2516. A physician can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, motor 2504 can drive the displacement member distally along the longitudinal geometric axis of the end actuator 2502 from a proximal start position to an end position distal from the start position. As the displacement member is moved distally, an i-profile beam 2514 with a cutting element positioned at a distal end can cut the fabric between the staple cartridge 2518 and the anvil 2516.
[00136] [00136] In several examples, the surgical instrument 2500 may comprise a control circuit 2510 programmed to control the distal translation of the displacement member, such as the beam with I-profile 2514, for example, based on one or more tissue conditions . The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. The 2510 control circuit can be programmed to select a trigger control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker tissue is present, the control circuit 2510 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When a thinner tissue is present, the 2510 control circuit can be programmed to move the displacement member at a higher speed and / or with greater power.
[00137] [00137] In some examples, control circuit 2510 may initially operate motor 2504 in an open circuit configuration for a first open circuit portion of the travel of the displacement member. Based on a response from the 2500 instrument during the open circuit portion of the course, the 2510 control circuit can select a trip control program. The response of the instrument may include a travel distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 2504 during the open circuit portion, a sum of pulse widths a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed loop portion of the stroke, control circuit 2510 can modulate motor 2504, based on translation data that describes a position of the displacement member in a closed circuit manner, to translate the displacement member at a constant speed.
[00138] [00138] Figure 15 illustrates a diagram 2580 showing two examples of displacement member courses performed in accordance with an aspect of the present description. Diagram 2580 comprises two axes. A horizontal axis 2584 indicates elapsed time. A vertical axis 2582 indicates the position of the beam with an i-profile 2514 between an initial position of the stroke 2586 and an end position of the stroke 2588. On the horizontal axis 2584, the control circuit 2510 can receive the trigger signal and begin supplying the initial motor configuration at t0. The open circuit portion of the travel of the displacement member is an initial period of time that can elapse between t 0 and t 1.
[00139] [00139] A first example 2592 shows a response from the surgical instrument 2500 when the thick tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the open circuit portion of the travel of the displacement member, for example, the period of initial time between t0 and t1, the beam with i-profile 2514 can traverse from the initial position of stroke 2586 to position 2594. Control circuit 2510 can determine that position 2594 corresponds to a trigger control program that advances the beam with i 2514 profile at a selected constant speed (Vlenta), indicated by the slope of example 2592 after t1 (for example, in the closed circuit portion). The control circuit 2510 can drive the beam with i-profile 2514 to Vlenta speed by monitoring the position of the beam with i-profile 2514 and modulation of the motor setpoint 2522 and / or motor drive signal 2524 to keep Vlenta. A second example 2590 shows a response from the surgical instrument 2500 when the thin tissue is positioned between the anvil 2516 and the staple cartridge 2518.
[00140] [00140] During the initial time period (for example, the open circuit period) between t 0 and t1, the beam with i-profile 2514 can traverse from the initial position of the 2586 course to position 2596. The control circuit can determine that position 2596 corresponds to a trigger control program that advances the displacement member at a selected constant speed (Fast).
[00141] [00141] Figures 16 to 21 illustrate a 2300 end actuator of a 2010 surgical instrument showing how the 2300 end actuator can be articulated in relation to the elongated drive shaft assembly 2200 around an articulated joint 2270, according to with an aspect of the present description. Figure 16 is a partial perspective view of a portion of end actuator 2300 showing an elongated drive shaft assembly 2200 in a non-articulated orientation, with some of its portions omitted for clarity. Figure 17 is a perspective view of the end actuator 2300 of Figure 16 showing the elongated drive shaft assembly 2200 in a non-articulated orientation. Figure 18 is an exploded perspective view of the end actuator 2300 of Figure 16 showing the elongated drive shaft assembly 2200. Figure 19 is a top view of the end actuator 2300 of Figure 16 showing the shaft assembly. elongated drive 2200 in a non-articulated orientation. Figure 20 is a top view of the end actuator 2300 of Figure 16 showing the elongated drive shaft assembly 2200 in a first articulated orientation. Figure 21 is a top view of the end actuator 2300 of Figure 16 showing the elongated drive shaft assembly 2200 in a second articulated orientation.
[00142] [00142] With reference now to Figures 16 to 21, the end actuator 2300 is adapted to cut and staple fabric and includes a first gripper in the form of an elongated channel 2302 that is configured to support operationally a cartridge inside. surgical clamps 2304. The end actuator 2300 further includes a second claw in the form of an anvil 2310 which is supported in the elongated channel 2302 for movement with respect to it. The elongated drive shaft assembly 2200 includes a hinge system 2800 that uses a hinge lock 2810. Hinge lock 2810 can be configured and operated to selectively lock the surgical end actuator 2300 in various hinged positions. This arrangement allows the surgical end actuator 2300 to be rotated, or articulated, in relation to the closing sleeve 260 of the drive shaft, when the articulation lock 2810 is in its unlocked state. Specifically with reference to Figure 18, the elongated drive shaft assembly 2200 includes a back 210 that is configured to (1) slide a firing member 220 slidingly inside and (2) slide the closure sleeve 260 (Figure 16) extending around the back 210. The drive shaft closing sleeve 260 is attached to an end actuator closing sleeve 272 that is pivotally attached to the closing sleeve 260 by a set of double joint closing sleeve 271.
[00143] [00143] The central column 210 also slidably supports a proximal articulation actuator 230. The proximal articulation actuator 230 has a distal end 231 which is configured to operationally engage the articulation lock 2810. The articulation lock 2810 further comprises a drive shaft structure 2812 which is attached to the central column 210 in the various ways disclosed herein. The drive shaft structure 2812 is configured to support, in a mobile way, a proximal portion
[00144] [00144] In Figures 17 and 18, the drive shaft structure 2812 includes a distal end portion 2814 that has a pivot pin 2818 formed thereon. Pivot pin 2818 is adapted to be pivotally received within a pivot hole 2397 formed in the pivot base portion 2395 of a 2390 end actuator mounting assembly. The 2390 end actuator mounting assembly is attached to the proximal end 2303 of the elongated channel 2302 by means of a spring pin 2393 or equivalent. The pivot pin 2818 defines a pivot geometric axis BB transverse to the geometric axis of the SA-SA drive axis to facilitate the pivoting displacement (that is, the pivot) of the end actuator 2300 around the pivot geometric axis BB in relation to to the 2812 drive shaft structure.
[00145] [00145] As shown in Figure 18, a link pin 2825 is formed at a distal end 2823 of the distal hinge link 2820 and is configured to be received inside a hole 2904 at a proximal end 2902 of a cross link 2900. The cross link 2900 extends transversely across the SA-SA axis of the drive shaft and includes a distal end portion 2906. A distal link hole 2908 is provided through the distal end portion 2906 of the cross link 2900 and is configured to pivotally receive a base pin 2398 that extends from the bottom of the pivot base portion 2395 of the end actuator assembly set 2390. The base pin 2395 defines a geometric axis of the LA link which is parallel to the geometric axis of articulation BB. Figures 17 and 20 illustrate the surgical end actuator 2300 in a non-articulated position. The geometric axis EA of the end actuator, which is defined by the elongated channel 2302, is aligned with the geometric axis SA-SA of the drive axis. The term "aligned to" can mean "coaxially aligned" to the SA-SA axis of the drive axis or parallel to the SA-SA axis of the drive axis. The movement of the distal articulation actuator 2820 in the proximal direction DD will cause the cross link 2900 to move the surgical end actuator 2300 clockwise CW around the geometric axis of articulation BB, as shown in Figure 19. The movement of the actuator distal joint 2820 in the distal direction DD will cause the cross link 2900 to move the surgical end actuator 2300 counterclockwise CCW around the geometric axis of the BB joint, as shown in Figure 21. As can be seen in Figure 21, the cross link 2900 has a curved shape that allows the cross link 2900 to curve around the pivot pin 2818 when the surgical end actuator 2300 is pivoted in that direction. When the surgical end actuator 2300 is in a fully pivoted position on either side of the SA-SA axis of the drive shaft, the pivot angle 2700 between the axis EA of the end actuator and the axis SA-SA of the axis actuation is approximately sixty-five degrees (65 °). Thus, the articulation range on each side of the geometric axis of the drive axis is between one degree (1 °) and sixty-five degrees (65 °).
[00146] [00146] Figure 19 shows the articulated joint 2270 in a straight position, that is, at an angle zero θ 0 in relation to the longitudinal direction shown as drive axis SA, according to one aspect. Figure 20 shows the articulated joint 2270 of Figure 19 articulated in a direction of at a first angle θ 1 defined between the axis SA of the drive axis and the axis EA of the end actuator, according to one aspect. Figure 21 illustrates the articulated joint 2270 of Figure 19 articulated in another direction at a second angle θ2 defined between the axis SA of the drive shaft and the axis EA of the end actuator.
[00147] [00147] The surgical end actuator 2300 in Figures 16 to 21 comprises a surgical cutting and stapling device that uses a trigger member 220 among the various types and configurations described here. However, the surgical end actuator 2300 may comprise other forms of surgical end actuators that do not cut and / or staple tissue. An intermediate support member 2950 is supported pivoting and sliding in relation to the back
[00148] [00148] The surgical instrument can also be configured to determine the angle at which the 2300 end actuator is oriented. In several modalities, the position sensor 1112 of the sensor arrangement 1102 can comprise one or more magnetic sensors, analog rotary sensors (such as a potentiometer), analog hall sensor arrays, which emit a unique combination of signals or values, among others, for example. In one aspect, the pivot joint 2270 of the aspect shown in Figures 16 to 21 may further comprise an arrangement of the pivot sensor that is configured to determine the angular position, i.e. pivot angle, of the end actuator 2300 and provide a unique position sign corresponding to it.
[00149] [00149] The arrangement of the articulation sensor can be similar to the arrangement of sensor 1102 described above and illustrated in Figures 10 to
[00150] [00150] In another aspect, the surgical instrument is configured to determine the angle at which the end actuator 2300 is positioned indirectly by monitoring the absolute position of the articulation actuator 230 (Figure 3). As the position of the hinge actuator 230 corresponds to the angle at which the end actuator 2300 is oriented in a known manner, the absolute position of the hinge actuator 230 can be tracked and then shifted to the angled position of the end actuator 2300. In this regard, the surgical instrument comprises an articulation sensor arrangement that is configured to determine the absolute linear position of the articulation actuator 230 and provide a unique position signal corresponding to it. In some respects, the articulation sensor arrangement or the controller operationally coupled to the disposition articulation sensor arrangement is further configured to translate or calculate the angular position of the 2300 end actuator from a single position signal.
[00151] [00151] The arrangement of the joint sensor in this aspect may similarly be similar to the arrangement of sensor 1102 described above and illustrated in Figures 10 to 12. In a similar aspect to the aspect illustrated in Figure 10 in relation to the limb displacement 1111, the articulation sensor arrangement comprises a position sensor and a magnet that rotates once for each complete stroke of the longitudinally movable articulation driver 230. The position sensor comprises one or more magnetic sensing elements, such as effect sensors Hall, and is positioned next to the magnet. Consequently, as the magnet rotates, the magnetic sensing elements of the position sensor determine the absolute angular position of the magnet during a revolution.
[00152] [00152] In one aspect, a single revolution of the sensor element associated with the position sensor is equivalent to a linear longitudinal displacement d1 of the longitudinally movable articulation actuator 230.
[00153] [00153] In several aspects, any number of magnetic detection elements can be used in the arrangement of the articulation sensor, such as, for example, magnetic sensors classified according to their ability to measure the total magnetic field or the vector components of the magnetic field . The number of magnetic detection elements used corresponds to the desired resolution to be detected by the arrangement of the articulation sensor. In other words, the greater the number of magnetic detection elements used, the greater the degree of articulation that can be detected by the arrangement of the articulation sensor. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[00154] [00154] In one aspect, the position sensor of the various aspects of the articulation sensor arrangement can be implemented in a manner similar to the positioning system illustrated in Figure 12 to track the position of the 1111 displacement member. In one aspect, the arrangement of the articulation sensor can be implemented as an AS5055EQFT single integrated circuit magnetic rotary position sensor, available from Austria Microsystems, AG. The position sensor interfaces with the controller to provide an absolute positioning system to determine the absolute angular position of the 2300 end actuator, either directly or indirectly. The position sensor is a low voltage, low power component and includes four Hall effect elements 1228A, 1228B, 1228C, 1228D in an area 1230 of the position sensor 1200 located above magnet 1202 (Figure 11). A 1232 high-resolution A-D converter and 1238 intelligent power management controller are also featured on the integrated circuit. A 1236 CORDIC (Coordinate Rotation Digital Computer) processor, also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition operations,
[00155] [00155] With reference to Figures 1 to 4 and 10 to 21, the position of the articulated joint 2270 and the position of the beam with i-profile 178 (Figure 4) can be determined with the absolute position feedback value / value of the absolute positioning system 1100. In one aspect, the articulation angle θ can be determined with reasonable precision based on the driving member 120 of the surgical instrument 10. As described above, the movement of the longitudinally movable driving member 120 (Figure 2 ) can be tracked by the absolute positioning system 1100 where, when the articulation actuator is operationally coupled to the firing member 220 (Figure 3) by the clutch assembly 400 (Figure 3), for example, the absolute positioning system 1100 can , in effect, to track the movement of the articulation system by means of the drive member 120. As a result of tracking the movement of the articulation system, the controller of the surgical instrument can r eg register the articulation angle θ of the end actuator 2300, such as the end actuator 2300, for example. In several circumstances, as a result, the pivot angle θ can be determined as a function of the longitudinal displacement DL of the drive member 120. How the longitudinal displacement DL of the drive member 120 can be determined accurately based on the sign / position value absolute value provided by the absolute positioning system 1100, the articulation angle θ can be determined as a function of the longitudinal displacement LD.
[00156] [00156] In another aspect, the articulation angle θ can be determined by the location sensors on the articulated joint 2270. The sensors can be configured to detect the rotation of the articulated joint 2270 using the absolute positioning system 1100 adapted to measure the absolute rotation of the articulated joint 2270. For example, the sensor arrangement 1102 comprises a position sensor 1200, a magnet 1202 and a magnet holder 1204 adapted to detect the rotation of the articulated joint 2270. The position sensor 1200 comprises one or more magnetic detection elements, such as Hall elements, and is positioned close to magnet 1202. The position sensor 1200 described in Figure 12 can be adapted to measure the rotation angle of the articulated joint 2270. Consequently, as the magnet 1202 rotates , the magnetic detection elements of the position sensor 1200 determine the absolute angular position of the magnet 1202 located on the articulated joint 2270. These informations actions are provided to microcontroller 1104 to calculate the articulation angle of the articulated joint 2270. Consequently, the articulation angle of the end actuator 2300 can be determined by the absolute positioning system 1100 adapted to measure the absolute rotation of the articulated joint 2270.
[00157] [00157] In one aspect, the firing rate or speed of the i-profile beam 178 can be varied as a function of the articulation angle of the end actuator 2300 to decrease the force to fire in the firing drive system 80 and, in particular, the force for firing the beam with an i-profile 178, among other components of the firing drive system 80 discussed here. To adapt the variable firing force of the i-profile beam 178 as a function of the articulation angle of the end actuator 2300, a variable motor control voltage can be applied to motor 82 to control the speed of motor 82. The speed of the motor 82 can be controlled by comparing the firing force of the i-profile beam 178 with different maximum limits based on the articulation angle of the end actuator 2300. The speed of the electric motor 82 can be varied by adjusting the tension, current, pulse width modulation (PWM) or duty cycle (0 to 100%) applied to motor 82, for example.
[00158] [00158] Several aspects described here refer to surgical instruments comprising sets of articulated and rotatable jaws located in the distal position. Gripper assemblies can be used instead of or in addition to the drive shaft pivot. For example, claw sets can be used to hold, staple and cut fabric.
[00159] [00159] With reference to Figures 13 and 14, in one aspect, a surgical instrument 2500 may comprise an end actuator 2502 comprising a staple cartridge 2518 and an anvil 2516 at a distal end and an i-profile beam 2514 that it comprises a cutting edge 2509 for cutting the fabric. The claw set can be articulated and can revolve around a longitudinal geometric axis of the instrument drive axis. The jaw assembly can revolve around the wrist pivot axis from a first position in which the jaw assembly is substantially parallel to the 2518 staple cartridge to a second position in which the jaw assembly is not substantially parallel to the cartridge of clamps 2518. In addition, the claw assembly may comprise a first and a second claw member which are rotatable about a second claw axis or pivot axis. The claw pivot axis can be substantially perpendicular to the wrist pivot axis. In some ways, the claw pivot axis itself can rotate as the claw set rotates around the wrist pivot axis. The first and second claw members can be pivoted to each other around the claw pivot axis so that the first and second claw members can "open" and "close". Also, in some respects, the first and second claw members are also pivotable around the claw pivot axis, so that the direction of the first and second claw members can change.
[00160] [00160] In one aspect, a 2500 surgical instrument may include an end actuator 2502, an articulated joint and an articulated member. The pivot member can be translatable with respect to the end actuator 2502 at a distance from a proximal position to a distal position, where translation of the pivot member causes the pivot joint to pivot. The 2500 surgical instrument may include a motor 2504 operable to move the articulation member along the distance from the proximal to the distal position. The 2504 engine can include an engaged condition, a disengaged condition and a hold condition. The surgical instrument 2500 may further include a control circuit 2510 coupled to the motor 2504 and a position sensor coupled 2534 to the control circuit 2510. The position sensor 2534 can be configured to detect a position of the hinge member along at least a portion of the distance. The 2510 control circuit can be configured to receive position input information from the 2534 position sensor indicative of a pivot position of the pivot member. The control circuit 2510 can identify a predetermined limit that corresponds to the articulation position of the articulation member. The control circuit 2510 can determine a control action of the motor 2504, when the motor 2504 is in the disengaged condition, in response to a movement of the articulation member that exceeds the predetermined limit. The control circuit 2510 can control the movement of the hinge member, wherein controlling the movement of the hinge member comprises engaging the motor 2504 to the holding condition.
[00161] [00161] One or more of the following resources may be included. The control circuit 2510 can be configured to maintain the hinge position in response to movement of the hinge member that exceeds the predetermined limit. By maintaining the articulation position, the control circuit can provide pulse width modulation ("PWM" - pulse width modulation) of the current (for example, motor drive signal 2514) to motor 2504 in the holding condition to resist the movement of the articulation member. The 2504 motor may include a brushed DC motor. The 2510 control circuit can be configured to internally connect conductive wires to the brushed DC motor when the 2504 motor is in the hold condition. The 2510 control circuit can include a forward condition, a slip condition and a braking condition. When the 2510 control circuit is in the forward condition, the DC motor is in the engaged condition. When the 2510 control circuit is in the slip condition, the DC motor is in the disengaged condition. When the 2510 control circuit is in the braking condition, the DC motor is in the hold condition. The control circuit 2510 can include a first switch, a second switch, a third switch and a fourth switch. When the 2510 control circuit is in the forward condition, the second switch and the third switch are in a closed configuration and the first switch and the fourth switch are in an open configuration. When the control circuit is in the braking condition, the first switch and the second switch are in a closed configuration and the third switch and the fourth switch are in an open configuration. When the 2510 control circuit is in a slip condition, the first switch, the second switch, the third switch and the fourth switch are in an open configuration.
[00162] [00162] In one aspect, a 2500 surgical instrument may include a 2502 end actuator and a rotary drive shaft assembly. The rotary drive shaft assembly may include a longitudinal geometry axis, a 2534 rotary position sensor and a gear assembly. The rotary position sensor 2534 can be configured to measure the rotation of the rotary drive shaft assembly around the longitudinal axis. The 2500 surgical instrument may include a 2504 motor functionally connected to the gear assembly of the rotary drive shaft assembly. The 2504 motor can be configured to apply a rotary force to rotate the gear assembly. Rotating the gear assembly rotates the rotary drive shaft assembly about the longitudinal geometry axis. The surgical instrument 2500 can also include a control circuit 2510 coupled to the motor 2504. The control circuit 2510 can be configured to monitor a rotation position of the rotary drive shaft assembly based on a signal from the rotary position sensor 2534. The control circuit 2510 can also identify a predetermined limit that corresponds to the rotation position of the rotary drive shaft assembly. The control circuit 2510 can further determine a motor control action 2504 in response to the rotary movement of the rotary drive shaft assembly that exceeds the predetermined limit. The control circuit 2510 can control the rotation of the rotary drive shaft assembly, wherein controlling the rotation of the rotary drive shaft assembly may include resisting the rotation of the rotary drive shaft assembly about the longitudinal geometry axis.
[00163] [00163] One or more of the following resources may be included. The control circuit can be configured to maintain a rotary position of the rotary drive shaft assembly in response to the rotation of the rotary drive shaft assembly about the longitudinal geometry axis that exceeds the predetermined limit. Maintaining the rotation position may include supplying PWM of the chain to the 2504 motor to resist rotation of the rotary drive shaft assembly. The 2504 motor may include a brushed DC motor. The 2510 control circuit can be configured to internally connect conductive wires to the brushed DC motor when the 2504 motor resists the rotation of the rotary drive shaft assembly beyond the predetermined limit.
[00164] [00164] In one aspect, a 2500 surgical instrument may include a longitudinal drive shaft assembly. The longitudinal drive shaft assembly may include a rotating drive shaft portion comprising a longitudinal geometry axis and a drive gear and an articulated joint. The drive gear can be configured to rotate around the longitudinal geometric axis. The pivot joint can include a pivot gear. The 2500 surgical instrument may include adding an actuation set. The drive assembly may include a 2504 motor, a 2510 control circuit and a drive member. The 2504 motor can include a drive output. Control circuit 2510 can be configured to control motor 2504. The drive member can be operationally connected to the drive output. When the 2510 control circuit is in a rotational condition, the drive member is operationally connected to the drive gear of the rotary drive shaft portion. When the 2510 control circuit is in an articulation condition, the drive member is operationally connected to the articulation gear of the articulated joint. The surgical instrument 2500 may further include a power supply 2512. The control circuit 2510 may comprise an engaged condition, a disengaged condition and a dynamic dynamic braking condition. When control circuit 2510 is in engaged condition, control circuit 2510 supplies power source 2512 to motor 2504 in a series circuit configuration. When control circuit 2510 is in a de-energized condition, control circuit 2510 disconnects power source 2512 from motor 2504. When control circuit 2510 is in dynamic braking condition, control circuit 2510 places power source 2512 in a circuit condition in parallel with the 2504 engine.
[00165] [00165] One or more of the following resources may be included. When the 2510 control circuit is in the rotational condition and in the dynamic braking condition, the 2510 control circuit can be configured to monitor a rotation position of the rotary drive shaft portion based on a signal from a 2534 rotary position sensor. The control circuit 2510 can identify a predetermined limit that corresponds to a position of rotation of the rotating drive shaft portion. The control circuit 2510 can determine a control action of the motor 2504 in response to the rotary movement of the portion of the rotary drive shaft that exceeds the predetermined limit. The control circuit 2510 can control the rotation of the rotary drive shaft assembly, wherein controlling the rotation of the rotary drive shaft assembly comprises resisting the rotation of the rotary drive shaft portion about the longitudinal geometry axis. When the 2510 control circuit is in the pivot condition and the dynamic braking condition, the control circuit can be configured to monitor a pivot position of the pivot joint based on a signal from a pivot position sensor.
[00166] [00166] In one aspect, a 2500 surgical instrument may include an end actuator 2502, an articulated joint and an articulated member. The pivot member can be translatable with respect to the end actuator 2502 at a distance from a proximal position to a distal position, where translation of the pivot member causes the pivot joint to pivot. The 2500 surgical instrument may include a motor 2504 operable to move the articulation member along the distance from the proximal to the distal position. The 2504 engine can include an energized condition and an de-energized condition. The surgical instrument 2500 may further include a control circuit 2510 coupled to the motor 2504 and a position sensor coupled 2534 to the control circuit 2510. A user may wish to articulate the end actuator 2502 in a certain desired position. To articulate the end actuator 2502 to the desired position, the motor control circuit 2504 can place the 2510 motor in the energized condition. The 2534 position sensor can be configured to detect a current position of the hinge member over at least a portion of the distance. The 2510 control circuit can be configured to receive position input information from the 2534 position sensor indicative of a current pivot position of the pivot member. The 2510 control circuit can identify the current pivot position corresponding to the pivot position of the pivot member. The control circuit 2510 can determine a motor control action 2504 in response to the current position that does not correspond to a desired position. The control circuit 2510 can control the movement of the articulation member when the current position corresponds to the desired position, where the control of the movement of the articulation member comprises placing the motor 2504 in the de-energized condition.
[00167] [00167] One or more of the following resources may be included. The 2510 control circuit can be configured to maintain the hinge position in response to the current position of the hinge member corresponding to the desired hinge position. Maintaining the articulation position, the control circuit can engage an electromagnetic lock. The electromagnetic lock can be created by shorting the motor 2504 when the motor is placed in the de-energized condition. The 2504 motor may include a brushed DC motor. The 2510 control circuit can be configured to internally connect conductive wires to the brushed DC motor when the 2504 motor is in the de-energized state to resist the articulation of the end actuator 2502 beyond the desired position. The internal connection of the conductive wires to the brushed DC motor creates an internal magnetic resistance inside the 2504 motor. The internal magnetic resistance prevents any inadvertent feedback of the 2504 motor by forces applied externally when the end actuator 2502 is in operation. Shorting the 2504 motor contacts creates a brake to keep the 2502 end actuator in its current position, as the mechanical feedback is combined with the natural resistance of a 2504 motor with shorted coils to passively maintain a current articulation position.
[00168] [00168] In one aspect, a 2500 surgical instrument may include a 2502 end actuator and a rotary drive shaft assembly. The rotary drive shaft assembly can be configured to rotate around a longitudinal geometry axis.
[00169] [00169] One or more of the following resources may be included. The 2510 control circuit can be configured to maintain the rotation position in response to the current position of the rotary drive shaft assembly that corresponds to the desired rotation position. Maintaining the rotation position, the control circuit can engage an electromagnetic lock. The electromagnetic lock can be created by shorting the motor 2504 when the motor is placed in the de-energized condition. The 2504 motor may include a brushed DC motor. The 2510 control circuit can be configured to internally connect conductive wires to the brushed DC motor when the 2504 motor is in the de-energized state to resist the articulation of the end actuator 2502 beyond the desired position. The internal connection of the conductive wires to the brushed DC motor creates an internal magnetic resistance inside the 2504 motor. The internal magnetic resistance prevents any inadvertent feedback of the 2504 motor by forces applied externally when the 2500 surgical instrument is in operation. Shorting the 2504 motor contacts creates a brake to keep the drive shaft assembly in its current position, as mechanical feedback is combined with the natural resistance of a 2504 motor with short-circuited coils to maintain passively current articulation position.
[00170] [00170] In one aspect, a 2500 surgical instrument may include a longitudinal drive shaft assembly. The longitudinal drive shaft assembly may include a rotary drive shaft that extends along a longitudinal geometry axis. The longitudinal drive shaft assembly may further include a drive gear and an articulated joint. The drive gear can be configured to rotate the rotary drive shaft portion around the longitudinal geometry axis. The pivot joint can include a pivot gear. The 2500 surgical instrument may include adding an actuation set. The drive assembly may include a 2504 motor, a 2510 control circuit and a drive member. The 2504 motor can include a drive output. Control circuit 2510 can be configured to control motor 2504. The drive member can be operationally connected to the drive output. When the 2510 control circuit is in a rotational condition, the drive member is operationally connected to the drive gear of the rotary drive shaft portion. When the 2510 control circuit is in an articulation condition, the drive member is operationally connected to the articulation gear of the articulated joint. The surgical instrument 2500 may further include a power supply 2512. The motor 2504 may comprise an energized condition and an de-energized condition. When the 2504 motor is in the energized condition, the 2510 control circuit supplies the 2512 power supply to the 2504 motor in a series circuit configuration. When motor 2504 is in a de-energized condition, control circuit 2510 disconnects power supply 2512 from motor 2504.
[00171] [00171] One or more of the following resources may be included. When control circuit 2510 is in rotational condition and motor 2504 is in energized condition, control circuit 2510 can be configured to monitor a current rotation position of the rotating drive shaft portion based on a signal from a position sensor rotary 2534. The control circuit 2510 can identify a predetermined desired position that corresponds to a rotational position of the rotary drive shaft portion. The control circuit 2510 can determine a motor control action 2504 in response to a current position of the rotary drive shaft portion that does not correspond to a desired position.
[00172] [00172] In several respects, the 2500 surgical instrument can include a single 2504 engine and a clutch or gear set. The single 2504 engine can be configured to articulate end actuator 2502, rotate the drive shaft of the 2500 surgical instrument and move the firing member of the 2500 surgical instrument. A gear or clutch system allows the 2504 motor to transfer its energy to the various functions of the surgical instrument
[00173] [00173] Now reference will be made, in detail, to several aspects, including aspects that show exemplary implementations of 2500 manual and robotic surgical instruments with 2502 end actuators that comprise sealing and cutting elements. Whenever possible, similar or similar reference numbers can be used in the figures, and may indicate similar or similar functionality. The Figures represent exemplifying aspects of the surgical instruments and / or methods of use presented, for illustrative purposes only. Alternative exemplifying aspects of the structures and methods illustrated in the present invention can be used without departing from the scope of this description.
[00174] [00174] Figure 22 shows an example of an articulation mechanism 3000 for articulating an end actuator of a surgical instrument, according to an aspect of the present description. Referring also to Figure 14, the articulation mechanism 3000 includes an articulated joint 3006 that enables a distal arm 3014 of the surgical instrument 2500 to pivot or rotate in relation to a proximal arm 3016 of the surgical instrument 2500. The articulated joint 3006 can be articulated through the actuation of the rod / articulation member
[00175] [00175] In operation, the articulation mechanism 3000 of the surgical instrument 2500 can be articulated by a technician to enable the end actuator 2502 of the surgical instrument 2500 to reach a desired location within a patient. Once the desired articulation is achieved, the 2504 motor can be deactivated and placed in a de-energized condition by the 2510 control circuit to enable the articulation mechanism 3000 to maintain its articulated position. During surgery, resistance or external force 3002 can act on the end actuator or distal arm 3014 of the surgical instrument. With the motor in the de-energized condition, the 2510 control circuit can energize an electromagnetic lock to keep the end actuator 2502 in its current hinged position. To create the electromagnetic lock, the 2510 control circuit can be configured to internally connect conductive wires to the 2504 motor when the 2504 motor is in the de-energized condition to resist the end actuator 2502 hinge beyond the current position. The internal connection of the conductive wires to the 2504 motor creates an internal magnetic resistance inside the 2504 motor. The internal magnetic resistance prevents any inadvertent feedback of the 2504 motor by forces applied externally 3010a to d when the end actuator 2502 is in operation. Shorting the 2504 motor contacts creates a brake to keep the 2502 end actuator in its current position, as the mechanical feedback is combined with the natural resistance of a 2504 motor with shorted coils to passively maintain a current articulation position. With the motor in the de-energized condition, the control circuit 2510 can continue to monitor the articulation angle 3004 of the end actuator 2502 and the distal arm 3014 through the various sensors described above. If the change in pivot angle 3004 no longer corresponds to the desired position, control circuit 2510 can activate the energized condition of motor 2504 to pivot end actuator 2502 back to a desired position. Upon activating the condition of the energized 2504 motor, the electromagnetic lock is disabled. When end actuator 2502 is repositioned in a desired position, control circuit 2510 can once again activate the de-energized condition of motor 2504, thereby energizing the electromagnetic lock to prevent further movement.
[00176] [00176] Figure 23 illustrates a 3100 graph of an angle of the firing rod and the duty cycle of the motor as a function of the angle of articulation of the end actuator, according to an aspect of the present description. The upper graph 3130 represents the displacement of the firing rod (δ) along the vertical axis 3122 as a function of the articulation angle in degrees (°) along the horizontal geometric axis
[00177] [00177] The lower graph 3132 in Figure 23 represents the duty cycle of the motor (%) along the vertical axis 3126 as a function of the articulation angle in degrees (°) along the horizontal axis 3120. As the degree of articulation angle of the distal arm 3104 departs further and further from the predetermined limit of the articulation angles 3102 due to externally applied forces, the engine 2504 applies a force to resist the unwanted joint for an extended period. In other words, the duty cycle of the motor increases as the pivot angle moves further and further from the predetermined limit 3102. As an example, the bottom graph 3132 in Figure 23 represents an end actuator 2502 with an angle of desired -60 ° joint. The permissible range 3102 of pivot angles extends to -55 °. When end actuator 2502 is articulated to a degree that falls within the allowable range 3102, the duty cycle motor is minimal. However, as the pivot angle exceeds the permissible range limits 3102, the control circuit 2510 begins to respond more vigorously by activating the 2504 resistive retention mode, thus increasing the engine duty cycle. In addition to increasing the engine duty cycle, pivoting an end actuator 2502 to a degree that deviates from the allowable range 3102 can increase the driving force, or torque, of the 2504 engine. The shaded region 3112 indicates an initial restriction of the motor 2504 as the pivot angle begins to exceed the limits of the allowable range 3102. The shaded region 3110 indicates a necessary progressive restriction of the 2504 motor as the pivot angle begins to exceed the limits of the allowable range
[00178] [00178] Figure 24 illustrates a 3200 graph of the duty cycle of the motor as a function of rotation of the drive shaft, according to an aspect of the present description. The graph 3200 represents the duty cycle of the motor along the vertical axis 3222 as a function of the rotation of the drive axis in degrees (°) along the horizontal geometric axis 3220. With reference also to Figure 14, the control circuit 2510 allows an initial speed limit 3202 before activating the retention features of the 2504 motor. In one aspect, the retention features include current modulation proportional to the resistance required to restrict or limit the drive shaft rotation. As the resistance required for the 3208 motor increases along with the displacement of the axis of rotation, the current 3204 can be increased. In this way, the motor resistance can be increased gradually 3206. Alternatively, the conductor wires of the motor 2504 can be connected internally whenever the motor 2504 is in the de-energized state. This creates an internal magnetic resistance inside the 2504 motor to prevent any inadvertent feedback of the motor by forces applied externally. Mechanical feedback is combined with the natural resistance of the motor with short-circuit coils to passively stop the rotation.
[00179] [00179] In one aspect, the conducting wires of a DC motor of the surgical instrument 2500, in the de-energized condition, can be connected internally. The internal connection of the conductors of the DC motor can result in an internal magnetic resistance inside the motor to prevent inadvertent retroaction of the 2504 motor by forces applied externally to the 2502 end actuator. Dynamic and regenerative braking can be achieved with a DC motor Brushed, brushless and / or pitch PWM to maintain the articulation portions of the desired location of the 2502 end actuator. Also, or as an alternative, the various dynamic braking mechanisms can be combined with mechanical locks to maintain the articulation position or rotational of the end actuator. In addition, or as an alternative, the natural resistance of a 2504 motor with short-circuit coils can be combined with a mechanical brake or lock as a passive method to perform a station maintenance function for an articulated or rotated system.
[00180] [00180] Figure 25 illustrates a 3300 control circuit according to the various aspects discussed above, according to one aspect of the present description. Circuit 3300 includes a power supply 3306, a motor 3308 and a plurality of switches 3301, 3302, 3303, 3304. The circuit can also include an alternative switch 3305. Each of the switches 3301 to 3305 allows circuit 3300 to be configured to operate the 3308 engine in a forward mode, a reverse mode and a resistance or braking mode. When circuit 3300 is in forward mode, switches 3301, 3304 and 3305 can be in the open condition, while switches 3302 and 3303 can be in the closed condition. The drive mode allows the 3308 engine and the 3306 power supply to be operated in a series configuration with the 3308 engine operating in the forward direction. When circuit 3300 is in reverse mode, switches 3302, 3303 and 3305 can be in the open condition, while switches 3301 and 3304 can be in the closed condition. The reverse mode allows the 3308 motor and the 3306 power supply to be operated in a series configuration with the 3308 motor operating in the reverse direction. Table 1 below illustrates the various configurations of the 3300 circuit discussed in the present invention.
[00181] [00181] In one aspect, the braking mode can use static holding load to provide resistance to external forces on the joint or rotation of the distal portion of a surgical instrument. When circuit 3300 is in braking mode which provides a static holding load, switches 3301, 3302 and 3305 can be in the open condition while switches 3303 and 3304 can be in the closed condition. This braking allows the 3308 motor and the 3306 power supply to be operated in a static configuration with the circuit configuration creating a static retention. In another aspect, the braking mode can use static holding load to provide resistance to external forces on the joint or rotation of the distal portion of a surgical instrument. When circuit 3300 is in the braking mode that provides a static holding load, switches 3301, 3302, 3303 and 3304 can be in the open condition while switches 3305 and can be in the closed condition. This braking mode allows the 3308 motor to be isolated from the 3306 power supply. While in this braking mode, the 3308 motor is in a closed circuit configuration isolated from the power supply with the circuit configuration creating a static retention.
[00182] [00182] Figure 26 illustrates a 3400 rotatable and articulating drive shaft assembly of a surgical instrument, according to an aspect of the present description. Referring also to Figure 25, the drive shaft assembly 3400 includes a distal end actuator portion 3416, a proximal portion 3420 and a pivot mechanism 3406 that connects the distal end actuator portion 3416 and the proximal portion 3420. The proximal portion 3420 defines a longitudinal geometric axis 3422. The proximal portion 3420 is configured to rotate around the longitudinal geometric axis 3422. The motor output 3308 of the surgical instrument is configured to rotate a rotary drive axis 3408. The drive axis rotary includes a drive gear 3424 that interfaces operationally with a drive gear 3418 from the proximal portion 3420. As discussed with reference to Figure 14, the control circuit 2510 can be connected to a rotational sensor 2534 that detects the rotation of the shaft assembly drive 3400. However, when an external force 3402 causes the drive shaft assembly 3400 to in addition to a desired position, the 2510 control circuit can activate an energized condition on the 3308 motor (2504), as discussed above with respect to Figures 22 to 25. When the 2510 control circuit activates the energized motor, the 3308 motor (2504) can apply a force 3410 to counteract the external rotation force 3402 and / or rotate the drive shaft assembly 3400 to the desired position. The force 3410 applied by the motor 3308 (2504) can include a passive or active resistance force, as discussed above with respect to Figures 22 to 25.
[00183] [00183] Yet or alternatively, through modulation by active pulse width and current step resistance of the control circuit 2510 and the dynamic and passive resistance of the control circuit configurations, the control circuit 2510 can resist unwanted rotation or articulation of an end actuator by external forces. The 2510 control circuit can enable the end actuator and drive shaft assembly to remain within a desired position during a surgical procedure.
[00184] [00184] Figure 27 illustrates a logic flow diagram showing an example of a 3430 process that can be performed by the surgical instrument 2500 (for example, the control circuit 2510) to resist and control the articulation of the end actuator 2502 by forces external. Control circuit 2510 can receive 3432 an initial link signal. The initial pivot signal can be received 3432 from the pivot sensor when end actuator 2502 is in a desired pivot position. For example, a physician can place the end actuator 2502 in a desired position and then pin the tissue between the anvil 2516 and the staple cartridge 2518 and then actuate the trigger 32 to initiate a firing stroke. Trigger 32 can be configured to supply the trigger signal to control circuit 2510 upon actuation.
[00185] [00185] Once the end actuator 2502 is placed in the desired position, the control circuit 2510, in response to the initial pivot signal, can determine 3434 an initial pivot position of the end actuator 2502 from the pivot signal . By determining the start position 3434, the control circuit 2510 can identify 3436 a predetermined limit for permissible displacement of the end actuator 2502. For example, the surgical instrument 2500 can transition from the articulation mode to the trigger mode via the 2506 transmission. In trigger mode, control circuit 2510 can monitor the articulation position of end actuator 2502.
[00186] [00186] The control circuit 2510 can receive 3438 a current articulation signal. The current hinge signal can be received 3438 from the hinge sensor since end actuator 2502 is in trigger mode to monitor the position of end actuator 2502 during trigger mode. The current hinge signal can be received 3438 from the hinge sensor. Control circuit 2510, in response to the current pivot signal, can determine 3440 a current pivot position of end actuator 2502 from the current pivot signal. The 2510 control circuit can compare 3442 the actual pivot position of the end actuator 2502 against the initial pivot position and the predetermined limit for the permissible displacement of the end actuator 2502. If the current position exceeds the predefined limit 3444, then , the control circuit 2510 controls 3450 the movement of the end actuator 2502 by engaging the 3452 motor retention condition 3308 (2504). For example, when control circuit 3442 compares the current position of end actuator 2502 with respect to the predetermined limit and the current position exceeds the predetermined limit, control circuit 2510 can switch transmission 2506 from trigger mode to trigger mode. control. When control circuit 2510 is switched to control mode, control circuit 2510 engages 3452 motor hold condition 3308 (2504) to resist unwanted movement of end actuator 2502. Hold condition can include any among the holding conditions, as discussed above with respect to Figures 22 to 25. When the control circuit 2502 compares 3442 the current position of the end actuator 2502 with respect to the predetermined limit and the current position is within the predetermined limit 3446, control circuit 2510 continues 3448 operation of the end actuator function, for example, continues to operate in trigger mode.
[00187] [00187] In another aspect, the 2500 surgical instrument may have a second engine. The original motor 3308 (2504) can be configured to operate the end actuator joint 2502. The second motor can be configured to operate the trigger actuator of the end actuator 2502. When the surgical instrument comprises two motors, the 3450 control can completed regardless of the shooting mode.
[00188] [00188] In another aspect, the 2500 surgical instrument can have a manual triggering. Where the surgical instrument has a manual trigger, the motor 3308 (2504) can remain engaged with the articulation mechanism during the trigger mode. Motor 3308 (2504) can be configured to operate the end actuator joint 2502. When the surgical instrument comprises a manual firing drive, 3450 control can be completed regardless of the firing mode.
[00189] [00189] Figure 28 illustrates a logic flow diagram showing an example of a 3460 process that can be performed by surgical instrument 2500 (for example, control circuit 2510) to resist and control the rotation of the drive shaft assembly 200 by outside forces. The control circuit 2510 can receive an initial rotation signal 3462. The initial rotation signal can be received 3462 from the rotation sensor when the drive shaft assembly 200 is in a desired rotation position. For example, a physician may place the drive shaft assembly 200 in a desired position and then secure the tissue between the anvil 2516 and the staple cartridge 2518 and then actuate the trigger 32 to initiate a firing stroke. Trigger 32 can be configured to supply the trigger signal to control circuit 2510 upon actuation.
[00190] [00190] Once the drive shaft assembly 200 is placed at the desired rotation position, the control circuit 2510, in response to the initial rotation signal, can determine 3464 an initial turning position of the drive shaft assembly 200 of the rotation signal. By determining the initial rotation position 3464, the control circuit 2510 can identify 3466 a predetermined limit for permissible displacement of the drive shaft assembly 200. For example, the surgical instrument 2500 can transition from the rotation mode to the trigger mode via transmission 2506. When in trip mode, control circuit 2510 can monitor the rotational position of the drive shaft assembly 200.
[00191] [00191] Control circuit 2510 can receive 3468 a current speed signal. The current rotation signal can be received 3468 from the pivot sensor since the drive shaft assembly 200 is in trigger mode to monitor the position of the drive shaft assembly 200 during trigger mode. The current rotation signal can be received 3468 from a rotation sensor. The control circuit 2510, in response to the current rotation signal, can determine 3470 a current rotation position of the drive shaft assembly 200 from the current rotation signal. Control circuit 2510 can compare 3472 the current rotation position of the drive shaft assembly 200 with respect to the initial rotation position and the predetermined limit for the permissible rotational displacement of the drive shaft assembly 200. If the current rotation position of the drive shaft assembly 200 exceeds the predetermined limit 3474, then control circuit 2510 will control 3480 the rotation of the drive shaft assembly 200 by engaging 3482 the motor hold condition 3308 (2504). For example, when control circuit 3472 compares the current position of the drive shaft assembly 200 with the predetermined limit and the current position exceeds a threshold of the predetermined limit, the control circuit 2510 can switch transmission 2506 from trigger mode to the control mode. When control circuit 2510 is switched to control mode, control circuit 2510 then engages 3482 motor retention condition 3308 (2504) to resist unwanted movement of drive shaft assembly 200. retention can include any of the retention conditions, as discussed above with respect to Figures 22 to 25 and with respect to the end actuator hinge 2502. When control circuit 2510 compares 3472 the current rotation position of the shaft assembly drive 200 in relation to the predetermined limit and the current rotation position is within the predetermined limit 3476, control circuit 2510 continues 3478 operation of the end actuator function, for example, continues to operate in the trigger mode.
[00192] [00192] Figure 29 illustrates a logic flow diagram showing an example of a process 7000 that can be performed by surgical instrument 2500 (for example, control circuit 2510) to resist and control the articulation of the end actuator 2502 by forces external. The 2510 control circuit can determine a desired pivot position of the end actuator 7002. The 2510 control circuit can place the motor in an energized condition to control the movement of the end actuator to the desired position 7004. An initial pivot position can be received from the articulation sensor when end actuator 2502 is in a desired articulated position. Control circuit 2510 can be configured to determine a current hinge position for end actuator 7006. If the current position does not correspond to desired position 7010, the control circuit
[00193] [00193] Figure 30 illustrates a logic flow diagram showing an example of a 7100 process that can be performed by surgical instrument 2500 (for example, control circuit 2510) to resist and control the rotation of the drive shaft assembly by external forces. Control circuit 2510 can determine a desired rotation position of the drive shaft assembly 7102. Control circuit 2510 can place the motor in an energized condition to control the movement of the drive shaft assembly to the desired position 7104. A initial rotation position can be received from the rotary position sensor when the drive shaft assembly is at a desired rotation position. The 2510 control circuit can be configured to determine 7106 a current rotation position of the drive shaft assembly. If the current position does not correspond to the desired position 7110, the control circuit 2510 can be configured to put the motor in the energized condition to control the movement of the rotation axis assembly to the desired position 7104. Since the current position corresponds to the desired position 7108, control circuit 2510 can be configured to place the motor in the 7112 de-energized condition. When the motor is in the 7112 de-energized condition, the 2510 control circuit can be configured to energize an electromagnetic lock to prevent the actuator from moving. 7114 end.
[00194] [00194] In another aspect, the 2500 surgical instrument may have a second engine. The original motor 3308 (2504) can be configured to operate the rotation of the drive shaft assembly 200. The second motor can be configured to operate the trigger drive of the end actuator 2502. When the surgical instrument comprises two motors, the control 3480 can be completed regardless of the shooting mode.
[00195] [00195] In another aspect, the 2500 surgical instrument can have a manual triggering. Where the surgical instrument has a manual firing drive, motor 3308 (2504) can remain engaged with transmission 2506 during firing mode. The motor 3308 (2504) can be configured to operate the rotation of the drive shaft assembly 200. When the surgical instrument comprises a manual firing drive, the 3480 control can be completed regardless of the firing mode.
[00196] [00196] In another aspect, the control circuit 2510 of the surgical instrument 2500 can be configured to resist and control the articulation of the articulation mechanism and resist and control the rotation of the drive shaft assembly 200. The resistance and retention functions of the articulation control and rotational control can operate independently or cooperate to control the total spatial position of the 2502 end actuator.
[00197] [00197] The functions or processes 3430, 3460, 7000, 7100 described herein can be performed by any of the processing circuits described here, such as the control circuit 700 described in relation to Figures 5 and 6, circuits 800, 810, 820 described in Figures 7 to 9, the microcontroller 1104 described in Figures 10 and 12 and / or the control circuit 2510 described in Figure 14.
[00198] [00198] Aspects of the motorized surgical instrument can be practiced without the specific details revealed here. 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. An algorithm refers to a self-consistent sequence of steps that lead to the desired result, where a "step" refers to the manipulation of physical quantities that can take the form of electrical or magnetic signals that can be stored, transferred, combined, compared and handled in any other way. These signs can be called bits, values, elements, symbols, characters, terms, numbers. These terms and similar terms can be associated with the appropriate physical quantities and are merely convenient identifications applied to these quantities.
[00199] [00199] In general, the aspects described here, which can be implemented, individually and / or collectively, through a wide range of hardware, software, firmware or any combination of these, can be seen as being composed of several types of "electrical circuits". Consequently, the term "electrical circuit" includes electrical circuits that have at least one isolated electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit for a specific application, electrical circuits that form a general-purpose computing configured by a computer program (for example, a general-purpose computer or processor configured by a computer program that at least partially performs 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.
[00200] [00200] The previous description presented aspects of devices and / or processes through the use of block diagrams, flowcharts and / or examples, which may contain one or more functions and / or operation. Each function and / or operation within such block diagrams, flowcharts or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware or virtually any combination of them. In one aspect, several portions of the subject described here can be implemented using application specific integrated circuits ("ASIC"), field programmable gate arrays ("FPGA" - field programmable gate arrays), processors digital signal processors (DSPs), programmable logic devices (PLD), 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 running on one or more computer systems). computer), as one or more programs running on one or more processors (for example, as one or more programs running on one or more microprocessors), as firmware, or virtually as any combination of them, and to design the circuitry and / or writing the code for the software and firmware would be within the scope of practice of one skilled in the art in light of this description.
[00201] [00201] The mechanisms of the subject described here can be distributed as a program product in a variety of ways and that an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission medium used to effectively perform the distribution. Examples of a signal transmission medium include the following: a recordable medium such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a digital tape, a memory computer, etc .; and transmission-type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a wired communication link, a wireless communication link (for example, transmitter, receiver, transmission logic, reception logic, etc.).
[00202] [00202] The previously mentioned description of these aspects was presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described in order to illustrate the principles and practical application to, thus, enable the person skilled in the art to use the various aspects and with several modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[00203] [00203] Various aspects of the subject described in this document are defined in the following numbered examples:
[00204] [00204] Example 1. A surgical instrument comprising: an operable motor for translating a joint member over a distance from a proximal position to a distal position, where the joint member is translatable in relation to an end actuator at a distance from a proximal to a distal position, in which the translation of the articulation member causes an articulated joint to articulate and in which the motor comprises an energized condition and an de-energized condition; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor configured to detect a position of the hinge member over at least a portion of the distance; and wherein the control circuit is configured to: identify a predetermined desired position corresponding to the articulation position of the articulation member; receiving position input information from the position sensor indicative of a current pivot position of the pivot member; identify the current articulation position corresponding to the articulation position of the articulation member; determining a motor control action in response to a current articulation position of the articulation member that does not correspond to the desired position; and controlling the movement of the articulation member when the current articulation position corresponds to the desired position, in which the control of the movement of the articulation member comprises placing the motor in the de-energized condition.
[00205] [00205] Example 2. The surgical instrument of Example 1, in which the control circuit is configured to maintain the current position of the articulation member by engaging an electromagnetic lock when the motor is in the de-energized condition.
[00206] [00206] Example 3. The surgical instrument of Example 2, in which the electromagnetic lock is created by shorting the motor.
[00207] [00207] Example 4. The surgical instrument from Example 1 to Example 3, wherein the motor comprises a brushed DC motor.
[00208] [00208] Example 5. The surgical instrument of Example 4, in which the control circuit is configured to internally connect conductive wires to the brushed direct current (DC) motor when the motor is in the de-energized condition.
[00209] [00209] Example 6. The surgical instrument from Example 4 to Example 5, in which the control circuit comprises a forward condition, a reverse condition and a braking condition.
[00210] [00210] Example 7. The surgical instrument of Example 6, in which the control circuit comprises a first switch, a second switch, a third switch and a fourth switch, in which when the control circuit is in the forward condition, the second key and third key are in a closed configuration and the first key and fourth key are in an open configuration.
[00211] [00211] Example 8. The surgical instrument of Example 7, in which when the control circuit is in the braking condition, the first switch and the second switch are in an open configuration and the third switch and the fourth switch are in an open configuration closed.
[00212] [00212] Example 9. The surgical instrument from Example 7 to Example 8, in which when the control circuit is in the reverse condition, the first switch and the fourth switch are in a closed configuration and the second switch and the third switch are in an open configuration.
[00213] [00213] Example 10. A surgical instrument comprising: an engine configured to couple a gear assembly of a rotary drive shaft assembly, wherein the rotary drive shaft assembly is configured to rotate about an axis longitudinal geometry, wherein the rotary drive shaft comprises a rotary position sensor configured to measure the rotation of the rotary drive shaft assembly about the longitudinal geometric axis, where the motor is configured to apply a rotary force to rotate the assembly of gear, in which the rotation of the gear assembly rotates the rotary drive shaft assembly about the longitudinal geometry axis and in which the motor comprises an energized condition and an de-energized condition; a control circuit coupled to the motor, where the control circuit is configured to: monitor a rotation position of the rotary drive shaft assembly based on a signal from the rotary position sensor; identifying a predetermined desired position that corresponds to the rotation position of the rotary drive shaft assembly; receive rotation input information from the rotary position sensor indicative of a current rotation position of the rotary drive shaft assembly; determining a motor control action in response to a current rotation position of the rotary drive shaft assembly that does not correspond to the desired position; and controlling the rotation of the rotary drive shaft assembly when the current rotation position corresponds to the desired position, where the rotation control of the rotary drive shaft assembly comprises placing the motor in the de-energized condition.
[00214] [00214] Example 11. The surgical instrument of Example 10, in which the control circuit is configured to maintain the current position of the rotating drive shaft assembly by engaging an electromagnetic lock when the motor is in the de-energized condition.
[00215] [00215] Example 12. The surgical instrument of Example 11, in which the electromagnetic lock is created by shorting the motor.
[00216] [00216] Example 13. The surgical instrument from Example 10 to Example 12, wherein the motor comprises a brushed direct current (DC) motor.
[00217] [00217] Example 14. The surgical instrument of Example 13, in which the control circuit is configured to internally connect conductive wires to the brushed DC motor when the motor is in the de-energized condition.
[00218] [00218] Example 15. A surgical instrument comprising: a longitudinal drive shaft assembly, comprising: a rotating drive shaft portion comprising a longitudinal geometric axis and a driving gear, wherein the driving shaft portion rotary is configured to rotate around the longitudinal geometric axis; and an articulated joint comprising a pivot gear; a drive assembly comprising: a motor comprising a drive output; a control circuit configured to control the engine; and a drive member operatively connected to the drive output, where when the control circuit is in a rotational condition, the drive member is operationally connected to the drive gear of the rotating drive shaft portion and where when the drive circuit control is in an articulation condition, the drive member is operationally connected to the articulation gear of the articulated joint; and a power supply; where the engine comprises an energized condition and a de-energized condition, where when the engine is in the engaged condition, the control circuit supplies the power source to the engine in a series circuit configuration, where when the engine is in the condition de-energized, the control circuit disconnects the power supply from the motor and in which when the motor is in the de-energized condition, an electromagnetic lock is engaged.
[00219] [00219] Example 16. The surgical instrument of Example 15, in which when the control circuit is in the rotational condition, the control circuit is configured to: monitor a rotation position of the rotating drive shaft portion based on a signal a rotating position sensor; identifying a predetermined desired position that corresponds to a position of rotation of the rotating drive shaft portion; receiving rotational input information from the rotary position sensor indicative of a current rotation position of the rotary drive shaft portion; determining a motor control action in response to a current rotation position of the rotating drive shaft portion that does not correspond to the desired position; control the rotation of the rotary drive shaft portion when the current rotation position corresponds to the desired position, where the rotation control of the rotary drive shaft assembly comprises placing the motor in the de-energized condition.
[00220] [00220] Example 17. The surgical instrument of Example 16, in which the control circuit is configured to maintain the current position of the rotating drive shaft portion by engaging an electromagnetic lock when the motor is in the de-energized condition.
[00221] [00221] Example 18. The surgical instrument from Example 15 to Example 17, in which when the control circuit is in articulation condition, the control circuit is configured to: monitor a joint position of the articulated joint based on a signal an articulation position sensor; identifying a predetermined desired position that corresponds to an articulated joint position; receiving position input information from the joint position sensor indicative of a current joint position of the joint member; determining a motor control action in response to a current articulation position of the articulation member that does not correspond to the desired position; control the articulation of the articulated joint when the current articulation position corresponds to the desired position, in which the control of the articulation of the articulated joint comprises placing the motor in the de-energized condition.
[00222] [00222] Example 19. The surgical instrument of Example 18, in which the control circuit is configured to maintain the current position of the rotating drive shaft assembly by engaging an electromagnetic lock when the motor is in the de-energized condition.
[00223] [00223] Example 20. The surgical instrument from Example 18 to Example 19, in which the motor comprises a brushed DC motor and in which the power supply comprises a battery.

权利要求:
Claims (20)
[1]
1. Surgical instrument, characterized by comprising: an operable motor to move a joint member over a distance from a proximal position to a distal position, where the joint member is translatable in relation to an end actuator at a distance from a proximal to a distal position, in which the translation of the articulation member causes an articulated joint to articulate and in which the motor comprises an energized condition and an de-energized condition; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor configured to detect a position of the hinge member over at least a portion of the distance; and wherein the control circuit is configured to: identify a predetermined desired position corresponding to the articulation position of the articulation member; receiving position input information from the position sensor indicative of a current pivot position of the pivot member; identify the current articulation position corresponding to the articulation position of the articulation member; determining a motor control action in response to a current articulation position of the articulation member that does not correspond to the desired position; and controlling the movement of the articulation member when the current articulation position corresponds to the desired position, in which the control of the movement of the articulation member comprises placing the motor in the de-energized condition.
[2]
2. Surgical instrument, according to claim 1,
characterized by the control circuit being configured to maintain the current position of the articulation member by engaging an electromagnetic lock when the motor is in the de-energized condition.
[3]
3. Surgical instrument, according to claim 2, characterized in that the electromagnetic lock is created by shorting the motor.
[4]
Surgical instrument according to claim 1, characterized in that the motor comprises a brushed direct current motor.
[5]
5. Surgical instrument, according to claim 4, characterized in that the control circuit is configured to internally connect conductive wires to the brushed direct current (DC) motor when the motor is in the de-energized condition.
[6]
6. Surgical instrument, according to claim 4, characterized in that the control circuit comprises a forward condition, a reverse condition and a braking condition.
[7]
7. Surgical instrument, according to claim 6, characterized in that the control circuit comprises a first switch, a second switch, a third switch and a fourth switch, in which when the control circuit is in the forward condition, the second key and third key are in a closed configuration and the first key and fourth key are in an open configuration.
[8]
8. Surgical instrument according to claim 7, characterized in that when the control circuit is in the braking condition, the first switch and the second switch are in an open configuration and the third switch and the fourth switch are in a closed configuration .
[9]
9. Surgical instrument, according to claim 7, characterized in that when the control circuit is in the reverse condition, the first switch and the fourth switch are in a closed configuration and the second switch and the third switch are in an open configuration.
[10]
10. Surgical instrument, characterized by comprising: a motor configured to be coupled to a gear assembly of a rotary drive shaft assembly, in which the rotary drive shaft assembly is configured to rotate around a longitudinal geometric axis, wherein the rotary drive shaft comprises a rotary position sensor configured to measure the rotation of the rotary drive shaft assembly about the longitudinal geometry axis, where the motor is configured to apply a rotary force to rotate the gear assembly, wherein the rotation of the gear assembly rotates the rotary drive shaft assembly about the longitudinal geometry axis and where the motor comprises an energized condition and an de-energized condition; a control circuit coupled to the motor, the control circuit being configured to: monitor a rotation position of the rotary drive shaft assembly based on a signal from the rotary position sensor; identifying a predetermined desired position that corresponds to the rotation position of the rotary drive shaft assembly; receive rotation input information from the rotary position sensor indicative of a current rotation position of the rotary drive shaft assembly; determining a motor control action in response to a current rotation position of the rotary drive shaft assembly that does not correspond to the desired position; and controlling the rotation of the rotary drive shaft assembly when the current rotation position corresponds to the desired position, where the rotation control of the rotary drive shaft assembly comprises placing the motor in the de-energized condition.
[11]
11. Surgical instrument, according to claim 10, characterized in that the control circuit is configured to maintain the current position of the rotating drive shaft assembly by engaging an electromagnetic lock when the motor is in the de-energized condition.
[12]
12. Surgical instrument, according to claim 11, characterized in that the electromagnetic lock is created by a short circuit of the motor.
[13]
13. Surgical instrument according to claim 10, characterized in that the motor comprises a brushed direct current (DC) motor.
[14]
14. Surgical instrument, according to claim 13, characterized in that the control circuit is configured to internally connect conductive wires to the brushed direct current motor when the motor is in the de-energized condition.
[15]
15. Surgical instrument, characterized by comprising: a set of longitudinal drive axle comprising: a portion of a rotary drive shaft comprising a longitudinal geometric axis and a drive gear, in which the portion of the rotary drive shaft is configured to rotate about the longitudinal geometric axis; and an articulated joint comprising a pivot gear; a drive assembly comprising: a motor comprising a drive output;
a control circuit configured to control the engine; and a drive member operationally connected to the drive output, where, when the control circuit is in a rotational condition, the drive member is operationally connected to the drive gear of the rotating drive shaft portion and where, when the control circuit is in an articulation condition, the drive member is operationally connected to the articulation gear of the articulated joint; and a power supply; where the engine comprises an energized condition and a de-energized condition, where, when the engine is in the engaged condition, the control circuit supplies the power source to the engine in a series circuit configuration, where when the engine is in condition de-energized, the control circuit disconnects the power supply from the motor and in which when the motor is in the de-energized condition, an electromagnetic lock is engaged.
[16]
16. Surgical instrument, according to claim 15, characterized in that, when the control circuit is in the rotational condition, the control circuit is configured to: monitor a rotation position of the rotating drive shaft portion based on a signal a rotating position sensor; identifying a predetermined desired position that corresponds to a position of rotation of the rotating drive shaft portion; receiving rotation input information from the rotary position sensor indicative of a current rotation position of the rotary drive shaft portion;
determining a motor control action in response to a current rotation position of the rotating drive shaft portion that does not correspond to the desired position; control the rotation of the rotary drive shaft portion when the current rotation position corresponds to the desired position, where the rotation control of the rotary drive shaft assembly comprises placing the motor in the de-energized condition.
[17]
17. Surgical instrument, according to claim 16, characterized in that the control circuit is configured to maintain the current position of the rotating drive shaft portion by engaging an electromagnetic lock when the motor is in the de-energized condition.
[18]
18. Surgical instrument, according to claim 15, characterized in that, when the control circuit is in rotational condition, the control circuit is configured to: monitor a joint position of the articulated joint based on a signal from a pressure sensor articulation position; identifying a predetermined desired position that corresponds to an articulated joint position; receiving position input information from the joint position sensor indicative of a current joint position of the joint member; determining a motor control action in response to a current articulation position of the articulation member that does not correspond to the desired position; control the articulation of the articulated joint when the current articulation position corresponds to the desired position, in which the control of the articulation of the articulated joint comprises placing the motor in the de-energized condition.
[19]
19. Surgical instrument, according to claim 18, characterized in that the control circuit is configured to maintain the current position of the rotating drive shaft assembly by engaging an electromagnetic lock when the motor is in the de-energized condition.
[20]
20. Surgical instrument according to claim 18, characterized in that the motor comprises a brushed direct current motor and in which the power supply comprises a battery.

类似技术:

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公开号 | 公开日 | 专利标题

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BR112019026653A2|2020-06-23|SYSTEM TO CONTROL JOINT FORCES

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同族专利:

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公开号 | 公开日

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EP3417798B1|2021-01-20|

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US10327767B2|2019-06-25|

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WO2018234899A1|2018-12-27|

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EP3417798A1|2018-12-26|

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CN110785133A|2020-02-11|

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EP3827759A1|2021-06-02|

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US20180360451A1|2018-12-20|

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JP2020524045A|2020-08-13|

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

优先权:

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申请号 | 申请日 | 专利标题

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US15/628,168|2017-06-20|

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US15/628,168|US10327767B2|2017-06-20|2017-06-20|Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation|

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PCT/IB2018/053577|WO2018234899A1|2017-06-20|2018-05-21|Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation|

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